Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity
Files
69d9ad70ab18e1c0cb937c6a2cb1f209ea9a62cb
allwpilib/wpilibj/wpilibJavaJNI/lib/EncoderJNI.cpp
Brad Miller 69d9ad70ab CMake Changes 
This is the changes made by Patrick Plenefisch converting the native
code to use CMake and the CMake Maven Plugin, as opposed to the
native Maven plugin. This is to allow for compatibility with newer
versions of the GCC toolchain. All the cpp sources were moved from
maven style directories to cpp style directories for CMake.

Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
2014-04-01 11:18:29 -04:00

260 lines
11 KiB
C++
Raw Blame History

#include <jni.h>
#include <assert.h>
#include "Log.h"
#include "edu_wpi_first_wpilibj_hal_EncoderJNI.h"
#include "HAL/Digital.h"
// set the logging level
TLogLevel encoderJNILogLevel = logDEBUG;
#define ENCODERJNI_LOG(level) \
if (level > encoderJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: initializeEncoder
* Signature: (BIBBIBBLjava/nio/IntBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder
(JNIEnv * env, jclass, jbyte port_a_module, jint port_a_pin, jbyte port_a_analog_trigger, jbyte port_b_module, jint port_b_pin, jbyte port_b_analog_trigger, jbyte reverseDirection, jobject index, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
ENCODERJNI_LOG(logDEBUG) << "Module A = " << (jint)port_a_module;
ENCODERJNI_LOG(logDEBUG) << "Pin A = " << port_a_pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger A = " << (jint)port_a_analog_trigger;
ENCODERJNI_LOG(logDEBUG) << "Module B = " << (jint)port_b_module;
ENCODERJNI_LOG(logDEBUG) << "Pin B = " << port_b_pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger B = " << (jint)port_b_analog_trigger;
ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection;
jint * indexPtr = (jint*)env->GetDirectBufferAddress(index);
ENCODERJNI_LOG(logDEBUG) << "Index Ptr = " << indexPtr;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** encoderPtr = (void**)new unsigned char[4];
*encoderPtr = initializeEncoder(port_a_module, port_a_pin, port_a_analog_trigger,
port_b_module, port_b_pin, port_b_analog_trigger,
reverseDirection, indexPtr, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Index = " << *indexPtr;
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ENCODERJNI_LOG(logDEBUG) << "ENCODER Ptr = " << *encoderPtr;
return env->NewDirectByteBuffer( encoderPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: freeEncoder
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_freeEncoder
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI freeEncoder";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
freeEncoder(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: startEncoder
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_startEncoder
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI startEncoder";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
startEncoder(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: stopEncoder
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_stopEncoder
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI stopEncoder";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
stopEncoder(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: resetEncoder
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_resetEncoder
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI resetEncoder";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
resetEncoder(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: getEncoder
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoder
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoder";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jint returnValue = getEncoder(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ENCODERJNI_LOG(logDEBUG) << "getEncoderResult = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: getEncoderPeriod
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderPeriod
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderPeriod";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
double returnValue = getEncoderPeriod(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ENCODERJNI_LOG(logDEBUG) << "getEncoderPeriodResult = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderMaxPeriod
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMaxPeriod
(JNIEnv * env, jclass, jobject id, jdouble value, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMaxPeriod";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setEncoderMaxPeriod(*javaId, value, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: getEncoderStopped
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderStopped
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderStopped";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jbyte returnValue = getEncoderStopped(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ENCODERJNI_LOG(logDEBUG) << "getEncoderStoppedResult = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: getEncoderDirection
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDirection
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDirection";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jbyte returnValue = getEncoderDirection(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ENCODERJNI_LOG(logDEBUG) << "getEncoderDirectionResult = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderReverseDirection
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderReverseDirection
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderReverseDirection";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setEncoderReverseDirection(*javaId, value, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderSamplesToAverage
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderSamplesToAverage
(JNIEnv * env, jclass, jobject id, jint value, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderSamplesToAverage";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setEncoderSamplesToAverage(*javaId, value, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: getEncoderSamplesToAverage
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage
(JNIEnv * env, jclass, jobject id, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jint returnValue = getEncoderSamplesToAverage(*javaId, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = " << returnValue;
return returnValue;
}
Reference in New Issue View Git Blame Copy Permalink