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69d9ad70ab18e1c0cb937c6a2cb1f209ea9a62cb
allwpilib/wpilibj/wpilibJavaJNI/lib/PWMJNI.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

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#include <jni.h>
#include <assert.h>
#include "Log.h"
#include "edu_wpi_first_wpilibj_hal_PWMJNI.h"
#include "HAL/Digital.h"
// set the logging level
TLogLevel pwmJNILogLevel = logERROR;
#define PWMJNI_LOG(level) \
if (level > pwmJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWM
* Signature: (Ljava/nio/ByteBuffer;SLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM
(JNIEnv * env, jclass, jobject id, jshort value, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setPWM( *javaId, value, statusPtr );
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: getPWM
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)S
*/
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWM
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jshort returnValue = getPWM( *javaId, statusPtr );
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMPeriodScale
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPeriodScale
(JNIEnv * env, jclass, jobject id, jint value, jobject status )
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setPWMPeriodScale( *javaId, value, statusPtr );
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: allocatePWM
* Signature: (Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWM
(JNIEnv * env, jclass, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI allocatePWM";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** pwmPtr = (void**)new unsigned char[4];
*pwmPtr = allocatePWM(statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *pwmPtr;
return env->NewDirectByteBuffer( pwmPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: allocatePWMWithModule
* Signature: (BLjava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWMWithModule
(JNIEnv * env, jclass, jbyte module, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI allocatePWMWithModule";
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** pwmPtr = (void**)new unsigned char[4];
*pwmPtr = allocatePWMWithModule(module, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *pwmPtr;
return env->NewDirectByteBuffer( pwmPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: freePWM
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWM
(JNIEnv * env, jclass, jobject id, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWM";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
freePWM(*javaId, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: freePWMWithModule
* Signature: (BLjava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWMWithModule
(JNIEnv * env, jclass, jbyte module, jobject id, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWMWithModule";
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
freePWMWithModule(module, *javaId, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMRate
* Signature: (DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRate
(JNIEnv * env, jclass, jdouble value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMRate";
PWMJNI_LOG(logDEBUG) << "Rate= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMRate(value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMRateWithModule
* Signature: (BDLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRateWithModule
(JNIEnv * env, jclass, jbyte module, jdouble value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMRateWithModule";
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
PWMJNI_LOG(logDEBUG) << "Rate= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMRateWithModule(module, value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMDutyCycle
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDutyCycle
(JNIEnv * env, jclass, jobject id, jdouble value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMDutyCycle";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "DutyCycle= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMDutyCycle(*javaId, value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMDutyCycleWithModule
* Signature: (BLjava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDutyCycleWithModule
(JNIEnv * env, jclass, jbyte module, jobject id, jdouble value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMDutyCycleWithModule";
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "DutyCycle= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMDutyCycleWithModule( module, *javaId, value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMOutputChannel
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMOutputChannel
(JNIEnv * env, jclass, jobject id, jint value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMOutputChannel";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "Pin= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMOutputChannel(*javaId, (uint32_t) value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMOutputChannelWithModule
* Signature: (BLjava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMOutputChannelWithModule
(JNIEnv * env, jclass, jbyte module, jobject id, jint value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMOutputChannelWithModule";
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "Pin= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMOutputChannelWithModule( module, *javaId, (uint32_t) value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
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