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https://github.com/wpilibsuite/allwpilib
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6deb196e90
You can get the state of the USER button with GetUserButton() in C++ or Utility.getUserButton() in java. Change-Id: I923e62cab5e621ef43fed503acab5c0d751264fb
148 lines
4.5 KiB
C++
148 lines
4.5 KiB
C++
#include <jni.h>
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#include <assert.h>
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#include "Log.hpp"
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#include "edu_wpi_first_wpilibj_hal_HALUtil.h"
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#include "HAL/HAL.hpp"
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// set the logging level
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TLogLevel halUtilLogLevel = logWARNING;
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#define HALUTIL_LOG(level) \
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if (level > halUtilLogLevel) ; \
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else Log().Get(level)
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//
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// indicate JNI version support desired
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//
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JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved)
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{
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// set our logging level
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Log::ReportingLevel() = logDEBUG;
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return JNI_VERSION_1_6;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: initializeMutex
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* Signature: (I)Ljava/nio/ByteBuffer;
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_initializeMutexNormal
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(JNIEnv * env, jclass)
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{
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HALUTIL_LOG(logDEBUG) << "Calling HALUtil initializeMutex";
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MUTEX_ID* mutexPtr = (MUTEX_ID*)new unsigned char[4];
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*mutexPtr = initializeMutexNormal();
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HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *mutexPtr;
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return env->NewDirectByteBuffer( mutexPtr, 4);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: deleteMutex
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* Signature: (Ljava/nio/ByteBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMutex
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(JNIEnv * env, jclass, jobject id )
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{
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HALUTIL_LOG(logDEBUG) << "Calling HALUtil deleteMutex";
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MUTEX_ID* javaId = (MUTEX_ID*)env->GetDirectBufferAddress(id);
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HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *javaId;
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deleteMutex( *javaId );
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: takeMutex
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* Signature: (Ljava/nio/ByteBuffer;I)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMutex
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(JNIEnv * env, jclass, jobject id)
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{
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//HALUTIL_LOG(logDEBUG) << "Calling HALUtil takeMutex";
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MUTEX_ID* javaId = (MUTEX_ID*)env->GetDirectBufferAddress(id);
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//HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *javaId;
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jbyte returnValue = takeMutex(*javaId);
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//HALUTIL_LOG(logDEBUG) << "Take Result = " << (void*)returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: getFPGAVersion
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* Signature: (Ljava/nio/IntBuffer;)S
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*/
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JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAVersion
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(JNIEnv * env, jclass, jobject status)
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{
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HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGAVersion";
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jshort returnValue = getFPGAVersion( statusPtr );
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HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
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HALUTIL_LOG(logDEBUG) << "FPGAVersion = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: getFPGARevision
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* Signature: (Ljava/nio/IntBuffer;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGARevision
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(JNIEnv * env, jclass, jobject status)
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{
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HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGARevision";
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jint returnValue = getFPGARevision( statusPtr );
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HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
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HALUTIL_LOG(logDEBUG) << "FPGARevision = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: getFPGATime
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* Signature: (Ljava/nio/IntBuffer;)I
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*/
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JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGATime
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(JNIEnv * env, jclass, jobject status)
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{
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//HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jlong returnValue = getFPGATime( statusPtr );
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//HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
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//HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: getFPGAButton
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* Signature: (Ljava/nio/IntBuffer;)I
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAButton
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(JNIEnv * env, jclass, jobject status)
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{
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//HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jboolean returnValue = getFPGAButton( statusPtr );
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//HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
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//HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: getHALErrorMessage
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* Signature: (I)Ljava/lang/String;
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*/
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JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrorMessage
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(JNIEnv * paramEnv, jclass, jint paramId)
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{
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const char * msg = getHALErrorMessage(paramId);
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HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALErrorMessage id=" << paramId << " msg=" << msg;
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return paramEnv->NewStringUTF(msg);
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}
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