mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
792e3b6ccc
Modules aren't used anymore in wpilibc and wpilibj, so the hal functions that references them and and JNI bindings for these functions have been pulled out. Both Counter classes were also modified because they still referenced modules. Change-Id: Ic01feb145a4ed5f08cd55f140867c721f5ee7b10
153 lines
5.3 KiB
C++
153 lines
5.3 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_PWMJNI.h"
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#include "HAL/Digital.hpp"
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// set the logging level
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TLogLevel pwmJNILogLevel = logWARNING;
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#define PWMJNI_LOG(level) \
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if (level > pwmJNILogLevel) ; \
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else Log().Get(level)
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWM
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* Signature: (Ljava/nio/ByteBuffer;SLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM
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(JNIEnv * env, jclass, jobject id, jshort value, jobject status)
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{
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << *javaId;
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PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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setPWM( *javaId, value, statusPtr );
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: getPWM
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)S
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*/
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JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWM
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jshort returnValue = getPWM( *javaId, statusPtr );
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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PWMJNI_LOG(logDEBUG) << "Value = " << 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_PWMJNI
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* Method: setPWMPeriodScale
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* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPeriodScale
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(JNIEnv * env, jclass, jobject id, jint value, jobject status )
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{
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << *javaId;
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PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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setPWMPeriodScale( *javaId, value, statusPtr );
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: allocatePWM
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* Signature: (Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWM
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(JNIEnv * env, jclass, jobject status)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI allocatePWM";
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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void** pwmPtr = (void**)new unsigned char[4];
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*pwmPtr = allocatePWM(statusPtr);
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *pwmPtr;
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return env->NewDirectByteBuffer( pwmPtr, 4);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: freePWM
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWM
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWM";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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freePWM(*javaId, statusPtr);
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMRate
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* Signature: (DLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRate
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(JNIEnv * env, jclass, jdouble value, jobject status)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMRate";
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PWMJNI_LOG(logDEBUG) << "Rate= " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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setPWMRate(value, statusPtr);
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMDutyCycle
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* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDutyCycle
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(JNIEnv * env, jclass, jobject id, jdouble value, jobject status)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMDutyCycle";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
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PWMJNI_LOG(logDEBUG) << "DutyCycle= " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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setPWMDutyCycle(*javaId, value, statusPtr);
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: setPWMOutputChannel
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* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMOutputChannel
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(JNIEnv * env, jclass, jobject id, jint value, jobject status)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMOutputChannel";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
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PWMJNI_LOG(logDEBUG) << "Pin= " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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setPWMOutputChannel(*javaId, (uint32_t) value, statusPtr);
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PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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