mirror of
https://github.com/wpilibsuite/allwpilib
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142 lines
3.7 KiB
C++
142 lines
3.7 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <jni.h>
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#include <wpi/jni_util.h>
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#include "HALUtil.h"
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#include "edu_wpi_first_hal_AddressableLEDJNI.h"
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#include "hal/AddressableLED.h"
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using namespace hal;
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using namespace wpi::java;
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static_assert(sizeof(jbyte) * 4 == sizeof(HAL_AddressableLEDData));
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extern "C" {
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/*
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* Class: edu_wpi_first_hal_AddressableLEDJNI
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* Method: initialize
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_AddressableLEDJNI_initialize
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(JNIEnv* env, jclass, jint handle)
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{
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int32_t status = 0;
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auto ret = HAL_InitializeAddressableLED(
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static_cast<HAL_DigitalHandle>(handle), &status);
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CheckStatus(env, status);
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return ret;
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}
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/*
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* Class: edu_wpi_first_hal_AddressableLEDJNI
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* Method: free
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_AddressableLEDJNI_free
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(JNIEnv* env, jclass, jint handle)
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{
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HAL_FreeAddressableLED(static_cast<HAL_AddressableLEDHandle>(handle));
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}
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/*
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* Class: edu_wpi_first_hal_AddressableLEDJNI
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* Method: setLength
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_AddressableLEDJNI_setLength
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(JNIEnv* env, jclass, jint handle, jint length)
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{
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int32_t status = 0;
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HAL_SetAddressableLEDLength(static_cast<HAL_AddressableLEDHandle>(handle),
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length, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_AddressableLEDJNI
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* Method: setData
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* Signature: (I[B)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_AddressableLEDJNI_setData
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(JNIEnv* env, jclass, jint handle, jbyteArray arr)
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{
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int32_t status = 0;
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JSpan<const jbyte> jArrRef{env, arr};
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HAL_WriteAddressableLEDData(
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static_cast<HAL_AddressableLEDHandle>(handle),
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reinterpret_cast<const HAL_AddressableLEDData*>(jArrRef.data()),
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jArrRef.size() / 4, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_AddressableLEDJNI
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* Method: setBitTiming
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* Signature: (IIIII)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_AddressableLEDJNI_setBitTiming
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(JNIEnv* env, jclass, jint handle, jint highTime0, jint lowTime0,
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jint highTime1, jint lowTime1)
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{
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int32_t status = 0;
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HAL_SetAddressableLEDBitTiming(static_cast<HAL_AddressableLEDHandle>(handle),
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highTime0, lowTime0, highTime1, lowTime1,
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&status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_AddressableLEDJNI
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* Method: setSyncTime
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_AddressableLEDJNI_setSyncTime
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(JNIEnv* env, jclass, jint handle, jint syncTime)
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{
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int32_t status = 0;
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HAL_SetAddressableLEDSyncTime(static_cast<HAL_AddressableLEDHandle>(handle),
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syncTime, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_AddressableLEDJNI
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* Method: start
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_AddressableLEDJNI_start
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(JNIEnv* env, jclass, jint handle)
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{
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int32_t status = 0;
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HAL_StartAddressableLEDOutput(static_cast<HAL_AddressableLEDHandle>(handle),
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&status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_AddressableLEDJNI
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* Method: stop
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_AddressableLEDJNI_stop
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(JNIEnv* env, jclass, jint handle)
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{
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int32_t status = 0;
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HAL_StopAddressableLEDOutput(static_cast<HAL_AddressableLEDHandle>(handle),
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&status);
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CheckStatus(env, status);
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}
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} // extern "C"
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