mirror of
https://github.com/wpilibsuite/allwpilib
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049be6870c
The HAL functions often call NI functions that may expect status to be initialized on entry. Java does not guarantee direct pointer allocation memory to be initialized, although that may have been occurring by accident. Change-Id: I5e3a553f3a7be8de3716ccfc13e6ca1cb4f2a552
653 lines
22 KiB
C++
653 lines
22 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_communication_FRCNetworkCommunicationsLibrary.h"
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#include "HAL/HAL.hpp"
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//#include "NetworkCommunication/FRCComm.h"
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//#include "NetworkCommunication/UsageReporting.h"
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// set the logging level
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TLogLevel netCommLogLevel = logWARNING;
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#define NETCOMM_LOG(level) \
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if (level > netCommLogLevel) ; \
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else Log().Get(level)
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nAICalibration_getLSBWeight
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* Signature: (IILjava/lang/Integer;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationAICalibrationGetLSBWeight
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(JNIEnv *, jclass, jint, jint, jobject)
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{
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assert(false);
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return 0;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nAICalibration_getOffset
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* Signature: (IILjava/lang/Integer;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationAICalibrationGetOffset
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(JNIEnv *, jclass, jint, jint, jobject)
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{
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assert(false);
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return 0;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: getTargetClass
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getTargetClass
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(JNIEnv *, jclass)
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{
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assert(false);
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return 0;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nLoadOut_getModulePresence
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* Signature: (IB)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationLoadOutGetModulePresence
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(JNIEnv *, jclass, jint, jbyte)
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{
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assert(false);
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return 0;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nLoadOut_getTargetClass
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationLoadOutGetTargetClass
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(JNIEnv *, jclass)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: report
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* Signature: (IBBLjava/lang/String;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_report
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(JNIEnv *, jclass, jint, jbyte, jbyte, jstring)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nUsageReporting_report
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* Signature: (BBBLjava/lang/String;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationUsageReportingReport
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(JNIEnv * paramEnv, jclass, jbyte paramResource, jbyte paramInstanceNumber, jbyte paramContext, jstring paramFeature)
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{
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const char * featureStr = paramEnv->GetStringUTFChars(paramFeature, NULL);
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NETCOMM_LOG(logDEBUG) << "Calling FRCNetworkCommunicationsLibrary report " << "res:"<< (unsigned int)paramResource << " instance:" << (unsigned int)paramInstanceNumber << " context:" << (unsigned int)paramContext << " feature:" << featureStr;
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jint returnValue = HALReport(paramResource, paramInstanceNumber, paramContext, featureStr);
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paramEnv->ReleaseStringUTFChars(paramFeature,featureStr);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: getFPGAHardwareVersion
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* Signature: (Ljava/nio/ShortBuffer;Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getFPGAHardwareVersion
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(JNIEnv *, jclass, jobject, jobject)
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{
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assert(false);
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}
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//
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// field ids
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//
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bool initializeComplete = false;
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jclass dataClass;
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jfieldID packetIndexFieldID;
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jfieldID controlFieldID;
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jfieldID dsDigitalInFieldID;
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jfieldID teamIDFieldID;
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jfieldID dsID_AllianceFieldID;
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jfieldID dsID_PositionFieldID;
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jfieldID stick0AxesFieldID;
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jfieldID stick0ButtonsFieldID;
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jfieldID stick1AxesFieldID;
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jfieldID stick1ButtonsFieldID;
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jfieldID stick2AxesFieldID;
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jfieldID stick2ButtonsFieldID;
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jfieldID stick3AxesFieldID;
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jfieldID stick3ButtonsFieldID;
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jfieldID analog1FieldID;
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jfieldID analog2FieldID;
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jfieldID analog3FieldID;
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jfieldID analog4FieldID;
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jfieldID cRIOChecksumFieldID;
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jfieldID FPGAChecksum0FieldID;
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jfieldID FPGAChecksum1FieldID;
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jfieldID FPGAChecksum2FieldID;
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jfieldID FPGAChecksum3FieldID;
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jfieldID versionDataFieldID;
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: setErrorData
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* Signature: (Ljava/lang/String;II)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setErrorData
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(JNIEnv *, jclass, jstring, jint, jint)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: overrideIOConfig
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* Signature: (Ljava/lang/String;I)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_overrideIOConfig
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(JNIEnv *, jclass, jstring, jint)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: signalResyncActionDone
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_signalResyncActionDone
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(JNIEnv *, jclass)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: setNewDataOccurRef
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataOccurRef
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(JNIEnv *, jclass, jint)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: setResyncOccurRef
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setResyncOccurRef
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(JNIEnv *, jclass, jint)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_getVersionString
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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_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationGetVersionString
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(JNIEnv *, jclass, jobject)
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{
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assert(false);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_observeUserProgramStarting
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramStarting
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(JNIEnv *, jclass)
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{
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HALNetworkCommunicationObserveUserProgramStarting();
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_observeUserProgramDisabled
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramDisabled
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(JNIEnv *, jclass)
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{
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HALNetworkCommunicationObserveUserProgramDisabled();
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_observeUserProgramAutonomous
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramAutonomous
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(JNIEnv *, jclass)
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{
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HALNetworkCommunicationObserveUserProgramAutonomous();
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_observeUserProgramTeleop
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTeleop
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(JNIEnv *, jclass)
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{
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HALNetworkCommunicationObserveUserProgramTeleop();
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_observeUserProgramTest
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTest
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(JNIEnv *, jclass)
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{
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HALNetworkCommunicationObserveUserProgramTest();
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: FRCNetworkCommunicationReserve
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationReserve
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(JNIEnv *, jclass)
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{
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assert(1 == HALInitialize(0));
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: NativeHALGetControlWord
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetControlWord
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(JNIEnv *, jclass)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word";
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jint controlWord;
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HALGetControlWord((HALControlWord*)&controlWord);
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return controlWord;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: NativeHALGetAllianceStation
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetAllianceStation
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(JNIEnv *, jclass)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station";
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jint allianceStation;
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HALGetAllianceStation((HALAllianceStationID*)&allianceStation);
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return allianceStation;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickAxes
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* Signature: (B)[S
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*/
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JNIEXPORT jshortArray JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxes
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(JNIEnv * env, jclass, jbyte joystickNum)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes";
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HALJoystickAxes axes;
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HALGetJoystickAxes(joystickNum, &axes);
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jshortArray axesArray = env->NewShortArray(axes.count);
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env->SetShortArrayRegion(axesArray, 0, axes.count, axes.axes);
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return axesArray;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickPOVs
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* Signature: (B)[S
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*/
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JNIEXPORT jshortArray JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickPOVs
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(JNIEnv * env, jclass, jbyte joystickNum)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs";
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HALJoystickPOVs povs;
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HALGetJoystickPOVs(joystickNum, &povs);
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jshortArray povsArray = env->NewShortArray(povs.count);
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env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs);
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return povsArray;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickButtons
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* Signature: (B)S
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickButtons
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(JNIEnv * env, jclass, jbyte joystickNum, jobject count)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons";
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HALJoystickButtons joystickButtons;
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HALGetJoystickButtons(joystickNum, &joystickButtons);
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jbyte *countPtr = (jbyte*)env->GetDirectBufferAddress(count);
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NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons;
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NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count;
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*countPtr = joystickButtons.count;
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NETCOMM_LOG(logDEBUG) << "CountBuffer = " << (jint)*countPtr;
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return joystickButtons.buttons;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALSetJoystickOutputs
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* Signature: (BISS)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetJoystickOutputs
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(JNIEnv *, jclass, jbyte port, jint outputs, jshort leftRumble, jshort rightRumble)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALSetJoystickOutputs on port " << port;
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NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs;
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NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble << " Right Rumble: " << rightRumble;
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return HALSetJoystickOutputs(port, outputs, leftRumble, rightRumble);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickIsXbox
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* Signature: (B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickIsXbox
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(JNIEnv *, jclass, jbyte port)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickIsXbox";
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return HALGetJoystickIsXbox(port);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickType
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* Signature: (B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickType
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(JNIEnv *, jclass, jbyte port)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickType";
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return HALGetJoystickType(port);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickName
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* Signature: (B)Ljava/lang/String;
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*/
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JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickName
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(JNIEnv * env, jclass, jbyte port)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickName";
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return env->NewStringUTF(HALGetJoystickName(port));
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: setNewDataSem
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* Signature: ([B)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataSem
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(JNIEnv * env, jclass, jobject id )
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{
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MULTIWAIT_ID javaId = (MULTIWAIT_ID)env->GetDirectBufferAddress(id);
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NETCOMM_LOG(logDEBUG) << "Mutex Ptr = " << javaId;
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HALSetNewDataSem(javaId->native_handle());
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: JNIValueParameterTest
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* Signature: (ZBCSIJFD)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueParameterTest
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(JNIEnv *, jclass, jboolean booleanParam, jbyte byteParam, jchar charParam, jshort shortParam, jint intParam, jlong longParam, jfloat floatParam, jdouble doubleParam)
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{
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NETCOMM_LOG(logDEBUG) << "Boolean: " << booleanParam;
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NETCOMM_LOG(logDEBUG) << "Byte : " << byteParam;
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NETCOMM_LOG(logDEBUG) << "Char : " << charParam;
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NETCOMM_LOG(logDEBUG) << "Short : " << shortParam;
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NETCOMM_LOG(logDEBUG) << "Int : " << intParam;
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NETCOMM_LOG(logDEBUG) << "Long : " << longParam;
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NETCOMM_LOG(logDEBUG) << "Float : " << floatParam;
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NETCOMM_LOG(logDEBUG) << "Double : " << doubleParam;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: JNIValueReturnBooleanTest
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* Signature: (Z)Z
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnBooleanTest
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(JNIEnv *, jclass, jboolean booleanParam )
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{
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NETCOMM_LOG(logDEBUG) << "Boolean: " << booleanParam;
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return !booleanParam;
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}
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/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIValueReturnByteTest
|
|
* Signature: (B)B
|
|
*/
|
|
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnByteTest
|
|
(JNIEnv *, jclass, jbyte byteParam)
|
|
{
|
|
NETCOMM_LOG(logDEBUG) << "Byte: " << byteParam;
|
|
return byteParam+1;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIValueReturnCharTest
|
|
* Signature: (C)C
|
|
*/
|
|
JNIEXPORT jchar JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnCharTest
|
|
(JNIEnv *, jclass, jchar charParam)
|
|
{
|
|
NETCOMM_LOG(logDEBUG) << "Char: " << charParam;
|
|
return charParam+1;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIValueReturnShortTest
|
|
* Signature: (S)S
|
|
*/
|
|
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnShortTest
|
|
(JNIEnv *, jclass, jshort shortParam)
|
|
{
|
|
NETCOMM_LOG(logDEBUG) << "Short: " << shortParam;
|
|
return shortParam+1;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIValueReturnIntTest
|
|
* Signature: (I)I
|
|
*/
|
|
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnIntTest
|
|
(JNIEnv *, jclass, jint intParam)
|
|
{
|
|
NETCOMM_LOG(logDEBUG) << "Int: " << intParam;
|
|
return intParam+1;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIValueReturnLongTest
|
|
* Signature: (J)J
|
|
*/
|
|
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnLongTest
|
|
(JNIEnv *, jclass, jlong longParam)
|
|
{
|
|
NETCOMM_LOG(logDEBUG) << "Long: " << longParam;
|
|
return longParam+1;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIValueReturnFloatTest
|
|
* Signature: (F)F
|
|
*/
|
|
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnFloatTest
|
|
(JNIEnv *, jclass, jfloat floatParam)
|
|
{
|
|
NETCOMM_LOG(logDEBUG) << "Float: " << floatParam;
|
|
return floatParam/100.0f;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIValueReturnDoubleTest
|
|
* Signature: (D)D
|
|
*/
|
|
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnDoubleTest
|
|
(JNIEnv *, jclass, jdouble doubleParam)
|
|
{
|
|
NETCOMM_LOG(logDEBUG) << "Double: " << doubleParam;
|
|
return doubleParam * 100.0;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIObjectReturnString
|
|
* Signature: (Ljava/lang/String;)Ljava/lang/String;
|
|
*/
|
|
JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIObjectReturnStringTest
|
|
(JNIEnv * env, jclass, jstring stringParam)
|
|
{
|
|
const char * stringParamLocal = env->GetStringUTFChars(stringParam, NULL);
|
|
NETCOMM_LOG(logDEBUG) << "String: " << stringParamLocal;
|
|
env->ReleaseStringUTFChars(stringParam,stringParamLocal);
|
|
|
|
char returnStringLocal[] = "this is the return string";
|
|
|
|
return env->NewStringUTF(returnStringLocal);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIObjectReturnByteBufferTest
|
|
* Signature: (Ljava/nio/ByteBuffer;)Ljava/nio/ByteBuffer;
|
|
*/
|
|
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIObjectReturnByteBufferTest
|
|
(JNIEnv * env, jclass, jobject byteArrayIn )
|
|
{
|
|
jbyte * byteArray = (jbyte*)env->GetDirectBufferAddress(byteArrayIn);
|
|
NETCOMM_LOG(logDEBUG) << "Ptr: " << (long)byteArray;
|
|
jlong byteArrayLength = env->GetDirectBufferCapacity(byteArrayIn);
|
|
NETCOMM_LOG(logDEBUG) << "Capacity: " << byteArrayLength;
|
|
NETCOMM_LOG(logDEBUG) << "Byte0: " << (short)byteArray[0];
|
|
NETCOMM_LOG(logDEBUG) << "Byte1: " << (short)byteArray[1];
|
|
NETCOMM_LOG(logDEBUG) << "Byte2: " << (short)byteArray[2];
|
|
NETCOMM_LOG(logDEBUG) << "Byte3: " << (short)byteArray[3];
|
|
|
|
jbyte * returnByteArray = new jbyte[4];
|
|
returnByteArray[0] = byteArray[0];
|
|
returnByteArray[1] = byteArray[1];
|
|
returnByteArray[2] = byteArray[2];
|
|
returnByteArray[3] = byteArray[3];
|
|
|
|
return env->NewDirectByteBuffer(returnByteArray, 4);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: JNIObjectAndParamReturnIntBufferTest
|
|
* Signature: (Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
|
|
*/
|
|
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIObjectAndParamReturnIntBufferTest
|
|
(JNIEnv * env, jclass, jobject intArrayIn)
|
|
{
|
|
jint * intArray = (jint*)env->GetDirectBufferAddress(intArrayIn);
|
|
jbyte * byteArray = (jbyte*)env->GetDirectBufferAddress(intArrayIn);
|
|
NETCOMM_LOG(logDEBUG) << "Ptr: " << (long)intArray;
|
|
jlong byteArrayLength = env->GetDirectBufferCapacity(intArrayIn);
|
|
NETCOMM_LOG(logDEBUG) << "Capacity: " << byteArrayLength;
|
|
NETCOMM_LOG(logDEBUG) << "Int0: " << intArray[0];
|
|
NETCOMM_LOG(logDEBUG) << "Byte0: " << (short)byteArray[0];
|
|
NETCOMM_LOG(logDEBUG) << "Byte1: " << (short)byteArray[1];
|
|
NETCOMM_LOG(logDEBUG) << "Byte2: " << (short)byteArray[2];
|
|
NETCOMM_LOG(logDEBUG) << "Byte3: " << (short)byteArray[3];
|
|
|
|
// increment the param
|
|
intArray[0]++;
|
|
|
|
jbyte * returnByteArray = new jbyte[4];
|
|
returnByteArray[0] = byteArray[0];
|
|
returnByteArray[1] = byteArray[1];
|
|
returnByteArray[2] = byteArray[2];
|
|
returnByteArray[3] = byteArray[3];
|
|
|
|
return env->NewDirectByteBuffer(returnByteArray, 4);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
|
|
* Method: HALGetMatchTime
|
|
* Signature: ()F
|
|
*/
|
|
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetMatchTime
|
|
(JNIEnv * env, jclass)
|
|
{
|
|
jfloat matchTime;
|
|
HALGetMatchTime((float*)&matchTime);
|
|
return matchTime;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: HALGetSystemActive
|
|
* Signature: (Ljava/nio/IntBuffer;)Z
|
|
*/
|
|
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetSystemActive
|
|
(JNIEnv * env, jclass, jobject status)
|
|
{
|
|
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
|
*statusPtr = 0;
|
|
return HALGetSystemActive((int32_t*)statusPtr);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: HALGetBrownedOut
|
|
* Signature: (Ljava/nio/IntBuffer;)Z
|
|
*/
|
|
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetBrownedOut
|
|
(JNIEnv * env, jclass, jobject status)
|
|
{
|
|
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
|
|
*statusPtr = 0;
|
|
return HALGetBrownedOut((int32_t*)statusPtr);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
|
|
* Method: HALSetErrorData
|
|
* Signature: (Ljava/lang/String;)I
|
|
*/
|
|
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetErrorData
|
|
(JNIEnv * env, jclass, jstring error)
|
|
{
|
|
const char * errorStr = env->GetStringUTFChars(error, NULL);
|
|
jsize length = env->GetStringUTFLength(error);
|
|
|
|
NETCOMM_LOG(logDEBUG) << "Set Error: " << errorStr;
|
|
NETCOMM_LOG(logDEBUG) << "Length: " << length;
|
|
jint returnValue = HALSetErrorData(errorStr, (jint) length, 0);
|
|
env->ReleaseStringUTFChars(error,errorStr);
|
|
return returnValue;
|
|
}
|
|
|