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
174 lines
5.5 KiB
C++
174 lines
5.5 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_DIOJNI.h"
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#include "HAL/Digital.hpp"
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// set the logging level
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TLogLevel dioJNILogLevel = logWARNING;
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#define DIOJNI_LOG(level) \
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if (level > dioJNILogLevel) ; \
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else Log().Get(level)
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: initializeDigitalPort
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDigitalPort
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI initializeDigitalPort";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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void** dioPtr = (void**)new unsigned char[4];
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*dioPtr = initializeDigitalPort(*javaId, statusPtr);
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DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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DIOJNI_LOG(logDEBUG) << "DIO Ptr = " << *dioPtr;
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return env->NewDirectByteBuffer( dioPtr, 4);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: allocateDIO
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* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_allocateDIO
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(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
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{
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI allocateDIO";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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jbyte returnValue = allocateDIO(*javaId, value, statusPtr);
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DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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DIOJNI_LOG(logDEBUG) << "allocateDIOResult = " << (jint)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_DIOJNI
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* Method: freeDIO
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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_DIOJNI_freeDIO
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDIO";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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freeDIO(*javaId, statusPtr);
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DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: setDIO
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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_DIOJNI_setDIO
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(JNIEnv *env, jclass, jobject id, jshort value, jobject status)
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{
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//DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
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//DIOJNI_LOG(logDEBUG) << "Value = " << value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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//DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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setDIO(*javaId, value, statusPtr);
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//DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: getDIO
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIO
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(JNIEnv * env, jclass, jobject id, jobject status)
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{
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//DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIO";
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void ** javaId = (void**)env->GetDirectBufferAddress(id);
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//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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//DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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jbyte returnValue = getDIO(*javaId, statusPtr);
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//DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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//DIOJNI_LOG(logDEBUG) << "getDIOResult = " << (jint)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_DIOJNI
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* Method: getDIODirection
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIODirection
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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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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: pulse
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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_DIOJNI_pulse
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(JNIEnv *, jclass, jobject, jdouble, 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_hal_DIOJNI
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* Method: isPulsing
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* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isPulsing
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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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* Class: edu_wpi_first_wpilibj_hal_DIOJNI
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* Method: isAnyPulsing
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* Signature: (Ljava/nio/IntBuffer;)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isAnyPulsing
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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_hal_DIOJNI
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* Method: getLoopTiming
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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_DIOJNI_getLoopTiming
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(JNIEnv * env, jclass, jobject status)
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{
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DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getLoopTimeing";
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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jshort returnValue = getLoopTiming( statusPtr );
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DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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DIOJNI_LOG(logDEBUG) << "LoopTiming = " << returnValue;
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return returnValue;
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}
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