mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
d2aa168f66
* Makes the HAL provide a better error message for certain things. * Makes Java error messages better * Updates C++ errors. * Moves handles header folder to HAL directory
108 lines
3.6 KiB
C++
108 lines
3.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <assert.h>
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#include <jni.h>
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#include "Log.h"
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#include "edu_wpi_first_wpilibj_hal_RelayJNI.h"
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#include "HAL/Relay.h"
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#include "HAL/Ports.h"
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#include "HALUtil.h"
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#include "HAL/handles/HandlesInternal.h"
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// set the logging level
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TLogLevel relayJNILogLevel = logWARNING;
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#define RELAYJNI_LOG(level) \
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if (level > relayJNILogLevel) \
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; \
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else \
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Log().Get(level)
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extern "C" {
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/*
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* Class: edu_wpi_first_wpilibj_hal_RelayJNI
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* Method: initializeRelayPort
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* Signature: (IZ)I;
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_initializeRelayPort(
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JNIEnv* env, jclass, jint id, jboolean fwd) {
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RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI initializeRelayPort";
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RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
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RELAYJNI_LOG(logDEBUG) << "Forward = " << (jint)fwd;
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int32_t status = 0;
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HAL_RelayHandle handle = HAL_InitializeRelayPort((HAL_PortHandle)id, (uint8_t) fwd, &status);
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RELAYJNI_LOG(logDEBUG) << "Status = " << status;
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RELAYJNI_LOG(logDEBUG) << "Relay Handle = " << handle;
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CheckStatusRange(env, 0, HAL_GetNumRelayPins(),
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hal::getPortHandlePin((HAL_PortHandle)id), status);
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return (jint) handle;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_RelayJNI
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* Method: freeRelayPort
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* Signature: (I)V;
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_freeRelayPort(
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JNIEnv *env, jclass, jint id) {
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RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI freeRelayPort";
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RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_RelayHandle)id;
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HAL_FreeRelayPort((HAL_RelayHandle)id);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_RelayJNI
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* Method: checkRelayChannel
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* Signature: (I)Z;
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_checkRelayChannel(
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JNIEnv *env, jclass, jint channel) {
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RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI checkRelayChannel";
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RELAYJNI_LOG(logDEBUG) << "Channel = " << channel;
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return (jboolean)HAL_CheckRelayChannel((uint8_t) channel);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_RelayJNI
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* Method: setRelay
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_RelayJNI_setRelay(
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JNIEnv* env, jclass, jint id, jboolean value) {
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RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI setRelay";
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RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_RelayHandle)id;
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RELAYJNI_LOG(logDEBUG) << "Flag = " << (jint)value;
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int32_t status = 0;
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HAL_SetRelay((HAL_RelayHandle)id, value, &status);
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RELAYJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_RelayJNI
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* Method: getRelay
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_RelayJNI_getRelay(
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JNIEnv* env, jclass, jint id) {
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RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI getRelay";
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RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_RelayHandle)id;
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int32_t status = 0;
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jboolean returnValue = HAL_GetRelay((HAL_RelayHandle)id, &status);
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RELAYJNI_LOG(logDEBUG) << "Status = " << status;
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RELAYJNI_LOG(logDEBUG) << "getRelayResult = " << (jint)returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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} // extern "C"
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