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allwpilib/wpilibj/wpilibJavaJNI/lib/PWMJNI.cpp
Brad Miller bf7ef4376c Changed the default logging level to WARNING 
This prevents excessive logging from the HAL. Put it back as needed

Change-Id: I217f8bf20dd092dd6205444b08c98c9a7c3c83de
2014-05-30 10:09:56 -04:00

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#include <jni.h>
#include <assert.h>
#include "Log.hpp"
#include "edu_wpi_first_wpilibj_hal_PWMJNI.h"
#include "HAL/Digital.hpp"
// set the logging level
TLogLevel pwmJNILogLevel = logWARNING;
#define PWMJNI_LOG(level) \
if (level > pwmJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWM
* Signature: (Ljava/nio/ByteBuffer;SLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM
(JNIEnv * env, jclass, jobject id, jshort value, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setPWM( *javaId, value, statusPtr );
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: getPWM
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)S
*/
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWM
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jshort returnValue = getPWM( *javaId, statusPtr );
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMPeriodScale
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPeriodScale
(JNIEnv * env, jclass, jobject id, jint value, jobject status )
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
setPWMPeriodScale( *javaId, value, statusPtr );
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: allocatePWM
* Signature: (Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWM
(JNIEnv * env, jclass, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI allocatePWM";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** pwmPtr = (void**)new unsigned char[4];
*pwmPtr = allocatePWM(statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *pwmPtr;
return env->NewDirectByteBuffer( pwmPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: allocatePWMWithModule
* Signature: (BLjava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWMWithModule
(JNIEnv * env, jclass, jbyte module, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI allocatePWMWithModule";
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** pwmPtr = (void**)new unsigned char[4];
*pwmPtr = allocatePWMWithModule(module, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *pwmPtr;
return env->NewDirectByteBuffer( pwmPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: freePWM
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWM
(JNIEnv * env, jclass, jobject id, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWM";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
freePWM(*javaId, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: freePWMWithModule
* Signature: (BLjava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWMWithModule
(JNIEnv * env, jclass, jbyte module, jobject id, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWMWithModule";
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
freePWMWithModule(module, *javaId, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMRate
* Signature: (DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRate
(JNIEnv * env, jclass, jdouble value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMRate";
PWMJNI_LOG(logDEBUG) << "Rate= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMRate(value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMRateWithModule
* Signature: (BDLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRateWithModule
(JNIEnv * env, jclass, jbyte module, jdouble value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMRateWithModule";
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
PWMJNI_LOG(logDEBUG) << "Rate= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMRateWithModule(module, value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMDutyCycle
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDutyCycle
(JNIEnv * env, jclass, jobject id, jdouble value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMDutyCycle";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "DutyCycle= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMDutyCycle(*javaId, value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMDutyCycleWithModule
* Signature: (BLjava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDutyCycleWithModule
(JNIEnv * env, jclass, jbyte module, jobject id, jdouble value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMDutyCycleWithModule";
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "DutyCycle= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMDutyCycleWithModule( module, *javaId, value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMOutputChannel
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMOutputChannel
(JNIEnv * env, jclass, jobject id, jint value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMOutputChannel";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "Pin= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMOutputChannel(*javaId, (uint32_t) value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_PWMJNI
* Method: setPWMOutputChannelWithModule
* Signature: (BLjava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMOutputChannelWithModule
(JNIEnv * env, jclass, jbyte module, jobject id, jint value, jobject status)
{
PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMOutputChannelWithModule";
PWMJNI_LOG(logDEBUG) << "Module = " << (jint)module;
void ** javaId = (void**)env->GetDirectBufferAddress(id);
PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << *javaId;
PWMJNI_LOG(logDEBUG) << "Pin= " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
PWMJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setPWMOutputChannelWithModule( module, *javaId, (uint32_t) value, statusPtr);
PWMJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
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