/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderIndexSource
* Signature: (Ljava/nio/ByteBuffer;IZZZLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource
(JNIEnv * env, jclass, jobject id, jint pin, jboolean analogTrigger, jboolean activeHigh, jboolean edgeSensitive, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Pin = " << pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger = " << (analogTrigger?"true":"false");
ENCODERJNI_LOG(logDEBUG) << "Active High = " << (activeHigh?"true":"false");
ENCODERJNI_LOG(logDEBUG) << "Edge Sensitive = " << (edgeSensitive?"true":"false");
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setEncoderIndexSource(*javaId, pin, analogTrigger, activeHigh, edgeSensitive, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderIndexSource
* Signature: (JIZZZ)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource
(JNIEnv * env, jclass, jlong id, jint pin, jboolean analogTrigger, jboolean activeHigh, jboolean edgeSensitive)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource";
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
ENCODERJNI_LOG(logDEBUG) << "Pin = " << pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger = " << (analogTrigger?"true":"false");
ENCODERJNI_LOG(logDEBUG) << "Active High = " << (activeHigh?"true":"false");
ENCODERJNI_LOG(logDEBUG) << "Edge Sensitive = " << (edgeSensitive?"true":"false");
int32_t status = 0;
setEncoderIndexSource((void*)id, pin, analogTrigger, activeHigh, edgeSensitive, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: initializeEncoder
* Signature: (BIBBIBBLjava/nio/IntBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder
(JNIEnv * env, jclass, jbyte port_a_module, jint port_a_pin, jbyte port_a_analog_trigger, jbyte port_b_module, jint port_b_pin, jbyte port_b_analog_trigger, jbyte reverseDirection, jobject index, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
ENCODERJNI_LOG(logDEBUG) << "Module A = " << (jint)port_a_module;
ENCODERJNI_LOG(logDEBUG) << "Pin A = " << port_a_pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger A = " << (jint)port_a_analog_trigger;
ENCODERJNI_LOG(logDEBUG) << "Module B = " << (jint)port_b_module;
ENCODERJNI_LOG(logDEBUG) << "Pin B = " << port_b_pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger B = " << (jint)port_b_analog_trigger;
ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection;
jint * indexPtr = (jint*)env->GetDirectBufferAddress(index);
ENCODERJNI_LOG(logDEBUG) << "Index Ptr = " << indexPtr;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** encoderPtr = (void**)new unsigned char[4];
*encoderPtr = initializeEncoder(port_a_module, port_a_pin, port_a_analog_trigger,
port_b_module, port_b_pin, port_b_analog_trigger,
reverseDirection, indexPtr, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Index = " << *indexPtr;
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ENCODERJNI_LOG(logDEBUG) << "ENCODER Ptr = " << *encoderPtr;
return env->NewDirectByteBuffer( encoderPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: initializeEncoder
* Signature: (BIZBIZZLjava/nio/IntBuffer;)J
*/
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder
(JNIEnv * env, jclass, jbyte port_a_module, jint port_a_pin, jboolean port_a_analog_trigger, jbyte port_b_module, jint port_b_pin, jboolean port_b_analog_trigger, jboolean reverseDirection, jobject index)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
ENCODERJNI_LOG(logDEBUG) << "Module A = " << (jint)port_a_module;
ENCODERJNI_LOG(logDEBUG) << "Pin A = " << port_a_pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger A = " << (jint)port_a_analog_trigger;
ENCODERJNI_LOG(logDEBUG) << "Module B = " << (jint)port_b_module;
ENCODERJNI_LOG(logDEBUG) << "Pin B = " << port_b_pin;
ENCODERJNI_LOG(logDEBUG) << "Analog Trigger B = " << (jint)port_b_analog_trigger;
ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection;
jint * indexPtr = (jint*)env->GetDirectBufferAddress(index);
ENCODERJNI_LOG(logDEBUG) << "Index Ptr = " << indexPtr;
int32_t status = 0;
void* encoder = initializeEncoder(port_a_module, port_a_pin, port_a_analog_trigger,
port_b_module, port_b_pin, port_b_analog_trigger,
reverseDirection, indexPtr, &status);
ENCODERJNI_LOG(logDEBUG) << "Index = " << *indexPtr;
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
ENCODERJNI_LOG(logDEBUG) << "ENCODER Ptr = " << encoder;
CheckStatus(env, status);
return (jlong)encoder;
}
