/**
* Construct an analog input.
*
* @param channel The channel number on the roboRIO to represent. 0-3 are
* on-board 4-7 are on the MXP port.
*/
AnalogInput::AnalogInput(uint32_t channel) {
std::stringstream buf;
buf << "Analog Input " << channel;
Resource::CreateResourceObject(inputs, kAnalogInputs);
if (!checkAnalogInputChannel(channel)) {
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
return;
}
if (inputs->Allocate(channel, buf.str()) ==
std::numeric_limits<uint32_t>::max()) {
CloneError(*inputs);
return;
}
m_channel = channel;
void *port = getPort(channel);
int32_t status = 0;
m_port = initializeAnalogInputPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
LiveWindow::GetInstance()->AddSensor("AnalogInput", channel, this);
HALReport(HALUsageReporting::kResourceType_AnalogChannel, channel);
}
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: initializeAnalogInputPort
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_initializeAnalogInputPort
(JNIEnv * env, jclass, jobject id, jobject status)
{
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ANALOGJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ANALOGJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** analogPtr = (void**)new unsigned char[4];
*analogPtr = initializeAnalogInputPort(*javaId, statusPtr);
ANALOGJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
ANALOGJNI_LOG(logDEBUG) << "Analog Ptr = " << *analogPtr;
return env->NewDirectByteBuffer( analogPtr, 4);
}
void* initializeAnalogTrigger(void* port_pointer, uint32_t *index, int32_t *status) {
Port* port = (Port*) port_pointer;
hal::Resource::CreateResourceObject(&triggers, tAnalogTrigger::kNumSystems);
AnalogTrigger* trigger = new AnalogTrigger();
trigger->port = (AnalogPort*) initializeAnalogInputPort(port, status);
trigger->index = triggers->Allocate("Analog Trigger");
*index = trigger->index;
// TODO: if (index == ~0ul) { CloneError(triggers); return; }
trigger->trigger = tAnalogTrigger::create(trigger->index, status);
trigger->trigger->writeSourceSelect_Channel(port->pin, status);
return trigger;
}
