/**
* Set the direction sensing for this encoder.
*
* This sets the direction sensing on the encoder so that it could count in the
* correct software direction regardless of the mounting.
*
* @param reverseDirection true if the encoder direction should be reversed
*/
void Encoder::SetReverseDirection(bool reverseDirection) {
if (StatusIsFatal()) return;
if (m_counter) {
m_counter->SetReverseDirection(reverseDirection);
} else {
int32_t status = 0;
setEncoderReverseDirection(m_encoder, reverseDirection, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderReverseDirection
* Signature: (JZ)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderReverseDirection
(JNIEnv * env, jclass, jlong id, jboolean value)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderReverseDirection";
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
int32_t status = 0;
setEncoderReverseDirection((void*)id, value, &status);
ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
* Method: setEncoderReverseDirection
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderReverseDirection
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
{
ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderReverseDirection";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
ENCODERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setEncoderReverseDirection(*javaId, value, statusPtr);
ENCODERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
