/**
* Creates an instance of the sensor base and gets an FPGA handle
*/
SensorBase::SensorBase() {
if (!portsInitialized) {
for (uint32_t i = 0; i < kDigitalChannels; i++) {
void* port = getPort(i);
int32_t status = 0;
m_digital_ports[i] = initializeDigitalPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
freePort(port);
}
for (uint32_t i = 0; i < kRelayChannels; i++) {
void* port = getPort(i);
int32_t status = 0;
m_relay_ports[i] = initializeDigitalPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
freePort(port);
}
for (uint32_t i = 0; i < kPwmChannels; i++) {
void* port = getPort(i);
int32_t status = 0;
m_pwm_ports[i] = initializeDigitalPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
freePort(port);
}
}
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: initializeDigitalPort
* Signature: (J)J;
*/
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDigitalPort
(JNIEnv * env, jclass, jlong id)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI initializeDigitalPort";
DIOJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
int32_t status = 0;
void* dio = initializeDigitalPort((void*)id, &status);
DIOJNI_LOG(logDEBUG) << "Status = " << status;
DIOJNI_LOG(logDEBUG) << "DIO Ptr = " << dio;
CheckStatus(env, status);
return (jlong)dio;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: initializeDigitalPort
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDigitalPort
(JNIEnv * env, jclass, jobject id, jobject status)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI initializeDigitalPort";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** dioPtr = (void**)new unsigned char[4];
*dioPtr = initializeDigitalPort(*javaId, statusPtr);
DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
DIOJNI_LOG(logDEBUG) << "DIO Ptr = " << *dioPtr;
return env->NewDirectByteBuffer( dioPtr, 4);
}
