java/src/pid.c

   1 #include "a.h"
   2 #include "a/pid.h"
   3 #include "liba_pid.h"
   4 #if A_PREREQ_GNUC(3, 0) || __has_warning("-Wfloat-equal")
   5 #pragma GCC diagnostic ignored "-Wfloat-equal"
   6 #endif /* -Wfloat-equal */
   7
   8 #undef L
   9 #define L Java_liba_pid
  10 static struct
  11 {
  12     jmethodID _new;
  13     jfieldID ctx;
  14 } L = {NULL, NULL};
  15
  16 JNIEXPORT void JNICALL Java_liba_pid_clinit(JNIEnv *_env, jclass _cls)
  17 {
  18     jclass _nbb = (*_env)->FindClass(_env, "Ljava/nio/ByteBuffer;");
  19     L._new = (*_env)->GetStaticMethodID(_env, _nbb, "allocateDirect", "(I)Ljava/nio/ByteBuffer;");
  20     L.ctx = (*_env)->GetFieldID(_env, _cls, "ctx", "Ljava/nio/ByteBuffer;");
  21 }
  22
  23 JNIEXPORT void JNICALL Java_liba_pid_init(JNIEnv *_env, jobject _obj)
  24 {
  25     jobject _ctx = (*_env)->CallObjectMethod(_env, _obj, L._new, (jint)sizeof(a_pid));
  26     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  27     (*_env)->SetObjectField(_env, _obj, L.ctx, _ctx);
  28     ctx->kp = 1;
  29     ctx->summax = +A_FLOAT_INF;
  30     ctx->summin = -A_FLOAT_INF;
  31     ctx->outmax = +A_FLOAT_INF;
  32     ctx->outmin = -A_FLOAT_INF;
  33     a_pid_init(ctx);
  34 }
  35
  36 JNIEXPORT jdouble JNICALL Java_liba_pid_kp__(JNIEnv *_env, jobject _obj)
  37 {
  38     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  39     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  40     return ctx->kp;
  41 }
  42
  43 JNIEXPORT jobject JNICALL Java_liba_pid_kp__D(JNIEnv *_env, jobject _obj, jdouble kp)
  44 {
  45     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  46     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  47     ctx->kp = kp;
  48     return _obj;
  49 }
  50
  51 JNIEXPORT jdouble JNICALL Java_liba_pid_ki__(JNIEnv *_env, jobject _obj)
  52 {
  53     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  54     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  55     return ctx->ki;
  56 }
  57
  58 JNIEXPORT jobject JNICALL Java_liba_pid_ki__D(JNIEnv *_env, jobject _obj, jdouble ki)
  59 {
  60     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  61     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  62     ctx->ki = ki;
  63     return _obj;
  64 }
  65
  66 JNIEXPORT jdouble JNICALL Java_liba_pid_kd__(JNIEnv *_env, jobject _obj)
  67 {
  68     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  69     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  70     return ctx->kd;
  71 }
  72
  73 JNIEXPORT jobject JNICALL Java_liba_pid_kd__D(JNIEnv *_env, jobject _obj, jdouble kd)
  74 {
  75     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  76     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  77     ctx->kd = kd;
  78     return _obj;
  79 }
  80
  81 JNIEXPORT jdouble JNICALL Java_liba_pid_summax__(JNIEnv *_env, jobject _obj)
  82 {
  83     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  84     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  85     return ctx->summax;
  86 }
  87
  88 JNIEXPORT jobject JNICALL Java_liba_pid_summax__D(JNIEnv *_env, jobject _obj, jdouble summax)
  89 {
  90     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  91     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  92     ctx->summax = summax;
  93     return _obj;
  94 }
  95
  96 JNIEXPORT jdouble JNICALL Java_liba_pid_summin__(JNIEnv *_env, jobject _obj)
  97 {
  98     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  99     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 100     return ctx->summin;
 101 }
 102
 103 JNIEXPORT jobject JNICALL Java_liba_pid_summin__D(JNIEnv *_env, jobject _obj, jdouble summin)
 104 {
 105     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 106     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 107     ctx->summin = summin;
 108     return _obj;
 109 }
 110
 111 JNIEXPORT jdouble JNICALL Java_liba_pid_sum(JNIEnv *_env, jobject _obj)
 112 {
 113     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 114     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 115     return ctx->sum;
 116 }
 117
 118 JNIEXPORT jdouble JNICALL Java_liba_pid_outmax__(JNIEnv *_env, jobject _obj)
 119 {
 120     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 121     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 122     return ctx->outmax;
 123 }
 124
 125 JNIEXPORT jobject JNICALL Java_liba_pid_outmax__D(JNIEnv *_env, jobject _obj, jdouble outmax)
 126 {
 127     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 128     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 129     ctx->outmax = outmax;
 130     return _obj;
 131 }
 132
 133 JNIEXPORT jdouble JNICALL Java_liba_pid_outmin__(JNIEnv *_env, jobject _obj)
 134 {
 135     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 136     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 137     return ctx->outmin;
 138 }
 139
 140 JNIEXPORT jobject JNICALL Java_liba_pid_outmin__D(JNIEnv *_env, jobject _obj, jdouble outmin)
 141 {
 142     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 143     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 144     ctx->outmin = outmin;
 145     return _obj;
 146 }
 147
 148 JNIEXPORT jdouble JNICALL Java_liba_pid_out(JNIEnv *_env, jobject _obj)
 149 {
 150     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 151     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 152     return ctx->out;
 153 }
 154
 155 JNIEXPORT jdouble JNICALL Java_liba_pid_fdb(JNIEnv *_env, jobject _obj)
 156 {
 157     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 158     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 159     return ctx->fdb;
 160 }
 161
 162 JNIEXPORT jdouble JNICALL Java_liba_pid_err(JNIEnv *_env, jobject _obj)
 163 {
 164     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 165     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 166     return ctx->err;
 167 }
 168
 169 JNIEXPORT jobject JNICALL Java_liba_pid_kpid(JNIEnv *_env, jobject _obj, jdouble kp, jdouble ki, jdouble kd)
 170 {
 171     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 172     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 173     a_pid_kpid(ctx, kp, ki, kd);
 174     return _obj;
 175 }
 176
 177 JNIEXPORT jdouble JNICALL Java_liba_pid_run(JNIEnv *_env, jobject _obj, jdouble set, jdouble fdb)
 178 {
 179     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 180     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 181     return a_pid_run(ctx, set, fdb);
 182 }
 183 JNIEXPORT jdouble JNICALL Java_liba_pid_pos(JNIEnv *_env, jobject _obj, jdouble set, jdouble fdb)
 184 {
 185     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 186     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 187     return a_pid_pos(ctx, set, fdb);
 188 }
 189
 190 JNIEXPORT jdouble JNICALL Java_liba_pid_inc(JNIEnv *_env, jobject _obj, jdouble set, jdouble fdb)
 191 {
 192     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 193     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 194     return a_pid_inc(ctx, set, fdb);
 195 }
 196
 197 JNIEXPORT jobject JNICALL Java_liba_pid_zero(JNIEnv *_env, jobject _obj)
 198 {
 199     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 200     a_pid *ctx = (a_pid *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 201     a_pid_zero(ctx);
 202     return _obj;
 203 }