[docs] Add Missing JNI docs from C++ (NFC)

apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java

@@ -206,8 +206,22 @@ public static native Transform3d estimatePose(
       double cx,
       double cy);
 
+  /**
+   * Generates a RawFrame containing the apriltag with the id with family 16h5 passed in.
+   *
+   * @param frameObj generated frame (output parameter).
+   * @param frame raw frame handle
+   * @param id id
+   */
   public static native void generate16h5AprilTagImage(RawFrame frameObj, long frame, int id);
 
+  /**
+   * Generates a RawFrame containing the apriltag with the id with family 36h11 passed in.
+   *
+   * @param frameObj generated frame (output parameter).
+   * @param frame raw frame handle
+   * @param id id
+   */
   public static native void generate36h11AprilTagImage(RawFrame frameObj, long frame, int id);
 
   /** Utility class. */

hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java

@@ -84,6 +84,16 @@ public interface AnalogTriggerType {
    */
   public static native boolean checkAnalogInputChannel(int channel);
 
+  /**
+   * Checks that the analog output channel number is valid.
+   *
+   * <p>Verifies that the analog channel number is one of the legal channel numbers. Channel numbers
+   * are 0-based.
+   *
+   * @param channel The analog output channel number.
+   * @return Analog channel is valid
+   * @see "HAL_CheckAnalogOutputChannel"
+   */
   public static native boolean checkAnalogOutputChannel(int channel);
 
   /**
@@ -95,8 +105,22 @@ public interface AnalogTriggerType {
    */
   public static native void setAnalogInputSimDevice(int handle, int device);
 
+  /**
+   * Sets an analog output value.
+   *
+   * @param portHandle the analog output handle
+   * @param voltage the voltage (0-5v) to output
+   * @see "HAL_SetAnalogOutput"
+   */
   public static native void setAnalogOutput(int portHandle, double voltage);
 
+  /**
+   * Gets the current analog output value.
+   *
+   * @param portHandle the analog output handle
+   * @return the current output voltage (0-5v)
+   * @see "HAL_GetAnalogOutput"
+   */
   public static native double getAnalogOutput(int portHandle);
 
   /**

hal/src/main/java/edu/wpi/first/hal/PWMJNI.java

@@ -5,12 +5,41 @@
 package edu.wpi.first.hal;
 
 public class PWMJNI extends DIOJNI {
+  /**
+   * Initializes a PWM port.
+   *
+   * @param halPortHandle the port to initialize
+   * @return the created pwm handle
+   */
   public static native int initializePWMPort(int halPortHandle);
 
+  /**
+   * Checks if a pwm channel is valid.
+   *
+   * @param channel the channel to check
+   * @return true if the channel is valid, otherwise false
+   */
   public static native boolean checkPWMChannel(int channel);
 
+  /**
+   * Frees a PWM port.
+   *
+   * @param pwmPortHandle the pwm handle
+   */
   public static native void freePWMPort(int pwmPortHandle);
 
+  /**
+   * Sets the configuration settings for the PWM channel.
+   *
+   * <p>All values are in microseconds.
+   *
+   * @param pwmPortHandle the PWM handle
+   * @param maxPwm the maximum PWM value
+   * @param deadbandMaxPwm the high range of the center deadband
+   * @param centerPwm the center PWM value
+   * @param deadbandMinPwm the low range of the center deadband
+   * @param minPwm the minimum PWM value
+   */
   public static native void setPWMConfigMicroseconds(
       int pwmPortHandle,
       int maxPwm,
@@ -19,30 +48,120 @@ public static native void setPWMConfigMicroseconds(
       int deadbandMinPwm,
       int minPwm);
 
+  /**
+   * Gets the pwm configuration settings for the PWM channel.
+   *
+   * <p>Values are in microseconds.
+   *
+   * @param pwmPortHandle the PWM handle
+   * @return the pwm configuration settings
+   */
   public static native PWMConfigDataResult getPWMConfigMicroseconds(int pwmPortHandle);
 
+  /**
+   * Sets if the FPGA should output the center value if the input value is within the deadband.
+   *
+   * @param pwmPortHandle the PWM handle
+   * @param eliminateDeadband true to eliminate deadband, otherwise false
+   */
   public static native void setPWMEliminateDeadband(int pwmPortHandle, boolean eliminateDeadband);
 
+  /**
+   * Gets the current eliminate deadband value.
+   *
+   * @param pwmPortHandle the PWM handle
+   * @return true if set, otherwise false
+   */
   public static native boolean getPWMEliminateDeadband(int pwmPortHandle);
 
+  /**
+   * Sets a PWM channel to the desired pulse width in microseconds.
+   *
+   * @param pwmPortHandle the PWM handle
+   * @param microsecondPulseTime the PWM value to set
+   */
   public static native void setPulseTimeMicroseconds(int pwmPortHandle, int microsecondPulseTime);
 
+  /**
+   * Sets a PWM channel to the desired scaled value.
+   *
+   * <p>The values range from -1 to 1 and the period is controlled by the PWM Period and MinHigh
+   * registers.
+   *
+   * @param pwmPortHandle the PWM handle
+   * @param speed the scaled PWM value to set
+   */
   public static native void setPWMSpeed(int pwmPortHandle, double speed);
 
+  /**
+   * Sets a PWM channel to the desired position value.
+   *
+   * <p>The values range from 0 to 1 and the period is controlled by the PWM Period and MinHigh
+   * registers.
+   *
+   * @param pwmPortHandle the PWM handle
+   * @param position the positional PWM value to set
+   */
   public static native void setPWMPosition(int pwmPortHandle, double position);
 
+  /**
+   * Gets the current microsecond pulse time from a PWM channel.
+   *
+   * @param pwmPortHandle the PWM handle
+   * @return the current PWM microsecond pulse time
+   */
   public static native int getPulseTimeMicroseconds(int pwmPortHandle);
 
+  /**
+   * Gets a scaled value from a PWM channel.
+   *
+   * <p>The values range from -1 to 1.
+   *
+   * @param pwmPortHandle the PWM handle
+   * @return the current speed PWM value
+   */
   public static native double getPWMSpeed(int pwmPortHandle);
 
+  /**
+   * Gets a position value from a PWM channel.
+   *
+   * <p>The values range from 0 to 1.
+   *
+   * @param pwmPortHandle the PWM handle
+   * @return the current positional PWM value
+   */
   public static native double getPWMPosition(int pwmPortHandle);
 
+  /**
+   * Sets a PWM channel to be disabled.
+   *
+   * <p>The channel is disabled until the next time it is set. Note this is different from just
+   * setting a 0 speed, as this will actively stop all signaling on the channel.
+   *
+   * @param pwmPortHandle the PWM handle.
+   */
   public static native void setPWMDisabled(int pwmPortHandle);
 
+  /**
+   * Forces a PWM signal to go to 0 temporarily.
+   *
+   * @param pwmPortHandle the PWM handle.
+   */
   public static native void latchPWMZero(int pwmPortHandle);
 
+  /**
+   * Sets the PWM output to be a continuous high signal while enabled.
+   *
+   * @param pwmPortHandle the PWM handle.
+   */
   public static native void setAlwaysHighMode(int pwmPortHandle);
 
+  /**
+   * Sets how how often the PWM signal is squelched, thus scaling the period.
+   *
+   * @param pwmPortHandle the PWM handle.
+   * @param squelchMask the 2-bit mask of outputs to squelch
+   */
   public static native void setPWMPeriodScale(int pwmPortHandle, int squelchMask);
 
   /** Utility class. */

wpinet/src/main/java/edu/wpi/first/net/WPINetJNI.java

@@ -69,8 +69,21 @@ public static synchronized void forceLoad() throws IOException {
     libraryLoaded = true;
   }
 
+  /**
+   * Forward a local TCP port to a remote host and port. Note that local ports less than 1024 won't
+   * work as a normal user.
+   *
+   * @param port local port number
+   * @param remoteHost remote IP address / DNS name
+   * @param remotePort remote port number
+   */
   public static native void addPortForwarder(int port, String remoteHost, int remotePort);
 
+  /**
+   * Stop TCP forwarding on a port.
+   *
+   * @param port local port number
+   */
   public static native void removePortForwarder(int port);
 
   public static native int createMulticastServiceAnnouncer(

wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java

@@ -82,18 +82,67 @@ public static synchronized void forceLoad() throws IOException {
 
   public static native long getSystemTime();
 
+  /**
+   * Creates an event. Events have binary state (signaled or not signaled) and may be either
+   * automatically reset or manually reset. Automatic-reset events go to non-signaled state when a
+   * WaitForObject is woken up by the event; manual-reset events require ResetEvent() to be called
+   * to set the event to non-signaled state; if ResetEvent() is not called, any waiter on that event
+   * will immediately wake when called.
+   *
+   * @param manualReset true for manual reset, false for automatic reset
+   * @param initialState true to make the event initially in signaled state
+   * @return Event handle
+   */
   public static native int createEvent(boolean manualReset, boolean initialState);
 
+  /**
+   * Destroys an event. Destruction wakes up any waiters.
+   *
+   * @param eventHandle event handle
+   */
   public static native void destroyEvent(int eventHandle);
 
+  /**
+   * Sets an event to signaled state.
+   *
+   * @param eventHandle event handle
+   */
   public static native void setEvent(int eventHandle);
 
+  /**
+   * Sets an event to non-signaled state.
+   *
+   * @param eventHandle event handle
+   */
   public static native void resetEvent(int eventHandle);
 
+  /**
+   * Creates a semaphore. Semaphores keep an internal counter. Releasing the semaphore increases the
+   * count. A semaphore with a non-zero count is considered signaled. When a waiter wakes up it
+   * atomically decrements the count by 1. This is generally useful in a single-supplier,
+   * multiple-consumer scenario.
+   *
+   * @param initialCount initial value for the semaphore's internal counter
+   * @param maximumCount maximum value for the samephore's internal counter
+   * @return Semaphore handle
+   */
   public static native int createSemaphore(int initialCount, int maximumCount);
 
+  /**
+   * Destroys a semaphore. Destruction wakes up any waiters.
+   *
+   * @param semHandle semaphore handle
+   */
   public static native void destroySemaphore(int semHandle);
 
+  /**
+   * Releases N counts of a semaphore.
+   *
+   * @param semHandle semaphore handle
+   * @param releaseCount amount to add to semaphore's internal counter; must be positive
+   * @return True on successful release, false on failure (e.g. release count would exceed maximum
+   *     value, or handle invalid)
+   */
   public static native boolean releaseSemaphore(int semHandle, int releaseCount);
 
   static native long allocateRawFrame();