allwpilib/hal/src/main/native/sim/jni/DriverStationDataJNI.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#include <jni.h>

#include "CallbackStore.h"
#include "MockData/DriverStationData.h"
#include "edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI.h"

extern "C" {

JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_registerEnabledCallback(
    JNIEnv* env, jclass, jobject callback, jboolean initialNotify) {
  return sim::AllocateCallbackNoIndex(
      env, callback, initialNotify,
      &HALSIM_RegisterDriverStationEnabledCallback);
}

JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_cancelEnabledCallback(
    JNIEnv* env, jclass, jint handle) {
  return sim::FreeCallbackNoIndex(env, handle,
                                  &HALSIM_CancelDriverStationEnabledCallback);
}

JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_getEnabled(JNIEnv*,
                                                                    jclass) {
  return HALSIM_GetDriverStationEnabled();
}

JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setEnabled(
    JNIEnv*, jclass, jboolean value) {
  HALSIM_SetDriverStationEnabled(value);
}

JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_registerAutonomousCallback(
    JNIEnv* env, jclass, jobject callback, jboolean initialNotify) {
  return sim::AllocateCallbackNoIndex(
      env, callback, initialNotify,
      &HALSIM_RegisterDriverStationAutonomousCallback);
}

JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_cancelAutonomousCallback(
    JNIEnv* env, jclass, jint handle) {
  return sim::FreeCallbackNoIndex(
      env, handle, &HALSIM_CancelDriverStationAutonomousCallback);
}

JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_getAutonomous(JNIEnv*,
                                                                       jclass) {
  return HALSIM_GetDriverStationAutonomous();
}

JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setAutonomous(
    JNIEnv*, jclass, jboolean value) {
  HALSIM_SetDriverStationAutonomous(value);
}

JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_registerTestCallback(
    JNIEnv* env, jclass, jobject callback, jboolean initialNotify) {
  return sim::AllocateCallbackNoIndex(
      env, callback, initialNotify, &HALSIM_RegisterDriverStationTestCallback);
}

JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_cancelTestCallback(
    JNIEnv* env, jclass, jint handle) {
  return sim::FreeCallbackNoIndex(env, handle,
                                  &HALSIM_CancelDriverStationTestCallback);
}

JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_getTest(JNIEnv*,
                                                                 jclass) {
  return HALSIM_GetDriverStationTest();
}

JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setTest(
    JNIEnv*, jclass, jboolean value) {
  HALSIM_SetDriverStationTest(value);
}

JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_registerEStopCallback(
    JNIEnv* env, jclass, jobject callback, jboolean initialNotify) {
  return sim::AllocateCallbackNoIndex(
      env, callback, initialNotify, &HALSIM_RegisterDriverStationEStopCallback);
}

JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_cancelEStopCallback(
    JNIEnv* env, jclass, jint handle) {
  return sim::FreeCallbackNoIndex(env, handle,
                                  &HALSIM_CancelDriverStationEStopCallback);
}

JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_getEStop(JNIEnv*,
                                                                  jclass) {
  return HALSIM_GetDriverStationEStop();
}

JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setEStop(
    JNIEnv*, jclass, jboolean value) {
  HALSIM_SetDriverStationEStop(value);
}

JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_registerFmsAttachedCallback(
    JNIEnv* env, jclass, jobject callback, jboolean initialNotify) {
  return sim::AllocateCallbackNoIndex(
      env, callback, initialNotify,
      &HALSIM_RegisterDriverStationFmsAttachedCallback);
}

JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_cancelFmsAttachedCallback(
    JNIEnv* env, jclass, jint handle) {
  return sim::FreeCallbackNoIndex(
      env, handle, &HALSIM_CancelDriverStationFmsAttachedCallback);
}

JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_getFmsAttached(
    JNIEnv*, jclass) {
  return HALSIM_GetDriverStationFmsAttached();
}

JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setFmsAttached(
    JNIEnv*, jclass, jboolean value) {
  HALSIM_SetDriverStationFmsAttached(value);
}

JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_registerDsAttachedCallback(
    JNIEnv* env, jclass, jobject callback, jboolean initialNotify) {
  return sim::AllocateCallbackNoIndex(
      env, callback, initialNotify,
      &HALSIM_RegisterDriverStationDsAttachedCallback);
}

JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_cancelDsAttachedCallback(
    JNIEnv* env, jclass, jint handle) {
  return sim::FreeCallbackNoIndex(
      env, handle, &HALSIM_CancelDriverStationDsAttachedCallback);
}

JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_getDsAttached(JNIEnv*,
                                                                       jclass) {
  return HALSIM_GetDriverStationDsAttached();
}

JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setDsAttached(
    JNIEnv*, jclass, jboolean value) {
  HALSIM_SetDriverStationDsAttached(value);
}

/*
 * Class:     edu_wpi_first_hal_sim_mockdata_DriverStationSim
 * Method:    setJoystickAxes
 * Signature: (B[F)V
 */
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setJoystickAxes(
    JNIEnv* env, jclass, jbyte joystickNum, jfloatArray axesArray) {
  HAL_JoystickAxes axes;
  {
    wpi::java::JFloatArrayRef jArrayRef(env, axesArray);
    auto arrayRef = jArrayRef.array();
    auto arraySize = arrayRef.size();
    int maxCount =
        arraySize < HAL_kMaxJoystickAxes ? arraySize : HAL_kMaxJoystickAxes;
    axes.count = maxCount;
    for (int i = 0; i < maxCount; i++) {
      axes.axes[i] = arrayRef[i];
    }
  }
  HALSIM_SetJoystickAxes(joystickNum, &axes);
  return;
}

/*
 * Class:     edu_wpi_first_hal_sim_mockdata_DriverStationSim
 * Method:    setJoystickPOVs
 * Signature: (B[S)V
 */
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setJoystickPOVs(
    JNIEnv* env, jclass, jbyte joystickNum, jshortArray povsArray) {
  HAL_JoystickPOVs povs;
  {
    wpi::java::JShortArrayRef jArrayRef(env, povsArray);
    auto arrayRef = jArrayRef.array();
    auto arraySize = arrayRef.size();
    int maxCount =
        arraySize < HAL_kMaxJoystickPOVs ? arraySize : HAL_kMaxJoystickPOVs;
    povs.count = maxCount;
    for (int i = 0; i < maxCount; i++) {
      povs.povs[i] = arrayRef[i];
    }
  }
  HALSIM_SetJoystickPOVs(joystickNum, &povs);
  return;
}

/*
 * Class:     edu_wpi_first_hal_sim_mockdata_DriverStationSim
 * Method:    setJoystickButtons
 * Signature: (BII)V
 */
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setJoystickButtons(
    JNIEnv* env, jclass, jbyte joystickNum, jint buttons, jint count) {
  if (count > 32) {
    count = 32;
  }
  HAL_JoystickButtons joystickButtons;
  joystickButtons.count = count;
  joystickButtons.buttons = buttons;
  HALSIM_SetJoystickButtons(joystickNum, &joystickButtons);
}

/*
 * Class:     edu_wpi_first_hal_sim_mockdata_DriverStationSim
 * Method:    setMatchInfo
 * Signature: (Ledu/wpi/first/wpilibj/hal/MatchInfoData;)V
 */
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setMatchInfo(
    JNIEnv* env, jclass, jobject info) {}

/*
 * Class:     edu_wpi_first_hal_sim_mockdata_DriverStationSim
 * Method:    registerAllCallbacks
 * Signature: (Ledu/wpi/first/hal/sim/NotifyCallback;Z)V
 */
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_registerAllCallbacks(
    JNIEnv* env, jclass, jobject callback, jboolean initialNotify) {
  sim::AllocateCallbackNoIndex(
      env, callback, initialNotify,
      [](HAL_NotifyCallback cb, void* param, HAL_Bool in) {
        HALSIM_RegisterDriverStationAllCallbacks(cb, param, in);
        return 0;
      });
}

/*
 * Class:     edu_wpi_first_hal_sim_mockdata_DriverStationSim
 * Method:    notifyNewData
 * Signature: ()V
 */
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_notifyNewData(JNIEnv*,
                                                                       jclass) {
  HALSIM_NotifyDriverStationNewData();
}

JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_resetData(JNIEnv*,
                                                                   jclass) {
  HALSIM_ResetDriverStationData();
}

}  // extern "C"