allwpilib/wpilibj/src/athena/cpp/lib/HALUtil.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. 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 "HALUtil.h"

#include <assert.h>
#include <errno.h>
#include <jni.h>

#include <cstring>
#include <string>

#include "FRC_NetworkCommunication/CANSessionMux.h"
#include "HAL/HAL.h"
#include "HAL/DriverStation.h"
#include "HAL/Errors.h"
#include "HAL/cpp/Log.h"
#include "edu_wpi_first_wpilibj_hal_HALUtil.h"
#include "llvm/SmallString.h"
#include "support/jni_util.h"

using namespace wpi::java;

// set the logging level
TLogLevel halUtilLogLevel = logWARNING;

#define HALUTIL_LOG(level)     \
  if (level > halUtilLogLevel) \
    ;                          \
  else                         \
  Log().Get(level)

#define kRioStatusOffset -63000
#define kRioStatusSuccess 0
#define kRIOStatusBufferInvalidSize (kRioStatusOffset - 80)
#define kRIOStatusOperationTimedOut -52007
#define kRIOStatusFeatureNotSupported (kRioStatusOffset - 193)
#define kRIOStatusResourceNotInitialized -52010

JavaVM *jvm = nullptr;
static JException runtimeExCls;
static JException illegalArgExCls;
static JException boundaryExCls;
static JException allocationExCls;
static JException halHandleExCls;
static JException canInvalidBufferExCls;
static JException canMessageNotFoundExCls;
static JException canMessageNotAllowedExCls;
static JException canNotInitializedExCls;
static JException uncleanStatusExCls;
static JClass pwmConfigDataResultCls;

namespace frc {

void ThrowAllocationException(JNIEnv *env, int32_t minRange, int32_t maxRange, 
    int32_t requestedValue, int32_t status) {
  const char *message = HAL_GetErrorMessage(status);
  char *buf = new char[strlen(message) + 100];
  sprintf(buf, 
      " Code: $%d. %s, Minimum Value: %d, Maximum Value: %d, Requested Value: %d", 
      status, message, minRange, maxRange, requestedValue);
  allocationExCls.Throw(env, buf);
  delete[] buf;
}

void ThrowHalHandleException(JNIEnv *env, int32_t status) {
  const char *message = HAL_GetErrorMessage(status);
  char *buf = new char[strlen(message) + 30];
  sprintf(buf, " Code: $%d. %s", status, message);
  halHandleExCls.Throw(env, buf);
  delete[] buf;
}

constexpr const char wpilibjPrefix[] = "edu.wpi.first.wpilibj";  

void ReportError(JNIEnv *env, int32_t status, bool do_throw) {
  if (status == 0) return;
  if (status == HAL_HANDLE_ERROR) {
    ThrowHalHandleException(env, status);
  }
  const char *message = HAL_GetErrorMessage(status);
  if (do_throw && status < 0) {
    char *buf = new char[strlen(message) + 30];
    sprintf(buf, " Code: %d. %s", status, message);
    runtimeExCls.Throw(env, buf);
    delete[] buf;
  } else {
    std::string func;
    auto stack = GetJavaStackTrace<wpilibjPrefix>(env, &func);
    HAL_SendError(1, status, 0, message, func.c_str(), stack.c_str(), 1);
  }
}

void ThrowError(JNIEnv *env, int32_t status, int32_t minRange, int32_t maxRange, 
                int32_t requestedValue) {
  if (status == 0) return;
  if (status == NO_AVAILABLE_RESOURCES || 
      status == RESOURCE_IS_ALLOCATED || 
      status == RESOURCE_OUT_OF_RANGE) {
    ThrowAllocationException(env, minRange, maxRange, requestedValue, status);
  }
  if (status == HAL_HANDLE_ERROR) {
    ThrowHalHandleException(env, status);
  }
  const char *message = HAL_GetErrorMessage(status);
  char *buf = new char[strlen(message) + 30];
  sprintf(buf, " Code: %d. %s", status, message);
  runtimeExCls.Throw(env, buf);
  delete[] buf;
}

void ReportCANError(JNIEnv *env, int32_t status, int message_id) {
  if (status >= 0) return;
  switch (status) {
    case kRioStatusSuccess:
      // Everything is ok... don't throw.
      break;
    case ERR_CANSessionMux_InvalidBuffer:
    case kRIOStatusBufferInvalidSize: {
      static jmethodID invalidBufConstruct = nullptr;
      if (!invalidBufConstruct)
        invalidBufConstruct =
            env->GetMethodID(canInvalidBufferExCls, "<init>", "()V");
      jobject exception =
          env->NewObject(canInvalidBufferExCls, invalidBufConstruct);
      env->Throw(static_cast<jthrowable>(exception));
      break;
    }
    case ERR_CANSessionMux_MessageNotFound:
    case kRIOStatusOperationTimedOut: {
      static jmethodID messageNotFoundConstruct = nullptr;
      if (!messageNotFoundConstruct)
        messageNotFoundConstruct =
            env->GetMethodID(canMessageNotFoundExCls, "<init>", "()V");
      jobject exception =
          env->NewObject(canMessageNotFoundExCls, messageNotFoundConstruct);
      env->Throw(static_cast<jthrowable>(exception));
      break;
    }
    case ERR_CANSessionMux_NotAllowed:
    case kRIOStatusFeatureNotSupported: {
      char buf[100];
      sprintf(buf, "MessageID = %d", message_id);
      canMessageNotAllowedExCls.Throw(env, buf);
      break;
    }
    case ERR_CANSessionMux_NotInitialized:
    case kRIOStatusResourceNotInitialized: {
      static jmethodID notInitConstruct = nullptr;
      if (!notInitConstruct)
        notInitConstruct =
            env->GetMethodID(canNotInitializedExCls, "<init>", "()V");
      jobject exception =
          env->NewObject(canNotInitializedExCls, notInitConstruct);
      env->Throw(static_cast<jthrowable>(exception));
      break;
    }
    default: {
      char buf[100];
      sprintf(buf, "Fatal status code detected: %d", status);
      uncleanStatusExCls.Throw(env, buf);
      break;
    }
  }
}

void ThrowIllegalArgumentException(JNIEnv *env, const char *msg) {
  illegalArgExCls.Throw(env, msg);
}

void ThrowBoundaryException(JNIEnv *env, double value, double lower,
                            double upper) {
  static jmethodID getMessage = nullptr;
  if (!getMessage)
    getMessage = env->GetStaticMethodID(boundaryExCls, "getMessage",
                                        "(DDD)Ljava/lang/String;");

  static jmethodID constructor = nullptr;
  if (!constructor)
    constructor =
        env->GetMethodID(boundaryExCls, "<init>", "(Ljava/lang/String;)V");

  jobject msg =
      env->CallStaticObjectMethod(boundaryExCls, getMessage,
                                  static_cast<jdouble>(value),
                                  static_cast<jdouble>(lower),
                                  static_cast<jdouble>(upper));
  jobject ex = env->NewObject(boundaryExCls, constructor, msg);
  env->Throw(static_cast<jthrowable>(ex));
}

jobject CreatePWMConfigDataResult(JNIEnv *env, int32_t maxPwm,
                  int32_t deadbandMaxPwm, int32_t centerPwm,
                  int32_t deadbandMinPwm, int32_t minPwm) {
  static jmethodID constructor =
      env->GetMethodID(pwmConfigDataResultCls, "<init>",
                       "(IIIII)V");
  return env->NewObject(pwmConfigDataResultCls, constructor, maxPwm,
                        deadbandMaxPwm, centerPwm, deadbandMinPwm,
                        minPwm);
}

}  // namespace frc

using namespace frc;

extern "C" {

//
// indicate JNI version support desired and load classes
//
JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved) {
  jvm = vm;

  // set our logging level
  Log::ReportingLevel() = logDEBUG;

  JNIEnv *env;
  if (vm->GetEnv(reinterpret_cast<void **>(&env), JNI_VERSION_1_6) != JNI_OK)
    return JNI_ERR;

  runtimeExCls = JException(env, "java/lang/RuntimeException");
  if (!runtimeExCls) return JNI_ERR;

  illegalArgExCls = JException(env, "java/lang/IllegalArgumentException");
  if (!illegalArgExCls) return JNI_ERR;

  boundaryExCls = JException(env, "edu/wpi/first/wpilibj/util/BoundaryException");
  if (!boundaryExCls) return JNI_ERR;

  allocationExCls = JException(env, "edu/wpi/first/wpilibj/util/AllocationException");
  if (!allocationExCls) return JNI_ERR;

  halHandleExCls = JException(env, "edu/wpi/first/wpilibj/util/HalHandleException");
  if (!halHandleExCls) return JNI_ERR;

  canInvalidBufferExCls = JException(env, "edu/wpi/first/wpilibj/can/CANInvalidBufferException");
  if (!canInvalidBufferExCls) return JNI_ERR;

  canMessageNotFoundExCls = JException(env, "edu/wpi/first/wpilibj/can/CANMessageNotFoundException");
  if (!canMessageNotFoundExCls) return JNI_ERR;

  canMessageNotAllowedExCls = JException(env, "edu/wpi/first/wpilibj/can/CANMessageNotAllowedException");
  if (!canMessageNotAllowedExCls) return JNI_ERR;

  canNotInitializedExCls = JException(env, "edu/wpi/first/wpilibj/can/CANNotInitializedException");
  if (!canNotInitializedExCls) return JNI_ERR;

  uncleanStatusExCls = JException(env,"edu/wpi/first/wpilibj/util/UncleanStatusException");
  if (!uncleanStatusExCls) return JNI_ERR;

  pwmConfigDataResultCls = JClass(env, "edu/wpi/first/wpilibj/PWMConfigDataResult");
  if (!pwmConfigDataResultCls) return JNI_ERR;

  return JNI_VERSION_1_6;
}

JNIEXPORT void JNICALL JNI_OnUnload(JavaVM *vm, void *reserved) {
  JNIEnv *env;
  if (vm->GetEnv(reinterpret_cast<void **>(&env), JNI_VERSION_1_6) != JNI_OK)
    return;
  // Delete global references
  runtimeExCls.free(env);
  illegalArgExCls.free(env);
  boundaryExCls.free(env);
  allocationExCls.free(env);
  halHandleExCls.free(env);
  canInvalidBufferExCls.free(env);
  canMessageNotFoundExCls.free(env);
  canMessageNotAllowedExCls.free(env);
  canNotInitializedExCls.free(env);
  uncleanStatusExCls.free(env);
  pwmConfigDataResultCls.free(env);
  jvm = nullptr;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    getFPGAVersion
 * Signature: ()S
 */
JNIEXPORT jshort JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAVersion(JNIEnv *env, jclass) {
  HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGAVersion";
  int32_t status = 0;
  jshort returnValue = HAL_GetFPGAVersion(&status);
  HALUTIL_LOG(logDEBUG) << "Status = " << status;
  HALUTIL_LOG(logDEBUG) << "FPGAVersion = " << returnValue;
  CheckStatus(env, status);
  return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    getFPGARevision
 * Signature: ()I
 */
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGARevision(JNIEnv *env, jclass) {
  HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGARevision";
  int32_t status = 0;
  jint returnValue = HAL_GetFPGARevision(&status);
  HALUTIL_LOG(logDEBUG) << "Status = " << status;
  HALUTIL_LOG(logDEBUG) << "FPGARevision = " << returnValue;
  CheckStatus(env, status);
  return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    getFPGATime
 * Signature: ()J
 */
JNIEXPORT jlong JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGATime(JNIEnv *env, jclass) {
  // HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
  int32_t status = 0;
  jlong returnValue = HAL_GetFPGATime(&status);
  // HALUTIL_LOG(logDEBUG) << "Status = " << status;
  // HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
  CheckStatus(env, status);
  return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    getHALRuntimeType
 * Signature: ()I
 */
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALRuntimeType(JNIEnv *env, jclass) {
  // HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALRuntimeType";
  jint returnValue = HAL_GetRuntimeType();
  // HALUTIL_LOG(logDEBUG) << "RuntimeType = " << returnValue;
  return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    getFPGAButton
 * Signature: ()I
 */
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAButton(JNIEnv *env, jclass) {
  // HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
  int32_t status = 0;
  jboolean returnValue = HAL_GetFPGAButton(&status);
  // HALUTIL_LOG(logDEBUG) << "Status = " << status;
  // HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
  CheckStatus(env, status);
  return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    getHALErrorMessage
 * Signature: (I)Ljava/lang/String;
 */
JNIEXPORT jstring JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrorMessage(
    JNIEnv *paramEnv, jclass, jint paramId) {
  const char *msg = HAL_GetErrorMessage(paramId);
  HALUTIL_LOG(logDEBUG) << "Calling HALUtil HAL_GetErrorMessage id=" << paramId
                        << " msg=" << msg;
  return MakeJString(paramEnv, msg);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    getHALErrno
 * Signature: ()I
 */
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrno(JNIEnv *, jclass) {
  return errno;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    getHALstrerror
 * Signature: (I)Ljava/lang/String;
 */
JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALstrerror(
    JNIEnv *env, jclass, jint errorCode) {
  const char *msg = strerror(errno);
  HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALstrerror errorCode="
                        << errorCode << " msg=" << msg;
  return MakeJString(env, msg);
}

}  // extern "C"