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Java CANJaguar changes

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Change-Id: Icb15b1b140816e44caec36cda2466a64e5cabf1d

Change-Id: Idd6aebefe03acff5ab211a5e3e73a29563601515
This commit is contained in:
thomasclark
2014-06-24 11:50:10 -04:00
parent de96577602
commit 1bbf350811
11 changed files with 1707 additions and 1513 deletions
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120
wpilibj/wpilibJavaJNI/lib/CANJNI.cpp
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@@ -8,7 +8,8 @@
#include "NetworkCommunication/CANSessionMux.h"
// set the logging level
TLogLevel canJNILogLevel = logDEBUG;
//TLogLevel canJNILogLevel = logDEBUG;
TLogLevel canJNILogLevel = logERROR;
#define CANJNI_LOG(level) \
if (level > canJNILogLevel) ; \
@@ -20,34 +21,44 @@ TLogLevel canJNILogLevel = logDEBUG;
* Signature: (ILjava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxSendMessage
(JNIEnv * env, jclass, jint messageID, jobject data, jint periodMs, jobject status){
CANJNI_LOG(logDEBUG) << "Calling CANJNI JaguarCANDriverSendMessage";
CANJNI_LOG(logDEBUG) << "MessageID = " << std::hex << messageID;
jbyte * dataPtr = NULL;
jlong dataCapacity = 0;
(JNIEnv * env, jclass, jint messageID, jobject data, jint periodMs, jobject status)
{
CANJNI_LOG(logDEBUG) << "Calling CANJNI FRCNetworkCommunicationCANSessionMuxSendMessage";
if(data != 0){
dataPtr = (jbyte*)env->GetDirectBufferAddress(data);
dataCapacity = env->GetDirectBufferCapacity(data);
}
CANJNI_LOG(logDEBUG) << "MessageSize = " << dataCapacity;
uint8_t *dataBuffer = (uint8_t *)(data? env->GetDirectBufferAddress(data) : 0);
uint8_t dataSize = (uint8_t)(data? env->GetDirectBufferCapacity(data) : 0);
int32_t *statusPtr = (int32_t *)env->GetDirectBufferAddress(status);
if( logDEBUG <= canJNILogLevel )
{
std::ostringstream str;
str << std::setfill('0') << std::hex;
for( int dataIndex = 0; dataIndex < dataCapacity; dataIndex++)
{
str << std::setw(2) << static_cast<unsigned int>(dataPtr[dataIndex]) << " ";
}
Log().Get(logDEBUG) << "MSG: " << str.str();
}
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
//CANJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
FRC_NetworkCommunication_CANSessionMux_sendMessage((uint32_t) messageID, (const uint8_t*)dataPtr, periodMs, (uint8_t)dataCapacity, statusPtr);
CANJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
CANJNI_LOG(logDEBUG) << "Message ID " << std::hex << messageID;
if(logDEBUG <= canJNILogLevel)
{
if(dataBuffer)
{
std::ostringstream str;
str << std::setfill('0') << std::hex;
for(int i = 0; i < dataSize; i++)
{
str << std::setw(2) << (int)dataBuffer[i] << ' ';
}
Log().Get(logDEBUG) << "Data: " << str.str();
}
else
{
CANJNI_LOG(logDEBUG) << "Data: null";
}
}
CANJNI_LOG(logDEBUG) << "Period: " << periodMs;
FRC_NetworkCommunication_CANSessionMux_sendMessage(messageID, dataBuffer, dataSize, periodMs, statusPtr);
CANJNI_LOG(logDEBUG) << "Status: " << *statusPtr;
}
static uint8_t buffer[8];
/*
* Class: edu_wpi_first_wpilibj_can_CANJNI
* Method: FRCNetworkCommunicationCANSessionMuxReceiveMessage
@@ -56,43 +67,32 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunica
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxReceiveMessage
(JNIEnv * env, jclass, jobject messageID, jint messageIDMask, jobject timeStamp, jobject status)
{
CANJNI_LOG(logDEBUG) << "Calling CANJNI JaguarCANDriverReceiveMessage";
jint * messageIDPtr = (jint*)env->GetDirectBufferAddress(messageID);
CANJNI_LOG(logDEBUG) << "MessageID In = " << std::hex << *messageIDPtr;
jbyte * timeStampPtr = (jbyte*) env->GetDirectBufferAddress(timeStamp);
CANJNI_LOG(logDEBUG) << "TimeStamp In = " << *timeStampPtr;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
//CANJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
uint8_t dataSize = 8;
jbyte* dataPtr = new jbyte[8];
//CANJNI_LOG(logDEBUG) << "Original MessageSize = " << (jint)dataSize;
//CANJNI_LOG(logDEBUG) << "Original MessagePtr = " << (jint*)dataPtr;
FRC_NetworkCommunication_CANSessionMux_receiveMessage((uint32_t*)messageIDPtr, (uint32_t)messageIDMask,(uint8_t*)dataPtr, &dataSize, (uint32_t*)timeStampPtr, statusPtr);
CANJNI_LOG(logDEBUG) << "Calling CANJNI FRCNetworkCommunicationCANSessionMuxReceiveMessage";
//CANJNI_LOG(logDEBUG) << "MessageID Out = " << std::hex << *messageIDPtr;
CANJNI_LOG(logDEBUG) << "MessageSize = " << (jint)dataSize;
CANJNI_LOG(logDEBUG) << "MessagePtr = " << (jint*)dataPtr;
uint32_t *messageIDPtr = (uint32_t *)env->GetDirectBufferAddress(messageID);
uint32_t *timeStampPtr = (uint32_t *)env->GetDirectBufferAddress(timeStamp);
int32_t *statusPtr = (int32_t *)env->GetDirectBufferAddress(status);
if( logDEBUG <= canJNILogLevel )
{
std::ostringstream str;
str << std::setfill('0') << std::hex;
for( int dataIndex = 0; dataIndex < dataSize; dataIndex++)
{
str << std::setw(2) << static_cast<unsigned int>(dataPtr[dataIndex]) << " ";
}
Log().Get(logDEBUG) << "MSG: " << str.str();
}
uint8_t dataSize = 0;
CANJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
FRC_NetworkCommunication_CANSessionMux_receiveMessage(messageIDPtr, messageIDMask, buffer, &dataSize, timeStampPtr, statusPtr);
if( dataSize > 0 )
{
return env->NewDirectByteBuffer( dataPtr, dataSize);
}
else
{
return 0;
}
CANJNI_LOG(logDEBUG) << "Message ID " << std::hex << *messageIDPtr;
if(logDEBUG <= canJNILogLevel)
{
std::ostringstream str;
str << std::setfill('0') << std::hex;
for(int i = 0; i < dataSize; i++)
{
str << std::setw(2) << (int)buffer[i] << ' ';
}
Log().Get(logDEBUG) << "Data: " << str.str();
}
CANJNI_LOG(logDEBUG) << "Timestamp: " << *timeStampPtr;
CANJNI_LOG(logDEBUG) << "Status: " << *statusPtr;
return env->NewDirectByteBuffer(buffer, dataSize);
}