[hal] Add high level way of getting systemserver NT instance (#7683)

hal/src/main/native/cpp/jni/SystemServerJNI.cpp

@@ -0,0 +1,24 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <jni.h>
+
+#include "edu_wpi_first_hal_SystemServerJNI.h"
+#include "hal/SystemServer.h"
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_hal_SystemServerJNI
+ * Method:    getSystemServerHandle
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_SystemServerJNI_getSystemServerHandle
+  (JNIEnv*, jclass)
+{
+  return HAL_GetSystemServerHandle();
+}
+
+}  // extern "C"

hal/src/main/native/include/hal/SystemServer.h

@@ -0,0 +1,17 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <ntcore_c.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+NT_Inst HAL_GetSystemServerHandle(void);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif

hal/src/main/native/sim/SystemServer.cpp

@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "hal/SystemServer.h"
+
+extern "C" {
+
+NT_Inst HAL_GetSystemServerHandle(void) {
+  return 0;
+}
+}  // extern "C"

hal/src/main/native/systemcore/FRCDriverStation.cpp

@@ -27,7 +27,7 @@
 #include <wpi/timestamp.h>
 
 #include "HALInitializer.h"
-#include "SystemServer.h"
+#include "SystemServerInternal.h"
 #include "hal/DriverStation.h"
 #include "hal/Errors.h"
 #include "hal/proto/ControlData.h"

hal/src/main/native/systemcore/HAL.cpp

@@ -27,7 +27,7 @@
 #include "CANInternal.h"
 #include "HALInitializer.h"
 #include "HALInternal.h"
-#include "SystemServer.h"
+#include "SystemServerInternal.h"
 #include "hal/DriverStation.h"
 #include "hal/Errors.h"
 #include "hal/Notifier.h"

hal/src/main/native/systemcore/SmartIo.cpp

@@ -7,7 +7,7 @@
 #include <atomic>
 
 #include "HALInitializer.h"
-#include "SystemServer.h"
+#include "SystemServerInternal.h"
 
 namespace hal {
 

hal/src/main/native/systemcore/SystemServer.cpp

@@ -2,8 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "SystemServer.h"
+#include "hal/SystemServer.h"
 
+#include "SystemServerInternal.h"
 #include "mrc/NtNetComm.h"
 
 namespace hal {
@@ -33,3 +34,10 @@ nt::NetworkTableInstance GetSystemServer() {
 }
 
 }  // namespace hal
+
+extern "C" {
+
+NT_Inst HAL_GetSystemServerHandle(void) {
+  return hal::ServerInstance.GetHandle();
+}
+}  // extern "C"