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https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
[hal] Implement stub mockdata on RoboRIO (#2575)
This makes it much more user-friendly to use simulation classes without needing to ifdef for C++ to avoid linker errors or be very careful about construction to avoid runtime errors in Java.
This commit is contained in:
Peter Johnson
306
hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
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306
hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <jni.h>
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#include "CallbackStore.h"
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#include "ConstBufferCallbackStore.h"
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#include "edu_wpi_first_hal_simulation_AddressableLEDDataJNI.h"
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#include "hal/simulation/AddressableLEDData.h"
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static_assert(sizeof(jbyte) * 4 == sizeof(HAL_AddressableLEDData));
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using namespace hal;
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using namespace wpi::java;
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extern "C" {
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: registerInitializedCallback
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* Signature: (ILjava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_registerInitializedCallback
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(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallback(
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env, index, callback, initialNotify,
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&HALSIM_RegisterAddressableLEDInitializedCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: cancelInitializedCallback
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_cancelInitializedCallback
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(JNIEnv* env, jclass, jint index, jint handle)
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{
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return sim::FreeCallback(env, handle, index,
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&HALSIM_CancelAddressableLEDInitializedCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: getInitialized
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_getInitialized
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(JNIEnv*, jclass, jint index)
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{
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return HALSIM_GetAddressableLEDInitialized(index);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: setInitialized
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_setInitialized
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(JNIEnv*, jclass, jint index, jboolean value)
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{
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HALSIM_SetAddressableLEDInitialized(index, value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: registerOutputPortCallback
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* Signature: (ILjava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_registerOutputPortCallback
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(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallback(
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env, index, callback, initialNotify,
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&HALSIM_RegisterAddressableLEDOutputPortCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: cancelOutputPortCallback
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_cancelOutputPortCallback
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(JNIEnv* env, jclass, jint index, jint handle)
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{
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return sim::FreeCallback(env, handle, index,
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&HALSIM_CancelAddressableLEDOutputPortCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: getOutputPort
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_getOutputPort
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(JNIEnv*, jclass, jint index)
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{
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return HALSIM_GetAddressableLEDOutputPort(index);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: setOutputPort
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_setOutputPort
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(JNIEnv*, jclass, jint index, jint value)
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{
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HALSIM_SetAddressableLEDOutputPort(index, value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: registerLengthCallback
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* Signature: (ILjava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_registerLengthCallback
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(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallback(env, index, callback, initialNotify,
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&HALSIM_RegisterAddressableLEDLengthCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: cancelLengthCallback
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_cancelLengthCallback
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(JNIEnv* env, jclass, jint index, jint handle)
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{
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return sim::FreeCallback(env, handle, index,
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&HALSIM_CancelAddressableLEDLengthCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: getLength
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_getLength
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(JNIEnv*, jclass, jint index)
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{
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return HALSIM_GetAddressableLEDLength(index);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: setLength
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_setLength
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(JNIEnv*, jclass, jint index, jint value)
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{
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HALSIM_SetAddressableLEDLength(index, value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: registerRunningCallback
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* Signature: (ILjava/lang/Object;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_registerRunningCallback
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(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallback(env, index, callback, initialNotify,
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&HALSIM_RegisterAddressableLEDRunningCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: cancelRunningCallback
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_cancelRunningCallback
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(JNIEnv* env, jclass, jint index, jint handle)
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{
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return sim::FreeCallback(env, handle, index,
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&HALSIM_CancelAddressableLEDRunningCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: getRunning
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* Signature: (I)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_getRunning
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(JNIEnv*, jclass, jint index)
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{
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return HALSIM_GetAddressableLEDRunning(index);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: setRunning
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* Signature: (IZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_setRunning
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(JNIEnv*, jclass, jint index, jboolean value)
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{
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HALSIM_SetAddressableLEDRunning(index, value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: registerDataCallback
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* Signature: (ILjava/lang/Object;)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_registerDataCallback
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(JNIEnv* env, jclass, jint index, jobject callback)
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{
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return sim::AllocateConstBufferCallback(
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env, index, callback, &HALSIM_RegisterAddressableLEDDataCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: cancelDataCallback
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_cancelDataCallback
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(JNIEnv* env, jclass, jint index, jint handle)
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{
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sim::FreeConstBufferCallback(env, handle, index,
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&HALSIM_CancelAddressableLEDDataCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: getData
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* Signature: (I)[B
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*/
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JNIEXPORT jbyteArray JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_getData
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(JNIEnv* env, jclass, jint index)
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{
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auto data =
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std::make_unique<HAL_AddressableLEDData[]>(HAL_kAddressableLEDMaxLength);
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int32_t length = HALSIM_GetAddressableLEDData(index, data.get());
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return MakeJByteArray(
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env, wpi::ArrayRef(reinterpret_cast<jbyte*>(data.get()), length * 4));
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: setData
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* Signature: (I[B)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_setData
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(JNIEnv* env, jclass, jint index, jbyteArray arr)
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{
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JByteArrayRef jArrRef{env, arr};
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auto arrRef = jArrRef.array();
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HALSIM_SetAddressableLEDData(
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index, reinterpret_cast<const HAL_AddressableLEDData*>(arrRef.data()),
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arrRef.size() / 4);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: resetData
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_resetData
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(JNIEnv*, jclass, jint index)
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{
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HALSIM_ResetAddressableLEDData(index);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
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* Method: findForChannel
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* Signature: (I)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_findForChannel
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(JNIEnv*, jclass, jint channel)
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{
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return HALSIM_FindAddressableLEDForChannel(channel);
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}
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} // extern "C"
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