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https://github.com/wpilibsuite/allwpilib
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[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
498
hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
Normal file
498
hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
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@@ -0,0 +1,498 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2020 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 <cstring>
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#include <wpi/jni_util.h>
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#include "CallbackStore.h"
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#include "edu_wpi_first_hal_simulation_DriverStationDataJNI.h"
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#include "hal/simulation/DriverStationData.h"
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#include "hal/simulation/MockHooks.h"
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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_DriverStationDataJNI
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* Method: registerEnabledCallback
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* Signature: (Ljava/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_DriverStationDataJNI_registerEnabledCallback
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(JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallbackNoIndex(
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env, callback, initialNotify,
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&HALSIM_RegisterDriverStationEnabledCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: cancelEnabledCallback
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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_DriverStationDataJNI_cancelEnabledCallback
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(JNIEnv* env, jclass, jint handle)
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{
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return sim::FreeCallbackNoIndex(env, handle,
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&HALSIM_CancelDriverStationEnabledCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: getEnabled
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_getEnabled
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(JNIEnv*, jclass)
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{
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return HALSIM_GetDriverStationEnabled();
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: setEnabled
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* Signature: (Z)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setEnabled
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(JNIEnv*, jclass, jboolean value)
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{
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HALSIM_SetDriverStationEnabled(value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: registerAutonomousCallback
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* Signature: (Ljava/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_DriverStationDataJNI_registerAutonomousCallback
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(JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallbackNoIndex(
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env, callback, initialNotify,
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&HALSIM_RegisterDriverStationAutonomousCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: cancelAutonomousCallback
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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_DriverStationDataJNI_cancelAutonomousCallback
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(JNIEnv* env, jclass, jint handle)
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{
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return sim::FreeCallbackNoIndex(
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env, handle, &HALSIM_CancelDriverStationAutonomousCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: getAutonomous
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_getAutonomous
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(JNIEnv*, jclass)
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{
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return HALSIM_GetDriverStationAutonomous();
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: setAutonomous
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* Signature: (Z)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setAutonomous
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(JNIEnv*, jclass, jboolean value)
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{
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HALSIM_SetDriverStationAutonomous(value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: registerTestCallback
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* Signature: (Ljava/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_DriverStationDataJNI_registerTestCallback
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(JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallbackNoIndex(
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env, callback, initialNotify, &HALSIM_RegisterDriverStationTestCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: cancelTestCallback
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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_DriverStationDataJNI_cancelTestCallback
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(JNIEnv* env, jclass, jint handle)
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{
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return sim::FreeCallbackNoIndex(env, handle,
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&HALSIM_CancelDriverStationTestCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: getTest
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_getTest
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(JNIEnv*, jclass)
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{
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return HALSIM_GetDriverStationTest();
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: setTest
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* Signature: (Z)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setTest
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(JNIEnv*, jclass, jboolean value)
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{
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HALSIM_SetDriverStationTest(value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: registerEStopCallback
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* Signature: (Ljava/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_DriverStationDataJNI_registerEStopCallback
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(JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallbackNoIndex(
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env, callback, initialNotify, &HALSIM_RegisterDriverStationEStopCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: cancelEStopCallback
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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_DriverStationDataJNI_cancelEStopCallback
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(JNIEnv* env, jclass, jint handle)
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{
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return sim::FreeCallbackNoIndex(env, handle,
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&HALSIM_CancelDriverStationEStopCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: getEStop
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_getEStop
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(JNIEnv*, jclass)
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{
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return HALSIM_GetDriverStationEStop();
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: setEStop
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* Signature: (Z)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setEStop
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(JNIEnv*, jclass, jboolean value)
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{
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HALSIM_SetDriverStationEStop(value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: registerFmsAttachedCallback
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* Signature: (Ljava/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_DriverStationDataJNI_registerFmsAttachedCallback
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(JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallbackNoIndex(
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env, callback, initialNotify,
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&HALSIM_RegisterDriverStationFmsAttachedCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: cancelFmsAttachedCallback
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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_DriverStationDataJNI_cancelFmsAttachedCallback
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(JNIEnv* env, jclass, jint handle)
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{
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return sim::FreeCallbackNoIndex(
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env, handle, &HALSIM_CancelDriverStationFmsAttachedCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: getFmsAttached
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_getFmsAttached
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(JNIEnv*, jclass)
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{
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return HALSIM_GetDriverStationFmsAttached();
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: setFmsAttached
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* Signature: (Z)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setFmsAttached
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(JNIEnv*, jclass, jboolean value)
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{
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HALSIM_SetDriverStationFmsAttached(value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: registerDsAttachedCallback
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* Signature: (Ljava/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_DriverStationDataJNI_registerDsAttachedCallback
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(JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
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{
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return sim::AllocateCallbackNoIndex(
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env, callback, initialNotify,
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&HALSIM_RegisterDriverStationDsAttachedCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: cancelDsAttachedCallback
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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_DriverStationDataJNI_cancelDsAttachedCallback
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(JNIEnv* env, jclass, jint handle)
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{
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return sim::FreeCallbackNoIndex(
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env, handle, &HALSIM_CancelDriverStationDsAttachedCallback);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: getDsAttached
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_getDsAttached
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(JNIEnv*, jclass)
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{
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return HALSIM_GetDriverStationDsAttached();
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: setDsAttached
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* Signature: (Z)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setDsAttached
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(JNIEnv*, jclass, jboolean value)
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{
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HALSIM_SetDriverStationDsAttached(value);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: setJoystickAxes
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* Signature: (B[F)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickAxes
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(JNIEnv* env, jclass, jbyte joystickNum, jfloatArray axesArray)
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{
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HAL_JoystickAxes axes;
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{
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wpi::java::JFloatArrayRef jArrayRef(env, axesArray);
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auto arrayRef = jArrayRef.array();
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auto arraySize = arrayRef.size();
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int maxCount =
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arraySize < HAL_kMaxJoystickAxes ? arraySize : HAL_kMaxJoystickAxes;
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axes.count = maxCount;
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for (int i = 0; i < maxCount; i++) {
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axes.axes[i] = arrayRef[i];
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}
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}
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HALSIM_SetJoystickAxes(joystickNum, &axes);
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return;
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: setJoystickPOVs
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* Signature: (B[S)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickPOVs
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(JNIEnv* env, jclass, jbyte joystickNum, jshortArray povsArray)
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{
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HAL_JoystickPOVs povs;
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{
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wpi::java::JShortArrayRef jArrayRef(env, povsArray);
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auto arrayRef = jArrayRef.array();
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auto arraySize = arrayRef.size();
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int maxCount =
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arraySize < HAL_kMaxJoystickPOVs ? arraySize : HAL_kMaxJoystickPOVs;
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povs.count = maxCount;
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for (int i = 0; i < maxCount; i++) {
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povs.povs[i] = arrayRef[i];
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}
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}
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HALSIM_SetJoystickPOVs(joystickNum, &povs);
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return;
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
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* Method: setJoystickButtons
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* Signature: (BII)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickButtons
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(JNIEnv* env, jclass, jbyte joystickNum, jint buttons, jint count)
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{
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if (count > 32) {
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count = 32;
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}
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HAL_JoystickButtons joystickButtons;
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joystickButtons.count = count;
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joystickButtons.buttons = buttons;
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HALSIM_SetJoystickButtons(joystickNum, &joystickButtons);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
|
||||
* Method: setMatchInfo
|
||||
* Signature: (Ljava/lang/String;Ljava/lang/String;III)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setMatchInfo
|
||||
(JNIEnv* env, jclass, jstring eventName, jstring gameSpecificMessage,
|
||||
jint matchNumber, jint replayNumber, jint matchType)
|
||||
{
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||||
JStringRef eventNameRef{env, eventName};
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JStringRef gameSpecificMessageRef{env, gameSpecificMessage};
|
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|
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HAL_MatchInfo halMatchInfo;
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std::snprintf(halMatchInfo.eventName, sizeof(halMatchInfo.eventName), "%s",
|
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eventNameRef.c_str());
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std::snprintf(reinterpret_cast<char*>(halMatchInfo.gameSpecificMessage),
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sizeof(halMatchInfo.gameSpecificMessage), "%s",
|
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gameSpecificMessageRef.c_str());
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halMatchInfo.gameSpecificMessageSize = gameSpecificMessageRef.size();
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halMatchInfo.matchType = (HAL_MatchType)matchType;
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halMatchInfo.matchNumber = matchNumber;
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||||
halMatchInfo.replayNumber = replayNumber;
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||||
HALSIM_SetMatchInfo(&halMatchInfo);
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||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
|
||||
* Method: registerAllCallbacks
|
||||
* Signature: (Ljava/lang/Object;Z)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_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_simulation_DriverStationDataJNI
|
||||
* Method: notifyNewData
|
||||
* Signature: ()V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_notifyNewData
|
||||
(JNIEnv*, jclass)
|
||||
{
|
||||
HALSIM_NotifyDriverStationNewData();
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
|
||||
* Method: setSendError
|
||||
* Signature: (Z)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setSendError
|
||||
(JNIEnv*, jclass, jboolean shouldSend)
|
||||
{
|
||||
if (shouldSend) {
|
||||
HALSIM_SetSendError(nullptr);
|
||||
} else {
|
||||
HALSIM_SetSendError([](HAL_Bool isError, int32_t errorCode,
|
||||
HAL_Bool isLVCode, const char* details,
|
||||
const char* location, const char* callStack,
|
||||
HAL_Bool printMsg) { return 0; });
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
|
||||
* Method: setSendConsoleLine
|
||||
* Signature: (Z)V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setSendConsoleLine
|
||||
(JNIEnv*, jclass, jboolean shouldSend)
|
||||
{
|
||||
if (shouldSend) {
|
||||
HALSIM_SetSendConsoleLine(nullptr);
|
||||
} else {
|
||||
HALSIM_SetSendConsoleLine([](const char* line) { return 0; });
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Class: edu_wpi_first_hal_simulation_DriverStationDataJNI
|
||||
* Method: resetData
|
||||
* Signature: ()V
|
||||
*/
|
||||
JNIEXPORT void JNICALL
|
||||
Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_resetData
|
||||
(JNIEnv*, jclass)
|
||||
{
|
||||
HALSIM_ResetDriverStationData();
|
||||
}
|
||||
|
||||
} // extern "C"
|
||||
Reference in New Issue
Block a user