[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.
2026-06-20 00:51:42 +00:00 · 2020-07-07 21:49:05 -07:00
parent a175f6e862
commit 227084e92e
61 changed files with 907 additions and 158 deletions
--- a/hal/src/main/native/cpp/jni/simulation/SPIDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/SPIDataJNI.cpp
@@ -0,0 +1,160 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2020 FIRST. 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 <jni.h>
+
+#include "BufferCallbackStore.h"
+#include "CallbackStore.h"
+#include "ConstBufferCallbackStore.h"
+#include "SpiReadAutoReceiveBufferCallbackStore.h"
+#include "edu_wpi_first_hal_simulation_SPIDataJNI.h"
+#include "hal/simulation/SPIData.h"
+
+using namespace hal;
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_SPIDataJNI
+ * Method:    registerInitializedCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_SPIDataJNI_registerInitializedCallback
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallback(env, index, callback, initialNotify,
+                               &HALSIM_RegisterSPIInitializedCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_SPIDataJNI
+ * Method:    cancelInitializedCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_SPIDataJNI_cancelInitializedCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  return sim::FreeCallback(env, handle, index,
+                           &HALSIM_CancelSPIInitializedCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_SPIDataJNI
+ * Method:    getInitialized
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_SPIDataJNI_getInitialized
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetSPIInitialized(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_SPIDataJNI
+ * Method:    setInitialized
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_SPIDataJNI_setInitialized
+  (JNIEnv*, jclass, jint index, jboolean value)
+{
+  HALSIM_SetSPIInitialized(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_SPIDataJNI
+ * Method:    registerReadCallback
+ * Signature: (ILjava/lang/Object;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_SPIDataJNI_registerReadCallback
+  (JNIEnv* env, jclass, jint index, jobject callback)
+{
+  return sim::AllocateBufferCallback(env, index, callback,
+                                     &HALSIM_RegisterSPIReadCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_SPIDataJNI
+ * Method:    cancelReadCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_SPIDataJNI_cancelReadCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  sim::FreeBufferCallback(env, handle, index, &HALSIM_CancelSPIReadCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_SPIDataJNI
+ * Method:    registerWriteCallback
+ * Signature: (ILjava/lang/Object;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_SPIDataJNI_registerWriteCallback
+  (JNIEnv* env, jclass, jint index, jobject callback)
+{
+  return sim::AllocateConstBufferCallback(env, index, callback,
+                                          &HALSIM_RegisterSPIWriteCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_SPIDataJNI
+ * Method:    cancelWriteCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_SPIDataJNI_cancelWriteCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  sim::FreeConstBufferCallback(env, handle, index,
+                               &HALSIM_CancelSPIWriteCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_SPIDataJNI
+ * Method:    registerReadAutoReceiveBufferCallback
+ * Signature: (ILjava/lang/Object;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_SPIDataJNI_registerReadAutoReceiveBufferCallback
+  (JNIEnv* env, jclass, jint index, jobject callback)
+{
+  return sim::AllocateSpiBufferCallback(
+      env, index, callback, &HALSIM_RegisterSPIReadAutoReceivedDataCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_SPIDataJNI
+ * Method:    cancelReadAutoReceiveBufferCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_SPIDataJNI_cancelReadAutoReceiveBufferCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  sim::FreeSpiBufferCallback(env, handle, index,
+                             &HALSIM_CancelSPIReadAutoReceivedDataCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_SPIDataJNI
+ * Method:    resetData
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_SPIDataJNI_resetData
+  (JNIEnv*, jclass, jint index)
+{
+  HALSIM_ResetSPIData(index);
+}
+
+}  // extern "C"