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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
232
hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp
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232
hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp
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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 "SimulatorJNI.h"
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#include <wpi/jni_util.h>
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#include "BufferCallbackStore.h"
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#include "CallbackStore.h"
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#include "ConstBufferCallbackStore.h"
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#include "SimDeviceDataJNI.h"
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#include "SpiReadAutoReceiveBufferCallbackStore.h"
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#include "edu_wpi_first_hal_simulation_SimulatorJNI.h"
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#include "hal/HAL.h"
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#include "hal/handles/HandlesInternal.h"
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#include "hal/simulation/MockHooks.h"
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using namespace wpi::java;
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static JavaVM* jvm = nullptr;
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static JClass notifyCallbackCls;
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static JClass bufferCallbackCls;
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static JClass constBufferCallbackCls;
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static JClass spiReadAutoReceiveBufferCallbackCls;
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static jmethodID notifyCallbackCallback;
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static jmethodID bufferCallbackCallback;
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static jmethodID constBufferCallbackCallback;
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static jmethodID spiReadAutoReceiveBufferCallbackCallback;
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namespace hal {
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namespace sim {
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jint SimOnLoad(JavaVM* vm, void* reserved) {
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jvm = vm;
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JNIEnv* env;
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if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
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return JNI_ERR;
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notifyCallbackCls =
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JClass(env, "edu/wpi/first/hal/simulation/NotifyCallback");
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if (!notifyCallbackCls) return JNI_ERR;
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notifyCallbackCallback = env->GetMethodID(notifyCallbackCls, "callbackNative",
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"(Ljava/lang/String;IJD)V");
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if (!notifyCallbackCallback) return JNI_ERR;
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bufferCallbackCls =
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JClass(env, "edu/wpi/first/hal/simulation/BufferCallback");
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if (!bufferCallbackCls) return JNI_ERR;
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bufferCallbackCallback = env->GetMethodID(bufferCallbackCls, "callback",
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"(Ljava/lang/String;[BI)V");
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if (!bufferCallbackCallback) return JNI_ERR;
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constBufferCallbackCls =
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JClass(env, "edu/wpi/first/hal/simulation/ConstBufferCallback");
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if (!constBufferCallbackCls) return JNI_ERR;
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constBufferCallbackCallback = env->GetMethodID(
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constBufferCallbackCls, "callback", "(Ljava/lang/String;[BI)V");
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if (!constBufferCallbackCallback) return JNI_ERR;
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spiReadAutoReceiveBufferCallbackCls = JClass(
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env, "edu/wpi/first/hal/simulation/SpiReadAutoReceiveBufferCallback");
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if (!spiReadAutoReceiveBufferCallbackCls) return JNI_ERR;
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spiReadAutoReceiveBufferCallbackCallback =
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env->GetMethodID(spiReadAutoReceiveBufferCallbackCls, "callback",
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"(Ljava/lang/String;[II)I");
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if (!spiReadAutoReceiveBufferCallbackCallback) return JNI_ERR;
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InitializeStore();
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InitializeBufferStore();
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InitializeConstBufferStore();
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InitializeSpiBufferStore();
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if (!InitializeSimDeviceDataJNI(env)) return JNI_ERR;
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return JNI_VERSION_1_6;
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}
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void SimOnUnload(JavaVM* vm, void* reserved) {
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JNIEnv* env;
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if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
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return;
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notifyCallbackCls.free(env);
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bufferCallbackCls.free(env);
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constBufferCallbackCls.free(env);
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spiReadAutoReceiveBufferCallbackCls.free(env);
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FreeSimDeviceDataJNI(env);
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jvm = nullptr;
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}
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JavaVM* GetJVM() { return jvm; }
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jmethodID GetNotifyCallback() { return notifyCallbackCallback; }
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jmethodID GetBufferCallback() { return bufferCallbackCallback; }
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jmethodID GetConstBufferCallback() { return constBufferCallbackCallback; }
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jmethodID GetSpiReadAutoReceiveBufferCallback() {
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return spiReadAutoReceiveBufferCallbackCallback;
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}
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} // namespace sim
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} // namespace hal
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extern "C" {
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/*
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* Class: edu_wpi_first_hal_simulation_SimulatorJNI
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* Method: setRuntimeType
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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_SimulatorJNI_setRuntimeType
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(JNIEnv*, jclass, jint type)
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{
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HALSIM_SetRuntimeType(static_cast<HAL_RuntimeType>(type));
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}
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/*
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* Class: edu_wpi_first_hal_simulation_SimulatorJNI
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* Method: waitForProgramStart
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_SimulatorJNI_waitForProgramStart
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(JNIEnv*, jclass)
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{
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HALSIM_WaitForProgramStart();
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}
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/*
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* Class: edu_wpi_first_hal_simulation_SimulatorJNI
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* Method: setProgramStarted
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_SimulatorJNI_setProgramStarted
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(JNIEnv*, jclass)
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{
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HALSIM_SetProgramStarted();
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}
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/*
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* Class: edu_wpi_first_hal_simulation_SimulatorJNI
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* Method: getProgramStarted
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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_SimulatorJNI_getProgramStarted
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(JNIEnv*, jclass)
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{
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return HALSIM_GetProgramStarted();
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}
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/*
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* Class: edu_wpi_first_hal_simulation_SimulatorJNI
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* Method: restartTiming
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_SimulatorJNI_restartTiming
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(JNIEnv*, jclass)
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{
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HALSIM_RestartTiming();
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}
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/*
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* Class: edu_wpi_first_hal_simulation_SimulatorJNI
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* Method: pauseTiming
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_SimulatorJNI_pauseTiming
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(JNIEnv*, jclass)
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{
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HALSIM_PauseTiming();
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}
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/*
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* Class: edu_wpi_first_hal_simulation_SimulatorJNI
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* Method: resumeTiming
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_SimulatorJNI_resumeTiming
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(JNIEnv*, jclass)
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{
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HALSIM_ResumeTiming();
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}
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/*
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* Class: edu_wpi_first_hal_simulation_SimulatorJNI
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* Method: isTimingPaused
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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_SimulatorJNI_isTimingPaused
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(JNIEnv*, jclass)
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{
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return HALSIM_IsTimingPaused();
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}
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/*
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* Class: edu_wpi_first_hal_simulation_SimulatorJNI
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* Method: stepTiming
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_SimulatorJNI_stepTiming
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(JNIEnv*, jclass, jlong delta)
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{
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HALSIM_StepTiming(delta);
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}
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/*
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* Class: edu_wpi_first_hal_simulation_SimulatorJNI
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* Method: resetHandles
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_simulation_SimulatorJNI_resetHandles
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(JNIEnv*, jclass)
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{
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hal::HandleBase::ResetGlobalHandles();
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}
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} // extern "C"
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