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Add braces to C++ single-line loops and conditionals (NFC) (#2973)

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This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).
This commit is contained in:
Peter Johnson
2020-12-28 12:58:06 -08:00
committed by GitHub
parent 0291a3ff56
commit 2aed432b4b
634 changed files with 10716 additions and 3938 deletions
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12
hal/src/main/native/cpp/Main.cpp
View File

@@ -52,10 +52,16 @@ void HAL_SetMain(void* param, void (*mainFunc)(void*),
gExitFunc = exitFunc;
}
HAL_Bool HAL_HasMain(void) { return gHasMain; }
HAL_Bool HAL_HasMain(void) {
return gHasMain;
}
void HAL_RunMain(void) { gMainFunc(gMainParam); }
void HAL_RunMain(void) {
gMainFunc(gMainParam);
}
void HAL_ExitMain(void) { gExitFunc(gMainParam); }
void HAL_ExitMain(void) {
gExitFunc(gMainParam);
}
} // extern "C"

8
hal/src/main/native/cpp/handles/HandlesInternal.cpp
View File

@@ -77,9 +77,13 @@ HAL_PortHandle createPortHandleForSPI(uint8_t channel) {
}
HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType,
int16_t version) {
if (index < 0) return HAL_kInvalidHandle;
if (index < 0) {
return HAL_kInvalidHandle;
}
uint8_t hType = static_cast<uint8_t>(handleType);
if (hType == 0 || hType > 127) return HAL_kInvalidHandle;
if (hType == 0 || hType > 127) {
return HAL_kInvalidHandle;
}
// set last 8 bits, then shift to first 8 bits
HAL_Handle handle = hType;
handle = handle << 8;

24
hal/src/main/native/cpp/jni/CANAPIJNI.cpp
View File

@@ -194,11 +194,15 @@ Java_edu_wpi_first_hal_CANAPIJNI_readCANPacketNew
if (!CheckStatus(env, status)) {
return false;
}
if (dataLength > 8) dataLength = 8;
if (dataLength > 8) {
dataLength = 8;
}
jbyteArray toSetArray = SetCANDataObject(env, data, dataLength, timestamp);
auto javaLen = env->GetArrayLength(toSetArray);
if (javaLen < dataLength) dataLength = javaLen;
if (javaLen < dataLength) {
dataLength = javaLen;
}
env->SetByteArrayRegion(toSetArray, 0, dataLength,
reinterpret_cast<jbyte*>(dataTemp));
return true;
@@ -226,11 +230,15 @@ Java_edu_wpi_first_hal_CANAPIJNI_readCANPacketLatest
if (!CheckStatus(env, status)) {
return false;
}
if (dataLength > 8) dataLength = 8;
if (dataLength > 8) {
dataLength = 8;
}
jbyteArray toSetArray = SetCANDataObject(env, data, dataLength, timestamp);
auto javaLen = env->GetArrayLength(toSetArray);
if (javaLen < dataLength) dataLength = javaLen;
if (javaLen < dataLength) {
dataLength = javaLen;
}
env->SetByteArrayRegion(toSetArray, 0, dataLength,
reinterpret_cast<jbyte*>(dataTemp));
return true;
@@ -259,11 +267,15 @@ Java_edu_wpi_first_hal_CANAPIJNI_readCANPacketTimeout
if (!CheckStatus(env, status)) {
return false;
}
if (dataLength > 8) dataLength = 8;
if (dataLength > 8) {
dataLength = 8;
}
jbyteArray toSetArray = SetCANDataObject(env, data, dataLength, timestamp);
auto javaLen = env->GetArrayLength(toSetArray);
if (javaLen < dataLength) dataLength = javaLen;
if (javaLen < dataLength) {
dataLength = javaLen;
}
env->SetByteArrayRegion(toSetArray, 0, dataLength,
reinterpret_cast<jbyte*>(dataTemp));
return true;

8
hal/src/main/native/cpp/jni/CANJNI.cpp
View File

@@ -61,7 +61,9 @@ Java_edu_wpi_first_hal_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage
HAL_CAN_ReceiveMessage(messageIDPtr, messageIDMask, buffer, &dataSize,
timeStampPtr, &status);
if (!CheckCANStatus(env, status, *messageIDPtr)) return nullptr;
if (!CheckCANStatus(env, status, *messageIDPtr)) {
return nullptr;
}
return MakeJByteArray(env,
wpi::StringRef{reinterpret_cast<const char*>(buffer),
static_cast<size_t>(dataSize)});
@@ -85,7 +87,9 @@ Java_edu_wpi_first_hal_can_CANJNI_GetCANStatus
HAL_CAN_GetCANStatus(&percentBusUtilization, &busOffCount, &txFullCount,
&receiveErrorCount, &transmitErrorCount, &status);
if (!CheckStatus(env, status)) return;
if (!CheckStatus(env, status)) {
return;
}
SetCanStatusObject(env, canStatus, percentBusUtilization, busOffCount,
txFullCount, receiveErrorCount, transmitErrorCount);

45
hal/src/main/native/cpp/jni/HALUtil.cpp
View File

@@ -104,7 +104,9 @@ void ThrowHalHandleException(JNIEnv* env, int32_t status) {
}
void ReportError(JNIEnv* env, int32_t status, bool doThrow) {
if (status == 0) return;
if (status == 0) {
return;
}
if (status == HAL_HANDLE_ERROR) {
ThrowHalHandleException(env, status);
}
@@ -123,7 +125,9 @@ void ReportError(JNIEnv* env, int32_t status, bool doThrow) {
void ThrowError(JNIEnv* env, int32_t status, int32_t minRange, int32_t maxRange,
int32_t requestedValue) {
if (status == 0) return;
if (status == 0) {
return;
}
if (status == NO_AVAILABLE_RESOURCES || status == RESOURCE_IS_ALLOCATED ||
status == RESOURCE_OUT_OF_RANGE) {
ThrowAllocationException(env, minRange, maxRange, requestedValue, status);
@@ -139,7 +143,9 @@ void ThrowError(JNIEnv* env, int32_t status, int32_t minRange, int32_t maxRange,
}
void ReportCANError(JNIEnv* env, int32_t status, int message_id) {
if (status >= 0) return;
if (status >= 0) {
return;
}
switch (status) {
case kRioStatusSuccess:
// Everything is ok... don't throw.
@@ -147,9 +153,10 @@ void ReportCANError(JNIEnv* env, int32_t status, int message_id) {
case HAL_ERR_CANSessionMux_InvalidBuffer:
case kRIOStatusBufferInvalidSize: {
static jmethodID invalidBufConstruct = nullptr;
if (!invalidBufConstruct)
if (!invalidBufConstruct) {
invalidBufConstruct =
env->GetMethodID(canInvalidBufferExCls, "<init>", "()V");
}
jobject exception =
env->NewObject(canInvalidBufferExCls, invalidBufConstruct);
env->Throw(static_cast<jthrowable>(exception));
@@ -158,9 +165,10 @@ void ReportCANError(JNIEnv* env, int32_t status, int message_id) {
case HAL_ERR_CANSessionMux_MessageNotFound:
case kRIOStatusOperationTimedOut: {
static jmethodID messageNotFoundConstruct = nullptr;
if (!messageNotFoundConstruct)
if (!messageNotFoundConstruct) {
messageNotFoundConstruct =
env->GetMethodID(canMessageNotFoundExCls, "<init>", "()V");
}
jobject exception =
env->NewObject(canMessageNotFoundExCls, messageNotFoundConstruct);
env->Throw(static_cast<jthrowable>(exception));
@@ -177,9 +185,10 @@ void ReportCANError(JNIEnv* env, int32_t status, int message_id) {
case HAL_ERR_CANSessionMux_NotInitialized:
case kRIOStatusResourceNotInitialized: {
static jmethodID notInitConstruct = nullptr;
if (!notInitConstruct)
if (!notInitConstruct) {
notInitConstruct =
env->GetMethodID(canNotInitializedExCls, "<init>", "()V");
}
jobject exception =
env->NewObject(canNotInitializedExCls, notInitConstruct);
env->Throw(static_cast<jthrowable>(exception));
@@ -202,14 +211,16 @@ void ThrowIllegalArgumentException(JNIEnv* env, wpi::StringRef msg) {
void ThrowBoundaryException(JNIEnv* env, double value, double lower,
double upper) {
static jmethodID getMessage = nullptr;
if (!getMessage)
if (!getMessage) {
getMessage = env->GetStaticMethodID(boundaryExCls, "getMessage",
"(DDD)Ljava/lang/String;");
}
static jmethodID constructor = nullptr;
if (!constructor)
if (!constructor) {
constructor =
env->GetMethodID(boundaryExCls, "<init>", "(Ljava/lang/String;)V");
}
jobject msg = env->CallStaticObjectMethod(
boundaryExCls, getMessage, static_cast<jdouble>(value),
@@ -299,7 +310,9 @@ jobject CreateHALValue(JNIEnv* env, const HAL_Value& value) {
value1, value2);
}
JavaVM* GetJVM() { return jvm; }
JavaVM* GetJVM() {
return jvm;
}
namespace sim {
jint SimOnLoad(JavaVM* vm, void* reserved);
@@ -319,17 +332,22 @@ JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
jvm = vm;
JNIEnv* env;
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
return JNI_ERR;
}
for (auto& c : classes) {
*c.cls = JClass(env, c.name);
if (!*c.cls) return JNI_ERR;
if (!*c.cls) {
return JNI_ERR;
}
}
for (auto& c : exceptions) {
*c.cls = JException(env, c.name);
if (!*c.cls) return JNI_ERR;
if (!*c.cls) {
return JNI_ERR;
}
}
return sim::SimOnLoad(vm, reserved);
@@ -339,8 +357,9 @@ JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {
sim::SimOnUnload(vm, reserved);
JNIEnv* env;
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
return;
}
// Delete global references
for (auto& c : classes) {

16
hal/src/main/native/cpp/jni/HALUtil.h
View File

@@ -21,25 +21,33 @@ void ThrowError(JNIEnv* env, int32_t status, int32_t minRange, int32_t maxRange,
int32_t requestedValue);
inline bool CheckStatus(JNIEnv* env, int32_t status, bool doThrow = true) {
if (status != 0) ReportError(env, status, doThrow);
if (status != 0) {
ReportError(env, status, doThrow);
}
return status == 0;
}
inline bool CheckStatusRange(JNIEnv* env, int32_t status, int32_t minRange,
int32_t maxRange, int32_t requestedValue) {
if (status != 0) ThrowError(env, status, minRange, maxRange, requestedValue);
if (status != 0) {
ThrowError(env, status, minRange, maxRange, requestedValue);
}
return status == 0;
}
inline bool CheckStatusForceThrow(JNIEnv* env, int32_t status) {
if (status != 0) ThrowError(env, status, 0, 0, 0);
if (status != 0) {
ThrowError(env, status, 0, 0, 0);
}
return status == 0;
}
void ReportCANError(JNIEnv* env, int32_t status, int32_t message_id);
inline bool CheckCANStatus(JNIEnv* env, int32_t status, int32_t message_id) {
if (status != 0) ReportCANError(env, status, message_id);
if (status != 0) {
ReportCANError(env, status, message_id);
}
return status == 0;
}

36
hal/src/main/native/cpp/jni/InterruptJNI.cpp
View File

@@ -46,7 +46,9 @@ class InterruptJNI : public wpi::SafeThreadOwner<InterruptThreadJNI> {
void Notify(uint32_t mask) {
auto thr = GetThread();
if (!thr) return;
if (!thr) {
return;
}
thr->m_notify = true;
thr->m_mask = mask;
thr->m_cond.notify_one();
@@ -56,10 +58,16 @@ class InterruptJNI : public wpi::SafeThreadOwner<InterruptThreadJNI> {
void InterruptJNI::SetFunc(JNIEnv* env, jobject func, jmethodID mid,
jobject param) {
auto thr = GetThread();
if (!thr) return;
if (!thr) {
return;
}
// free global references
if (thr->m_func) env->DeleteGlobalRef(thr->m_func);
if (thr->m_param) env->DeleteGlobalRef(thr->m_param);
if (thr->m_func) {
env->DeleteGlobalRef(thr->m_func);
}
if (thr->m_param) {
env->DeleteGlobalRef(thr->m_param);
}
// create global references
thr->m_func = env->NewGlobalRef(func);
thr->m_param = param ? env->NewGlobalRef(param) : nullptr;
@@ -74,14 +82,20 @@ void InterruptThreadJNI::Main() {
args.group = nullptr;
jint rs = GetJVM()->AttachCurrentThreadAsDaemon(
reinterpret_cast<void**>(&env), &args);
if (rs != JNI_OK) return;
if (rs != JNI_OK) {
return;
}
std::unique_lock lock(m_mutex);
while (m_active) {
m_cond.wait(lock, [&] { return !m_active || m_notify; });
if (!m_active) break;
if (!m_active) {
break;
}
m_notify = false;
if (!m_func) continue;
if (!m_func) {
continue;
}
jobject func = m_func;
jmethodID mid = m_mid;
uint32_t mask = m_mask;
@@ -96,8 +110,12 @@ void InterruptThreadJNI::Main() {
}
// free global references
if (m_func) env->DeleteGlobalRef(m_func);
if (m_param) env->DeleteGlobalRef(m_param);
if (m_func) {
env->DeleteGlobalRef(m_func);
}
if (m_param) {
env->DeleteGlobalRef(m_param);
}
GetJVM()->DetachCurrentThread();
}

4
hal/src/main/native/cpp/jni/SPIJNI.cpp
View File

@@ -367,7 +367,9 @@ Java_edu_wpi_first_hal_SPIJNI_spiReadAutoReceivedData__I_3IID
jint retval =
HAL_ReadSPIAutoReceivedData(static_cast<HAL_SPIPort>(port),
recvBuf.data(), numToRead, timeout, &status);
if (!CheckStatus(env, status)) return retval;
if (!CheckStatus(env, status)) {
return retval;
}
if (numToRead > 0) {
env->SetIntArrayRegion(buffer, 0, numToRead,
reinterpret_cast<const jint*>(recvBuf.data()));

20
hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
View File

@@ -93,11 +93,15 @@ Java_edu_wpi_first_hal_SimDeviceJNI_createSimValueEnum
for (size_t i = 0; i < len; ++i) {
JLocal<jstring> elem{
env, static_cast<jstring>(env->GetObjectArrayElement(options, i))};
if (!elem) return 0;
if (!elem) {
return 0;
}
arr.push_back(JStringRef{env, elem}.str());
}
wpi::SmallVector<const char*, 8> carr;
for (auto&& val : arr) carr.push_back(val.c_str());
for (auto&& val : arr) {
carr.push_back(val.c_str());
}
return HAL_CreateSimValueEnum(device, JStringRef{env, name}.c_str(),
direction, len, carr.data(), initialValue);
}
@@ -114,18 +118,24 @@ Java_edu_wpi_first_hal_SimDeviceJNI_createSimValueEnumDouble
{
size_t len = env->GetArrayLength(options);
size_t len2 = env->GetArrayLength(optionValues);
if (len != len2) return 0;
if (len != len2) {
return 0;
}
std::vector<std::string> arr;
arr.reserve(len);
for (size_t i = 0; i < len; ++i) {
JLocal<jstring> elem{
env, static_cast<jstring>(env->GetObjectArrayElement(options, i))};
if (!elem) return 0;
if (!elem) {
return 0;
}
arr.push_back(JStringRef{env, elem}.str());
}
wpi::SmallVector<const char*, 8> carr;
for (auto&& val : arr) carr.push_back(val.c_str());
for (auto&& val : arr) {
carr.push_back(val.c_str());
}
return HAL_CreateSimValueEnumDouble(
device, JStringRef{env, name}.c_str(), direction, len, carr.data(),
JDoubleArrayRef{env, optionValues}.array().data(), initialValue);

8
hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp
View File

@@ -82,7 +82,9 @@ void BufferCallbackStore::performCallback(const char* name, uint8_t* buffer,
}
}
void BufferCallbackStore::free(JNIEnv* env) { m_call.free(env); }
void BufferCallbackStore::free(JNIEnv* env) {
m_call.free(env);
}
SIM_JniHandle sim::AllocateBufferCallback(
JNIEnv* env, jint index, jobject callback,
@@ -105,7 +107,9 @@ SIM_JniHandle sim::AllocateBufferCallback(
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle handle = static_cast<SIM_JniHandle>(handleTmp);
auto data = callbackHandles->Get(handle);
if (!data) return;
if (!data) {
return;
}
data->performCallback(name, buffer, length);
};

16
hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp
View File

@@ -69,7 +69,9 @@ void CallbackStore::performCallback(const char* name, const HAL_Value* value) {
}
}
void CallbackStore::free(JNIEnv* env) { m_call.free(env); }
void CallbackStore::free(JNIEnv* env) {
m_call.free(env);
}
SIM_JniHandle sim::AllocateCallback(JNIEnv* env, jint index, jobject callback,
jboolean initialNotify,
@@ -92,7 +94,9 @@ SIM_JniHandle sim::AllocateCallback(JNIEnv* env, jint index, jobject callback,
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle handle = static_cast<SIM_JniHandle>(handleTmp);
auto data = callbackHandles->Get(handle);
if (!data) return;
if (!data) {
return;
}
data->performCallback(name, value);
};
@@ -132,7 +136,9 @@ SIM_JniHandle sim::AllocateChannelCallback(
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle handle = static_cast<SIM_JniHandle>(handleTmp);
auto data = callbackHandles->Get(handle);
if (!data) return;
if (!data) {
return;
}
data->performCallback(name, value);
};
@@ -174,7 +180,9 @@ SIM_JniHandle sim::AllocateCallbackNoIndex(
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle handle = static_cast<SIM_JniHandle>(handleTmp);
auto data = callbackHandles->Get(handle);
if (!data) return;
if (!data) {
return;
}
data->performCallback(name, value);
};

8
hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp
View File

@@ -74,7 +74,9 @@ void ConstBufferCallbackStore::performCallback(const char* name,
}
}
void ConstBufferCallbackStore::free(JNIEnv* env) { m_call.free(env); }
void ConstBufferCallbackStore::free(JNIEnv* env) {
m_call.free(env);
}
SIM_JniHandle sim::AllocateConstBufferCallback(
JNIEnv* env, jint index, jobject callback,
@@ -97,7 +99,9 @@ SIM_JniHandle sim::AllocateConstBufferCallback(
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle handle = static_cast<SIM_JniHandle>(handleTmp);
auto data = callbackHandles->Get(handle);
if (!data) return;
if (!data) {
return;
}
data->performCallback(name, buffer, length);
};

48
hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
View File

@@ -233,7 +233,9 @@ static SIM_JniHandle AllocateDeviceCallback(
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle jnihandle = static_cast<SIM_JniHandle>(handleTmp);
auto data = deviceCallbackHandles->Get(jnihandle);
if (!data) return;
if (!data) {
return;
}
data->performCallback(name, handle);
};
@@ -287,7 +289,9 @@ static SIM_JniHandle AllocateValueCallback(
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle jnihandle = static_cast<SIM_JniHandle>(handleTmp);
auto data = valueCallbackHandles->Get(jnihandle);
if (!data) return;
if (!data) {
return;
}
data->performCallback(name, handle, direction, *value);
};
@@ -312,27 +316,39 @@ namespace sim {
bool InitializeSimDeviceDataJNI(JNIEnv* env) {
simDeviceInfoCls = JClass(
env, "edu/wpi/first/hal/simulation/SimDeviceDataJNI$SimDeviceInfo");
if (!simDeviceInfoCls) return false;
if (!simDeviceInfoCls) {
return false;
}
simValueInfoCls =
JClass(env, "edu/wpi/first/hal/simulation/SimDeviceDataJNI$SimValueInfo");
if (!simValueInfoCls) return false;
if (!simValueInfoCls) {
return false;
}
simDeviceCallbackCls =
JClass(env, "edu/wpi/first/hal/simulation/SimDeviceCallback");
if (!simDeviceCallbackCls) return false;
if (!simDeviceCallbackCls) {
return false;
}
simDeviceCallbackCallback = env->GetMethodID(simDeviceCallbackCls, "callback",
"(Ljava/lang/String;I)V");
if (!simDeviceCallbackCallback) return false;
if (!simDeviceCallbackCallback) {
return false;
}
simValueCallbackCls =
JClass(env, "edu/wpi/first/hal/simulation/SimValueCallback");
if (!simValueCallbackCls) return false;
if (!simValueCallbackCls) {
return false;
}
simValueCallbackCallback = env->GetMethodID(
simValueCallbackCls, "callbackNative", "(Ljava/lang/String;IZIJD)V");
if (!simValueCallbackCallback) return false;
if (!simValueCallbackCallback) {
return false;
}
static hal::UnlimitedHandleResource<SIM_JniHandle, DeviceCallbackStore,
hal::HAL_HandleEnum::SimulationJni>
@@ -495,7 +511,9 @@ Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_enumerateSimDevices
size_t numElems = arr.size();
jobjectArray jarr =
env->NewObjectArray(arr.size(), simDeviceInfoCls, nullptr);
if (!jarr) return nullptr;
if (!jarr) {
return nullptr;
}
for (size_t i = 0; i < numElems; ++i) {
JLocal<jobject> elem{env, arr[i].MakeJava(env)};
env->SetObjectArrayElement(jarr, i, elem.obj());
@@ -617,7 +635,9 @@ Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_enumerateSimValues
// convert to java
size_t numElems = arr.size();
jobjectArray jarr = env->NewObjectArray(arr.size(), simValueInfoCls, nullptr);
if (!jarr) return nullptr;
if (!jarr) {
return nullptr;
}
for (size_t i = 0; i < numElems; ++i) {
JLocal<jobject> elem{env, arr[i].MakeJava(env)};
env->SetObjectArrayElement(jarr, i, elem.obj());
@@ -635,11 +655,15 @@ Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_getSimValueEnumOptions
(JNIEnv* env, jclass, jint handle)
{
static JClass stringCls{env, "java/lang/String"};
if (!stringCls) return nullptr;
if (!stringCls) {
return nullptr;
}
int32_t numElems = 0;
const char** elems = HALSIM_GetSimValueEnumOptions(handle, &numElems);
jobjectArray jarr = env->NewObjectArray(numElems, stringCls, nullptr);
if (!jarr) return nullptr;
if (!jarr) {
return nullptr;
}
for (int32_t i = 0; i < numElems; ++i) {
JLocal<jstring> elem{env, MakeJString(env, elems[i])};
env->SetObjectArrayElement(jarr, i, elem.obj());

58
hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp
View File

@@ -34,55 +34,75 @@ jint SimOnLoad(JavaVM* vm, void* reserved) {
jvm = vm;
JNIEnv* env;
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
return JNI_ERR;
}
notifyCallbackCls =
JClass(env, "edu/wpi/first/hal/simulation/NotifyCallback");
if (!notifyCallbackCls) return JNI_ERR;
if (!notifyCallbackCls) {
return JNI_ERR;
}
notifyCallbackCallback = env->GetMethodID(notifyCallbackCls, "callbackNative",
"(Ljava/lang/String;IJD)V");
if (!notifyCallbackCallback) return JNI_ERR;
if (!notifyCallbackCallback) {
return JNI_ERR;
}
bufferCallbackCls =
JClass(env, "edu/wpi/first/hal/simulation/BufferCallback");
if (!bufferCallbackCls) return JNI_ERR;
if (!bufferCallbackCls) {
return JNI_ERR;
}
bufferCallbackCallback = env->GetMethodID(bufferCallbackCls, "callback",
"(Ljava/lang/String;[BI)V");
if (!bufferCallbackCallback) return JNI_ERR;
if (!bufferCallbackCallback) {
return JNI_ERR;
}
constBufferCallbackCls =
JClass(env, "edu/wpi/first/hal/simulation/ConstBufferCallback");
if (!constBufferCallbackCls) return JNI_ERR;
if (!constBufferCallbackCls) {
return JNI_ERR;
}
constBufferCallbackCallback = env->GetMethodID(
constBufferCallbackCls, "callback", "(Ljava/lang/String;[BI)V");
if (!constBufferCallbackCallback) return JNI_ERR;
if (!constBufferCallbackCallback) {
return JNI_ERR;
}
spiReadAutoReceiveBufferCallbackCls = JClass(
env, "edu/wpi/first/hal/simulation/SpiReadAutoReceiveBufferCallback");
if (!spiReadAutoReceiveBufferCallbackCls) return JNI_ERR;
if (!spiReadAutoReceiveBufferCallbackCls) {
return JNI_ERR;
}
spiReadAutoReceiveBufferCallbackCallback =
env->GetMethodID(spiReadAutoReceiveBufferCallbackCls, "callback",
"(Ljava/lang/String;[II)I");
if (!spiReadAutoReceiveBufferCallbackCallback) return JNI_ERR;
if (!spiReadAutoReceiveBufferCallbackCallback) {
return JNI_ERR;
}
InitializeStore();
InitializeBufferStore();
InitializeConstBufferStore();
InitializeSpiBufferStore();
if (!InitializeSimDeviceDataJNI(env)) return JNI_ERR;
if (!InitializeSimDeviceDataJNI(env)) {
return JNI_ERR;
}
return JNI_VERSION_1_6;
}
void SimOnUnload(JavaVM* vm, void* reserved) {
JNIEnv* env;
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
return;
}
notifyCallbackCls.free(env);
bufferCallbackCls.free(env);
@@ -92,13 +112,21 @@ void SimOnUnload(JavaVM* vm, void* reserved) {
jvm = nullptr;
}
JavaVM* GetJVM() { return jvm; }
JavaVM* GetJVM() {
return jvm;
}
jmethodID GetNotifyCallback() { return notifyCallbackCallback; }
jmethodID GetNotifyCallback() {
return notifyCallbackCallback;
}
jmethodID GetBufferCallback() { return bufferCallbackCallback; }
jmethodID GetBufferCallback() {
return bufferCallbackCallback;
}
jmethodID GetConstBufferCallback() { return constBufferCallbackCallback; }
jmethodID GetConstBufferCallback() {
return constBufferCallbackCallback;
}
jmethodID GetSpiReadAutoReceiveBufferCallback() {
return spiReadAutoReceiveBufferCallbackCallback;

4
hal/src/main/native/cpp/jni/simulation/SpiReadAutoReceiveBufferCallbackStore.cpp
View File

@@ -110,7 +110,9 @@ SIM_JniHandle sim::AllocateSpiBufferCallback(
uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
SIM_JniHandle handle = static_cast<SIM_JniHandle>(handleTmp);
auto data = callbackHandles->Get(handle);
if (!data) return;
if (!data) {
return;
}
*outputCount = data->performCallback(name, buffer, numToRead);
};