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[wpiutil] jni_util: Add JSpan and CriticalJSpan (#5554)

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These replace JArrayRef et al and support statically sized arrays similar to std::span.
This commit is contained in:
Joseph Eng
2023-08-24 00:02:56 -07:00
committed by GitHub
parent 8f3d6a1d4b
commit 2e4ad35e36
19 changed files with 333 additions and 317 deletions
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7
hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
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@@ -69,12 +69,11 @@ Java_edu_wpi_first_hal_AddressableLEDJNI_setData
(JNIEnv* env, jclass, jint handle, jbyteArray arr)
{
int32_t status = 0;
JByteArrayRef jArrRef{env, arr};
auto arrRef = jArrRef.array();
JSpan<const jbyte> jArrRef{env, arr};
HAL_WriteAddressableLEDData(
static_cast<HAL_AddressableLEDHandle>(handle),
reinterpret_cast<const HAL_AddressableLEDData*>(arrRef.data()),
arrRef.size() / 4, &status);
reinterpret_cast<const HAL_AddressableLEDData*>(jArrRef.data()),
jArrRef.size() / 4, &status);
CheckStatus(env, status);
}

28
hal/src/main/native/cpp/jni/CANAPIJNI.cpp
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@@ -71,11 +71,10 @@ Java_edu_wpi_first_hal_CANAPIJNI_writeCANPacket
(JNIEnv* env, jclass, jint handle, jbyteArray data, jint apiId)
{
auto halHandle = static_cast<HAL_CANHandle>(handle);
JByteArrayRef arr{env, data};
auto arrRef = arr.array();
JSpan<const jbyte> arr{env, data};
int32_t status = 0;
HAL_WriteCANPacket(halHandle, reinterpret_cast<const uint8_t*>(arrRef.data()),
arrRef.size(), apiId, &status);
HAL_WriteCANPacket(halHandle, reinterpret_cast<const uint8_t*>(arr.data()),
arr.size(), apiId, &status);
CheckStatus(env, status);
}
@@ -90,12 +89,11 @@ Java_edu_wpi_first_hal_CANAPIJNI_writeCANPacketRepeating
jint timeoutMs)
{
auto halHandle = static_cast<HAL_CANHandle>(handle);
JByteArrayRef arr{env, data};
auto arrRef = arr.array();
JSpan<const jbyte> arr{env, data};
int32_t status = 0;
HAL_WriteCANPacketRepeating(halHandle,
reinterpret_cast<const uint8_t*>(arrRef.data()),
arrRef.size(), apiId, timeoutMs, &status);
reinterpret_cast<const uint8_t*>(arr.data()),
arr.size(), apiId, timeoutMs, &status);
CheckStatus(env, status);
}
@@ -124,11 +122,10 @@ Java_edu_wpi_first_hal_CANAPIJNI_writeCANPacketNoThrow
(JNIEnv* env, jclass, jint handle, jbyteArray data, jint apiId)
{
auto halHandle = static_cast<HAL_CANHandle>(handle);
JByteArrayRef arr{env, data};
auto arrRef = arr.array();
JSpan<const jbyte> arr{env, data};
int32_t status = 0;
HAL_WriteCANPacket(halHandle, reinterpret_cast<const uint8_t*>(arrRef.data()),
arrRef.size(), apiId, &status);
HAL_WriteCANPacket(halHandle, reinterpret_cast<const uint8_t*>(arr.data()),
arr.size(), apiId, &status);
return status;
}
@@ -143,12 +140,11 @@ Java_edu_wpi_first_hal_CANAPIJNI_writeCANPacketRepeatingNoThrow
jint timeoutMs)
{
auto halHandle = static_cast<HAL_CANHandle>(handle);
JByteArrayRef arr{env, data};
auto arrRef = arr.array();
JSpan<const jbyte> arr{env, data};
int32_t status = 0;
HAL_WriteCANPacketRepeating(halHandle,
reinterpret_cast<const uint8_t*>(arrRef.data()),
arrRef.size(), apiId, timeoutMs, &status);
reinterpret_cast<const uint8_t*>(arr.data()),
arr.size(), apiId, timeoutMs, &status);
return status;
}

6
hal/src/main/native/cpp/jni/CANJNI.cpp
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@@ -26,11 +26,11 @@ JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_can_CANJNI_FRCNetCommCANSessionMuxSendMessage
(JNIEnv* env, jclass, jint messageID, jbyteArray data, jint periodMs)
{
JByteArrayRef dataArray{env, data};
JSpan<const jbyte> dataArray{env, data};
const uint8_t* dataBuffer =
reinterpret_cast<const uint8_t*>(dataArray.array().data());
uint8_t dataSize = dataArray.array().size();
reinterpret_cast<const uint8_t*>(dataArray.data());
uint8_t dataSize = dataArray.size();
int32_t status = 0;
HAL_CAN_SendMessage(messageID, dataBuffer, dataSize, periodMs, &status);

10
hal/src/main/native/cpp/jni/DMAJNI.cpp
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@@ -5,12 +5,15 @@
#include <algorithm>
#include <cstring>
#include <wpi/jni_util.h>
#include "HALUtil.h"
#include "edu_wpi_first_hal_DMAJNI.h"
#include "hal/DMA.h"
#include "hal/handles/HandlesInternal.h"
using namespace hal;
using namespace wpi::java;
namespace hal {
bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
@@ -312,20 +315,17 @@ Java_edu_wpi_first_hal_DMAJNI_readDMA
env->SetIntArrayRegion(buf, 0, dmaSample.captureSize,
reinterpret_cast<jint*>(dmaSample.readBuffer));
int32_t* nativeArr =
static_cast<int32_t*>(env->GetPrimitiveArrayCritical(store, nullptr));
CriticalJSpan<jint> nativeArr{env, store};
std::copy_n(
dmaSample.channelOffsets,
sizeof(dmaSample.channelOffsets) / sizeof(dmaSample.channelOffsets[0]),
nativeArr);
nativeArr.data());
nativeArr[22] = static_cast<int32_t>(dmaSample.captureSize);
nativeArr[23] = static_cast<int32_t>(dmaSample.triggerChannels);
nativeArr[24] = remaining;
nativeArr[25] = readStatus;
env->ReleasePrimitiveArrayCritical(store, nativeArr, JNI_ABORT);
return dmaSample.timeStamp;
}

8
hal/src/main/native/cpp/jni/DriverStationJNI.cpp
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@@ -251,10 +251,10 @@ Java_edu_wpi_first_hal_DriverStationJNI_getAllJoystickData
HAL_GetAllJoystickData(axes, povs, buttons);
CriticalJFloatArrayRef jAxes(env, axesArray);
CriticalJByteArrayRef jRawAxes(env, rawAxesArray);
CriticalJShortArrayRef jPovs(env, povsArray);
CriticalJLongArrayRef jButtons(env, buttonsAndMetadataArray);
CriticalJSpan<jfloat> jAxes(env, axesArray);
CriticalJSpan<jbyte> jRawAxes(env, rawAxesArray);
CriticalJSpan<jshort> jPovs(env, povsArray);
CriticalJSpan<jlong> jButtons(env, buttonsAndMetadataArray);
static_assert(sizeof(jAxes[0]) == sizeof(axes[0].axes[0]));
static_assert(sizeof(jRawAxes[0]) == sizeof(axes[0].raw[0]));

4
hal/src/main/native/cpp/jni/I2CJNI.cpp
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@@ -79,7 +79,7 @@ Java_edu_wpi_first_hal_I2CJNI_i2CTransactionB
jint returnValue =
HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address,
reinterpret_cast<const uint8_t*>(
JByteArrayRef(env, dataToSend).array().data()),
JSpan<const jbyte>(env, dataToSend).data()),
sendSize, recvBuf.data(), receiveSize);
env->SetByteArrayRegion(dataReceived, 0, receiveSize,
reinterpret_cast<const jbyte*>(recvBuf.data()));
@@ -120,7 +120,7 @@ Java_edu_wpi_first_hal_I2CJNI_i2CWriteB
jint returnValue =
HAL_WriteI2C(static_cast<HAL_I2CPort>(port), address,
reinterpret_cast<const uint8_t*>(
JByteArrayRef(env, dataToSend).array().data()),
JSpan<const jbyte>(env, dataToSend).data()),
sendSize);
return returnValue;
}

13
hal/src/main/native/cpp/jni/SPIJNI.cpp
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@@ -94,7 +94,7 @@ Java_edu_wpi_first_hal_SPIJNI_spiTransactionB
jint retVal =
HAL_TransactionSPI(static_cast<HAL_SPIPort>(port),
reinterpret_cast<const uint8_t*>(
JByteArrayRef(env, dataToSend).array().data()),
JSpan<const jbyte>(env, dataToSend).data()),
recvBuf.data(), size);
env->SetByteArrayRegion(dataReceived, 0, size,
reinterpret_cast<const jbyte*>(recvBuf.data()));
@@ -131,7 +131,7 @@ Java_edu_wpi_first_hal_SPIJNI_spiWriteB
{
jint retVal = HAL_WriteSPI(static_cast<HAL_SPIPort>(port),
reinterpret_cast<const uint8_t*>(
JByteArrayRef(env, dataToSend).array().data()),
JSpan<const jbyte>(env, dataToSend).data()),
size);
return retVal;
}
@@ -356,12 +356,11 @@ JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SPIJNI_spiSetAutoTransmitData
(JNIEnv* env, jclass, jint port, jbyteArray dataToSend, jint zeroSize)
{
JByteArrayRef jarr(env, dataToSend);
JSpan<const jbyte> jarr(env, dataToSend);
int32_t status = 0;
HAL_SetSPIAutoTransmitData(
static_cast<HAL_SPIPort>(port),
reinterpret_cast<const uint8_t*>(jarr.array().data()),
jarr.array().size(), zeroSize, &status);
HAL_SetSPIAutoTransmitData(static_cast<HAL_SPIPort>(port),
reinterpret_cast<const uint8_t*>(jarr.data()),
jarr.size(), zeroSize, &status);
CheckStatus(env, status);
}

9
hal/src/main/native/cpp/jni/SerialPortJNI.cpp
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@@ -261,11 +261,10 @@ Java_edu_wpi_first_hal_SerialPortJNI_serialWrite
(JNIEnv* env, jclass, jint handle, jbyteArray dataToSend, jint size)
{
int32_t status = 0;
jint retVal =
HAL_WriteSerial(static_cast<HAL_SerialPortHandle>(handle),
reinterpret_cast<const char*>(
JByteArrayRef(env, dataToSend).array().data()),
size, &status);
jint retVal = HAL_WriteSerial(
static_cast<HAL_SerialPortHandle>(handle),
reinterpret_cast<const char*>(JSpan<const jbyte>(env, dataToSend).data()),
size, &status);
CheckStatus(env, status);
return retVal;
}

2
hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
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@@ -150,7 +150,7 @@ Java_edu_wpi_first_hal_SimDeviceJNI_createSimValueEnumDouble
}
return HAL_CreateSimValueEnumDouble(
device, JStringRef{env, name}.c_str(), direction, len, carr.data(),
JDoubleArrayRef{env, optionValues}.array().data(), initialValue);
JSpan<const jdouble>{env, optionValues}.data(), initialValue);
}
/*

2
hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
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@@ -269,7 +269,7 @@ JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_setData
(JNIEnv* env, jclass, jint index, jbyteArray arr)
{
JByteArrayRef jArrRef{env, arr};
JSpan<const jbyte> jArrRef{env, arr};
auto arrRef = jArrRef.array();
HALSIM_SetAddressableLEDData(
index, reinterpret_cast<const HAL_AddressableLEDData*>(arrRef.data()),

4
hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
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@@ -436,7 +436,7 @@ Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickAxes
{
HAL_JoystickAxes axes;
{
wpi::java::JFloatArrayRef jArrayRef(env, axesArray);
JSpan<const jfloat> jArrayRef(env, axesArray);
auto arrayRef = jArrayRef.array();
auto arraySize = arrayRef.size();
int maxCount =
@@ -461,7 +461,7 @@ Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickPOVs
{
HAL_JoystickPOVs povs;
{
wpi::java::JShortArrayRef jArrayRef(env, povsArray);
JSpan<const jshort> jArrayRef(env, povsArray);
auto arrayRef = jArrayRef.array();
auto arraySize = arrayRef.size();
int maxCount =