Adds JNI Simulator interface and updated Sim API (#1002)

The simulator was generated by https://github.com/ThadHouse/SimulatorGenerator
2026-06-22 01:11:42 +00:00 · 2018-05-11 12:38:23 -07:00
parent 1046371349
commit 337e89cf6e
96 changed files with 8204 additions and 26 deletions
--- a/hal/src/main/native/sim/jni/DriverStationDataJNI.cpp
+++ b/hal/src/main/native/sim/jni/DriverStationDataJNI.cpp
@@ -0,0 +1,283 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 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 "CallbackStore.h"
+#include "MockData/DriverStationData.h"
+#include "edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI.h"
+
+extern "C" {
+
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_registerEnabledCallback(
+    JNIEnv* env, jclass, jobject callback, jboolean initialNotify) {
+  return sim::AllocateCallbackNoIndex(
+      env, callback, initialNotify,
+      &HALSIM_RegisterDriverStationEnabledCallback);
+}
+
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_cancelEnabledCallback(
+    JNIEnv* env, jclass, jint handle) {
+  return sim::FreeCallbackNoIndex(env, handle,
+                                  &HALSIM_CancelDriverStationEnabledCallback);
+}
+
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_getEnabled(JNIEnv*,
+                                                                    jclass) {
+  return HALSIM_GetDriverStationEnabled();
+}
+
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setEnabled(
+    JNIEnv*, jclass, jboolean value) {
+  HALSIM_SetDriverStationEnabled(value);
+}
+
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_registerAutonomousCallback(
+    JNIEnv* env, jclass, jobject callback, jboolean initialNotify) {
+  return sim::AllocateCallbackNoIndex(
+      env, callback, initialNotify,
+      &HALSIM_RegisterDriverStationAutonomousCallback);
+}
+
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_cancelAutonomousCallback(
+    JNIEnv* env, jclass, jint handle) {
+  return sim::FreeCallbackNoIndex(
+      env, handle, &HALSIM_CancelDriverStationAutonomousCallback);
+}
+
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_getAutonomous(JNIEnv*,
+                                                                       jclass) {
+  return HALSIM_GetDriverStationAutonomous();
+}
+
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setAutonomous(
+    JNIEnv*, jclass, jboolean value) {
+  HALSIM_SetDriverStationAutonomous(value);
+}
+
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_registerTestCallback(
+    JNIEnv* env, jclass, jobject callback, jboolean initialNotify) {
+  return sim::AllocateCallbackNoIndex(
+      env, callback, initialNotify, &HALSIM_RegisterDriverStationTestCallback);
+}
+
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_cancelTestCallback(
+    JNIEnv* env, jclass, jint handle) {
+  return sim::FreeCallbackNoIndex(env, handle,
+                                  &HALSIM_CancelDriverStationTestCallback);
+}
+
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_getTest(JNIEnv*,
+                                                                 jclass) {
+  return HALSIM_GetDriverStationTest();
+}
+
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setTest(
+    JNIEnv*, jclass, jboolean value) {
+  HALSIM_SetDriverStationTest(value);
+}
+
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_registerEStopCallback(
+    JNIEnv* env, jclass, jobject callback, jboolean initialNotify) {
+  return sim::AllocateCallbackNoIndex(
+      env, callback, initialNotify, &HALSIM_RegisterDriverStationEStopCallback);
+}
+
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_cancelEStopCallback(
+    JNIEnv* env, jclass, jint handle) {
+  return sim::FreeCallbackNoIndex(env, handle,
+                                  &HALSIM_CancelDriverStationEStopCallback);
+}
+
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_getEStop(JNIEnv*,
+                                                                  jclass) {
+  return HALSIM_GetDriverStationEStop();
+}
+
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setEStop(
+    JNIEnv*, jclass, jboolean value) {
+  HALSIM_SetDriverStationEStop(value);
+}
+
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_registerFmsAttachedCallback(
+    JNIEnv* env, jclass, jobject callback, jboolean initialNotify) {
+  return sim::AllocateCallbackNoIndex(
+      env, callback, initialNotify,
+      &HALSIM_RegisterDriverStationFmsAttachedCallback);
+}
+
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_cancelFmsAttachedCallback(
+    JNIEnv* env, jclass, jint handle) {
+  return sim::FreeCallbackNoIndex(
+      env, handle, &HALSIM_CancelDriverStationFmsAttachedCallback);
+}
+
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_getFmsAttached(
+    JNIEnv*, jclass) {
+  return HALSIM_GetDriverStationFmsAttached();
+}
+
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setFmsAttached(
+    JNIEnv*, jclass, jboolean value) {
+  HALSIM_SetDriverStationFmsAttached(value);
+}
+
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_registerDsAttachedCallback(
+    JNIEnv* env, jclass, jobject callback, jboolean initialNotify) {
+  return sim::AllocateCallbackNoIndex(
+      env, callback, initialNotify,
+      &HALSIM_RegisterDriverStationDsAttachedCallback);
+}
+
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_cancelDsAttachedCallback(
+    JNIEnv* env, jclass, jint handle) {
+  return sim::FreeCallbackNoIndex(
+      env, handle, &HALSIM_CancelDriverStationDsAttachedCallback);
+}
+
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_getDsAttached(JNIEnv*,
+                                                                       jclass) {
+  return HALSIM_GetDriverStationDsAttached();
+}
+
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setDsAttached(
+    JNIEnv*, jclass, jboolean value) {
+  HALSIM_SetDriverStationDsAttached(value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_sim_mockdata_DriverStationSim
+ * Method:    setJoystickAxes
+ * Signature: (B[F)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setJoystickAxes(
+    JNIEnv* env, jclass, jbyte joystickNum, jfloatArray axesArray) {
+  HAL_JoystickAxes axes;
+  {
+    wpi::java::JFloatArrayRef jArrayRef(env, axesArray);
+    auto arrayRef = jArrayRef.array();
+    auto arraySize = arrayRef.size();
+    int maxCount =
+        arraySize < HAL_kMaxJoystickAxes ? arraySize : HAL_kMaxJoystickAxes;
+    axes.count = maxCount;
+    for (int i = 0; i < maxCount; i++) {
+      axes.axes[i] = arrayRef[i];
+    }
+  }
+  HALSIM_SetJoystickAxes(joystickNum, &axes);
+  return;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_sim_mockdata_DriverStationSim
+ * Method:    setJoystickPOVs
+ * Signature: (B[S)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setJoystickPOVs(
+    JNIEnv* env, jclass, jbyte joystickNum, jshortArray povsArray) {
+  HAL_JoystickPOVs povs;
+  {
+    wpi::java::JShortArrayRef jArrayRef(env, povsArray);
+    auto arrayRef = jArrayRef.array();
+    auto arraySize = arrayRef.size();
+    int maxCount =
+        arraySize < HAL_kMaxJoystickPOVs ? arraySize : HAL_kMaxJoystickPOVs;
+    povs.count = maxCount;
+    for (int i = 0; i < maxCount; i++) {
+      povs.povs[i] = arrayRef[i];
+    }
+  }
+  HALSIM_SetJoystickPOVs(joystickNum, &povs);
+  return;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_sim_mockdata_DriverStationSim
+ * Method:    setJoystickButtons
+ * Signature: (BII)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setJoystickButtons(
+    JNIEnv* env, jclass, jbyte joystickNum, jint buttons, jint count) {
+  if (count > 32) {
+    count = 32;
+  }
+  HAL_JoystickButtons joystickButtons;
+  joystickButtons.count = count;
+  joystickButtons.buttons = buttons;
+  HALSIM_SetJoystickButtons(joystickNum, &joystickButtons);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_sim_mockdata_DriverStationSim
+ * Method:    setMatchInfo
+ * Signature: (Ledu/wpi/first/wpilibj/hal/MatchInfoData;)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setMatchInfo(
+    JNIEnv* env, jclass, jobject info) {}
+
+/*
+ * Class:     edu_wpi_first_hal_sim_mockdata_DriverStationSim
+ * Method:    registerAllCallbacks
+ * Signature: (Ledu/wpi/first/hal/sim/NotifyCallback;Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_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_sim_mockdata_DriverStationSim
+ * Method:    notifyNewData
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_notifyNewData(JNIEnv*,
+                                                                       jclass) {
+  HALSIM_NotifyDriverStationNewData();
+}
+
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_resetData(JNIEnv*,
+                                                                   jclass) {
+  HALSIM_ResetDriverStationData();
+}
+
+}  // extern "C"