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

The simulator was generated by https://github.com/ThadHouse/SimulatorGenerator
2026-06-20 00:51:42 +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/SimulatorJNI.cpp
+++ b/hal/src/main/native/sim/jni/SimulatorJNI.cpp
@@ -0,0 +1,151 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "BufferCallbackStore.h"
+#include "CallbackStore.h"
+#include "ConstBufferCallbackStore.h"
+#include "HAL/HAL.h"
+#include "HAL/cpp/Log.h"
+#include "HAL/handles/HandlesInternal.h"
+#include "MockData/MockHooks.h"
+#include "SimulatorJNI.h"
+#include "SpiReadAutoReceiveBufferCallbackStore.h"
+#include "edu_wpi_first_hal_sim_mockdata_SimulatorJNI.h"
+
+using namespace wpi::java;
+
+static JavaVM* jvm = nullptr;
+static JClass simValueCls;
+static JClass notifyCallbackCls;
+static JClass bufferCallbackCls;
+static JClass constBufferCallbackCls;
+static JClass spiReadAutoReceiveBufferCallbackCls;
+static jmethodID notifyCallbackCallback;
+static jmethodID bufferCallbackCallback;
+static jmethodID constBufferCallbackCallback;
+static jmethodID spiReadAutoReceiveBufferCallbackCallback;
+
+namespace sim {
+jint SimOnLoad(JavaVM* vm, void* reserved) {
+  jvm = vm;
+
+  JNIEnv* env;
+  if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
+    return JNI_ERR;
+
+  simValueCls = JClass(env, "edu/wpi/first/wpilibj/sim/SimValue");
+  if (!simValueCls) return JNI_ERR;
+
+  notifyCallbackCls = JClass(env, "edu/wpi/first/wpilibj/sim/NotifyCallback");
+  if (!notifyCallbackCls) return JNI_ERR;
+
+  notifyCallbackCallback = env->GetMethodID(notifyCallbackCls, "callbackNative",
+                                            "(Ljava/lang/String;IJD)V");
+  if (!notifyCallbackCallback) return JNI_ERR;
+
+  bufferCallbackCls = JClass(env, "edu/wpi/first/wpilibj/sim/BufferCallback");
+  if (!bufferCallbackCls) return JNI_ERR;
+
+  bufferCallbackCallback = env->GetMethodID(bufferCallbackCls, "callback",
+                                            "(Ljava/lang/String;[BI)V");
+  if (!bufferCallbackCallback) return JNI_ERR;
+
+  constBufferCallbackCls =
+      JClass(env, "edu/wpi/first/wpilibj/sim/ConstBufferCallback");
+  if (!constBufferCallbackCls) return JNI_ERR;
+
+  constBufferCallbackCallback = env->GetMethodID(
+      constBufferCallbackCls, "callback", "(Ljava/lang/String;[BI)V");
+  if (!constBufferCallbackCallback) return JNI_ERR;
+
+  spiReadAutoReceiveBufferCallbackCls =
+      JClass(env, "edu/wpi/first/wpilibj/sim/SpiReadAutoReceiveBufferCallback");
+  if (!spiReadAutoReceiveBufferCallbackCls) return JNI_ERR;
+
+  spiReadAutoReceiveBufferCallbackCallback =
+      env->GetMethodID(spiReadAutoReceiveBufferCallbackCls, "callback",
+                       "(Ljava/lang/String;[BI)I");
+  if (!spiReadAutoReceiveBufferCallbackCallback) return JNI_ERR;
+
+  InitializeStore();
+  InitializeBufferStore();
+  InitializeConstBufferStore();
+  InitializeSpiBufferStore();
+
+  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)
+    return;
+
+  simValueCls.free(env);
+  notifyCallbackCls.free(env);
+  bufferCallbackCls.free(env);
+  constBufferCallbackCls.free(env);
+  spiReadAutoReceiveBufferCallbackCls.free(env);
+  jvm = nullptr;
+}
+
+JavaVM* GetJVM() { return jvm; }
+
+jmethodID GetNotifyCallback() { return notifyCallbackCallback; }
+
+jmethodID GetBufferCallback() { return bufferCallbackCallback; }
+
+jmethodID GetConstBufferCallback() { return constBufferCallbackCallback; }
+
+jmethodID GetSpiReadAutoReceiveBufferCallback() {
+  return spiReadAutoReceiveBufferCallbackCallback;
+}
+}  // namespace sim
+
+extern "C" {
+/*
+ * Class:     edu_wpi_first_hal_sim_mockdata_SimulatorJNI
+ * Method:    waitForProgramStart
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimulatorJNI_waitForProgramStart(JNIEnv*,
+                                                                     jclass) {
+  HALSIM_WaitForProgramStart();
+}
+
+/*
+ * Class:     edu_wpi_first_hal_sim_mockdata_SimulatorJNI
+ * Method:    setProgramStarted
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimulatorJNI_setProgramStarted(JNIEnv*,
+                                                                   jclass) {
+  HALSIM_SetProgramStarted();
+}
+
+/*
+ * Class:     edu_wpi_first_hal_sim_mockdata_SimulatorJNI
+ * Method:    restartTiming
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimulatorJNI_restartTiming(JNIEnv*,
+                                                               jclass) {
+  HALSIM_RestartTiming();
+}
+
+/*
+ * Class:     edu_wpi_first_hal_sim_mockdata_SimulatorJNI
+ * Method:    resetHandles
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimulatorJNI_resetHandles(JNIEnv*, jclass) {
+  hal::HandleBase::ResetGlobalHandles();
+}
+}  // extern "C"