[wpiutil] Enhance DataLog Java raw value support

Add support for start, length, and ByteBuffers
2026-06-21 01:01:43 +00:00 · 2023-05-17 14:06:52 -07:00
parent 8dae5af271
commit 3a6e40a44b
6 changed files with 309 additions and 25 deletions
--- a/wpiutil/src/main/native/cpp/jni/DataLogJNI.cpp
+++ b/wpiutil/src/main/native/cpp/jni/DataLogJNI.cpp
@@ -4,7 +4,9 @@

 #include <jni.h>

+#include "WPIUtilJNI.h"
 #include "edu_wpi_first_util_datalog_DataLogJNI.h"
+#include "fmt/format.h"
 #include "wpi/DataLog.h"
 #include "wpi/jni_util.h"

@@ -23,6 +25,18 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_create
  (JNIEnv* env, jclass, jstring dir, jstring filename, jdouble period,
   jstring extraHeader)
 {
+  if (!dir) {
+    wpi::ThrowNullPointerException(env, "dir is null");
+    return 0;
+  }
+  if (!filename) {
+    wpi::ThrowNullPointerException(env, "filename is null");
+    return 0;
+  }
+  if (!extraHeader) {
+    wpi::ThrowNullPointerException(env, "extraHeader is null");
+    return 0;
+  }
  return reinterpret_cast<jlong>(new DataLog{JStringRef{env, dir},
                                             JStringRef{env, filename}, period,
                                             JStringRef{env, extraHeader}});
@@ -38,6 +52,11 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_setFilename
  (JNIEnv* env, jclass, jlong impl, jstring filename)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
+    return;
+  }
+  if (!filename) {
+    wpi::ThrowNullPointerException(env, "filename is null");
    return;
  }
  reinterpret_cast<DataLog*>(impl)->SetFilename(JStringRef{env, filename});
@@ -50,9 +69,10 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_setFilename
 */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_util_datalog_DataLogJNI_flush
-  (JNIEnv*, jclass, jlong impl)
+  (JNIEnv* env, jclass, jlong impl)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
    return;
  }
  reinterpret_cast<DataLog*>(impl)->Flush();
@@ -65,9 +85,10 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_flush
 */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_util_datalog_DataLogJNI_pause
-  (JNIEnv*, jclass, jlong impl)
+  (JNIEnv* env, jclass, jlong impl)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
    return;
  }
  reinterpret_cast<DataLog*>(impl)->Pause();
@@ -80,9 +101,10 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_pause
 */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_util_datalog_DataLogJNI_resume
-  (JNIEnv*, jclass, jlong impl)
+  (JNIEnv* env, jclass, jlong impl)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
    return;
  }
  reinterpret_cast<DataLog*>(impl)->Resume();
@@ -99,6 +121,7 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_start
   jstring metadata, jlong timestamp)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
    return 0;
  }
  return reinterpret_cast<DataLog*>(impl)->Start(
@@ -113,9 +136,10 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_start
 */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_util_datalog_DataLogJNI_finish
-  (JNIEnv*, jclass, jlong impl, jint entry, jlong timestamp)
+  (JNIEnv* env, jclass, jlong impl, jint entry, jlong timestamp)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
    return;
  }
  reinterpret_cast<DataLog*>(impl)->Finish(entry, timestamp);
@@ -132,6 +156,7 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_setMetadata
   jlong timestamp)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
    return;
  }
  reinterpret_cast<DataLog*>(impl)->SetMetadata(
@@ -153,21 +178,73 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_close
 /*
 * Class:     edu_wpi_first_util_datalog_DataLogJNI
 * Method:    appendRaw
- * Signature: (JI[BJ)V
+ * Signature: (JI[BIIJ)V
 */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_util_datalog_DataLogJNI_appendRaw
-  (JNIEnv* env, jclass, jlong impl, jint entry, jbyteArray value,
-   jlong timestamp)
+  (JNIEnv* env, jclass, jlong impl, jint entry, jbyteArray value, jint start,
+   jint length, jlong timestamp)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
+    return;
+  }
+  if (!value) {
+    wpi::ThrowNullPointerException(env, "value is null");
+    return;
+  }
+  if (start < 0) {
+    wpi::ThrowIndexOobException(env, "start must be >= 0");
+    return;
+  }
+  if (length < 0) {
+    wpi::ThrowIndexOobException(env, "length must be >= 0");
+    return;
+  }
+  CriticalJByteArrayRef cvalue{env, value};
+  if (static_cast<unsigned int>(start + length) > cvalue.size()) {
+    wpi::ThrowIndexOobException(
+        env, "start + len must be smaller than array length");
    return;
  }
-  JByteArrayRef cvalue{env, value};
  reinterpret_cast<DataLog*>(impl)->AppendRaw(
-      entry,
-      {reinterpret_cast<const uint8_t*>(cvalue.array().data()), cvalue.size()},
-      timestamp);
+      entry, cvalue.uarray().subspan(start, length), timestamp);
+}
+
+/*
+ * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Method:    appendRawBuffer
+ * Signature: (JILjava/lang/Object;IIJ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_util_datalog_DataLogJNI_appendRawBuffer
+  (JNIEnv* env, jclass, jlong impl, jint entry, jobject value, jint start,
+   jint length, jlong timestamp)
+{
+  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
+    return;
+  }
+  if (!value) {
+    wpi::ThrowNullPointerException(env, "value is null");
+    return;
+  }
+  if (start < 0) {
+    wpi::ThrowIndexOobException(env, "start must be >= 0");
+    return;
+  }
+  if (length < 0) {
+    wpi::ThrowIndexOobException(env, "length must be >= 0");
+    return;
+  }
+  JByteArrayRef cvalue{env, value, start + length};
+  if (!cvalue) {
+    wpi::ThrowIllegalArgumentException(env,
+                                       "value must be a native ByteBuffer");
+    return;
+  }
+  reinterpret_cast<DataLog*>(impl)->AppendRaw(
+      entry, cvalue.uarray().subspan(start, length), timestamp);
 }

 /*
@@ -177,9 +254,10 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendRaw
 */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_util_datalog_DataLogJNI_appendBoolean
-  (JNIEnv*, jclass, jlong impl, jint entry, jboolean value, jlong timestamp)
+  (JNIEnv* env, jclass, jlong impl, jint entry, jboolean value, jlong timestamp)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
    return;
  }
  reinterpret_cast<DataLog*>(impl)->AppendBoolean(entry, value, timestamp);
@@ -192,9 +270,10 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendBoolean
 */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_util_datalog_DataLogJNI_appendInteger
-  (JNIEnv*, jclass, jlong impl, jint entry, jlong value, jlong timestamp)
+  (JNIEnv* env, jclass, jlong impl, jint entry, jlong value, jlong timestamp)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
    return;
  }
  reinterpret_cast<DataLog*>(impl)->AppendInteger(entry, value, timestamp);
@@ -207,9 +286,10 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendInteger
 */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_util_datalog_DataLogJNI_appendFloat
-  (JNIEnv*, jclass, jlong impl, jint entry, jfloat value, jlong timestamp)
+  (JNIEnv* env, jclass, jlong impl, jint entry, jfloat value, jlong timestamp)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
    return;
  }
  reinterpret_cast<DataLog*>(impl)->AppendFloat(entry, value, timestamp);
@@ -222,9 +302,10 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendFloat
 */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_util_datalog_DataLogJNI_appendDouble
-  (JNIEnv*, jclass, jlong impl, jint entry, jdouble value, jlong timestamp)
+  (JNIEnv* env, jclass, jlong impl, jint entry, jdouble value, jlong timestamp)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
    return;
  }
  reinterpret_cast<DataLog*>(impl)->AppendDouble(entry, value, timestamp);
@@ -240,6 +321,7 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendString
  (JNIEnv* env, jclass, jlong impl, jint entry, jstring value, jlong timestamp)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
    return;
  }
  reinterpret_cast<DataLog*>(impl)->AppendString(entry, JStringRef{env, value},
@@ -257,6 +339,11 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendBooleanArray
   jlong timestamp)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
+    return;
+  }
+  if (!value) {
+    wpi::ThrowNullPointerException(env, "value is null");
    return;
  }
  reinterpret_cast<DataLog*>(impl)->AppendBooleanArray(
@@ -274,6 +361,11 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendIntegerArray
   jlong timestamp)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
+    return;
+  }
+  if (!value) {
+    wpi::ThrowNullPointerException(env, "value is null");
    return;
  }
  JLongArrayRef jarr{env, value};
@@ -304,6 +396,11 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendFloatArray
   jlong timestamp)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
+    return;
+  }
+  if (!value) {
+    wpi::ThrowNullPointerException(env, "value is null");
    return;
  }
  reinterpret_cast<DataLog*>(impl)->AppendFloatArray(
@@ -321,6 +418,11 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendDoubleArray
   jlong timestamp)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
+    return;
+  }
+  if (!value) {
+    wpi::ThrowNullPointerException(env, "value is null");
    return;
  }
  reinterpret_cast<DataLog*>(impl)->AppendDoubleArray(
@@ -338,6 +440,11 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendStringArray
   jlong timestamp)
 {
  if (impl == 0) {
+    wpi::ThrowNullPointerException(env, "impl is null");
+    return;
+  }
+  if (!value) {
+    wpi::ThrowNullPointerException(env, "value is null");
    return;
  }
  size_t len = env->GetArrayLength(value);
@@ -347,6 +454,8 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendStringArray
    JLocal<jstring> elem{
        env, static_cast<jstring>(env->GetObjectArrayElement(value, i))};
    if (!elem) {
+      wpi::ThrowNullPointerException(
+          env, fmt::format("string at element {} is null", i));
      return;
    }
    arr.emplace_back(JStringRef{env, elem}.str());