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HAL: Expose NetComm SendConsoleLine (#2337)

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This can be use to synchronize writes between threads, assuming writes all go through this and not stdout.
This commit is contained in:
Thad House
2020-02-18 20:44:40 -08:00
committed by GitHub
parent 2a968df779
commit 554bda3332
8 changed files with 86 additions and 14 deletions
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4
hal/src/main/java/edu/wpi/first/hal/HAL.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 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. */
@@ -130,6 +130,8 @@ public final class HAL extends JNIWrapper {
String details, String location, String callStack,
boolean printMsg);
public static native int sendConsoleLine(String line);
public static native int getPortWithModule(byte module, byte channel);
public static native int getPort(byte channel);

3
hal/src/main/java/edu/wpi/first/hal/sim/mockdata/DriverStationDataJNI.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 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. */
@@ -50,6 +50,7 @@ public class DriverStationDataJNI extends JNIWrapper {
public static native void notifyNewData();
public static native void setSendError(boolean shouldSend);
public static native void setSendConsoleLine(boolean shouldSend);
public static native void resetData();
}

26
hal/src/main/native/athena/FRCDriverStation.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 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. */
@@ -176,27 +176,27 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
if (baseLength + detailsRef.size() + locationRef.size() +
callStackRef.size() <=
65536) {
65535) {
// Pass through
retval = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode,
details, location, callStack);
} else if (baseLength + detailsRef.size() > 65536) {
} else if (baseLength + detailsRef.size() > 65535) {
// Details too long, cut both location and stack
auto newLen = 65536 - baseLength;
auto newLen = 65535 - baseLength;
std::string newDetails{details, newLen};
char empty = '\0';
retval = FRC_NetworkCommunication_sendError(
isError, errorCode, isLVCode, newDetails.c_str(), &empty, &empty);
} else if (baseLength + detailsRef.size() + locationRef.size() > 65536) {
} else if (baseLength + detailsRef.size() + locationRef.size() > 65535) {
// Location too long, cut stack
auto newLen = 65536 - baseLength - detailsRef.size();
auto newLen = 65535 - baseLength - detailsRef.size();
std::string newLocation{location, newLen};
char empty = '\0';
retval = FRC_NetworkCommunication_sendError(
isError, errorCode, isLVCode, details, newLocation.c_str(), &empty);
} else {
// Stack too long
auto newLen = 65536 - baseLength - detailsRef.size() - locationRef.size();
auto newLen = 65535 - baseLength - detailsRef.size() - locationRef.size();
std::string newCallStack{callStack, newLen};
retval = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode,
details, location,
@@ -229,6 +229,18 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
return retval;
}
int32_t HAL_SendConsoleLine(const char* line) {
wpi::StringRef lineRef{line};
if (lineRef.size() <= 65535) {
// Send directly
return FRC_NetworkCommunication_sendConsoleLine(line);
} else {
// Need to truncate
std::string newLine{line, 65535};
return FRC_NetworkCommunication_sendConsoleLine(newLine.c_str());
}
}
int32_t HAL_GetControlWord(HAL_ControlWord* controlWord) {
return HAL_GetControlWordInternal(controlWord);
}

17
hal/src/main/native/cpp/jni/HAL.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 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. */
@@ -448,6 +448,21 @@ Java_edu_wpi_first_hal_HAL_sendError
return returnValue;
}
/*
* Class: edu_wpi_first_hal_HAL
* Method: sendConsoleLine
* Signature: (Ljava/lang/String;)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_HAL_sendConsoleLine
(JNIEnv* env, jclass, jstring line)
{
JStringRef lineStr{env, line};
jint returnValue = HAL_SendConsoleLine(lineStr.c_str());
return returnValue;
}
/*
* Class: edu_wpi_first_hal_HAL
* Method: getPortWithModule

8
hal/src/main/native/include/hal/DriverStation.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2013-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2013-2020 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. */
@@ -37,6 +37,12 @@ extern "C" {
int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
const char* details, const char* location,
const char* callStack, HAL_Bool printMsg);
/**
* Sends a line to the driver station console.
*
* @param line the line to send (null terminated)
*/
int32_t HAL_SendConsoleLine(const char* line);
/**
* Gets the current control word of the driver station.

5
hal/src/main/native/include/mockdata/MockHooks.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 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. */
@@ -24,4 +24,7 @@ typedef int32_t (*HALSIM_SendErrorHandler)(
const char* location, const char* callStack, HAL_Bool printMsg);
void HALSIM_SetSendError(HALSIM_SendErrorHandler handler);
typedef int32_t (*HALSIM_SendConsoleLineHandler)(const char* line);
void HALSIM_SetSendConsoleLine(HALSIM_SendConsoleLineHandler handler);
} // extern "C"

17
hal/src/main/native/sim/DriverStation.cpp
View File

@@ -18,6 +18,7 @@
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
#include <wpi/raw_ostream.h>
#include "HALInitializer.h"
#include "mockdata/DriverStationDataInternal.h"
@@ -29,6 +30,8 @@ static wpi::mutex newDSDataAvailableMutex;
static int newDSDataAvailableCounter{0};
static std::atomic_bool isFinalized{false};
static std::atomic<HALSIM_SendErrorHandler> sendErrorHandler{nullptr};
static std::atomic<HALSIM_SendConsoleLineHandler> sendConsoleLineHandler{
nullptr};
namespace hal {
namespace init {
@@ -47,6 +50,10 @@ void HALSIM_SetSendError(HALSIM_SendErrorHandler handler) {
sendErrorHandler.store(handler);
}
void HALSIM_SetSendConsoleLine(HALSIM_SendConsoleLineHandler handler) {
sendConsoleLineHandler.store(handler);
}
int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
const char* details, const char* location,
const char* callStack, HAL_Bool printMsg) {
@@ -105,6 +112,16 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
return retval;
}
int32_t HAL_SendConsoleLine(const char* line) {
auto handler = sendConsoleLineHandler.load();
if (handler) {
return handler(line);
}
wpi::outs() << line << "\n";
wpi::outs().flush();
return 0;
}
int32_t HAL_GetControlWord(HAL_ControlWord* controlWord) {
controlWord->enabled = SimDriverStationData->enabled;
controlWord->autonomous = SimDriverStationData->autonomous;

20
hal/src/main/native/sim/jni/DriverStationDataJNI.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 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. */
@@ -462,7 +462,23 @@ Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setSendError
HALSIM_SetSendError([](HAL_Bool isError, int32_t errorCode,
HAL_Bool isLVCode, const char* details,
const char* location, const char* callStack,
HAL_Bool printMsg) { return 1; });
HAL_Bool printMsg) { return 0; });
}
}
/*
* Class: edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI
* Method: setSendConsoleLine
* Signature: (Z)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setSendConsoleLine
(JNIEnv*, jclass, jboolean shouldSend)
{
if (shouldSend) {
HALSIM_SetSendConsoleLine(nullptr);
} else {
HALSIM_SetSendConsoleLine([](const char* line) { return 0; });
}
}