Add new CAN API (#1036)

hal/src/main/native/cpp/jni/CANAPIJNI.cpp

@@ -0,0 +1,241 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <cassert>
+
+#include <wpi/SmallString.h>
+#include <wpi/jni_util.h>
+#include <wpi/raw_ostream.h>
+
+#include "HAL/CAN.h"
+#include "HAL/CANAPI.h"
+#include "HAL/Errors.h"
+#include "HAL/cpp/Log.h"
+#include "HALUtil.h"
+#include "edu_wpi_first_wpilibj_hal_CANAPIJNI.h"
+
+using namespace frc;
+using namespace wpi::java;
+
+extern "C" {
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CANAPIJNI
+ * Method:    initializeCAN
+ * Signature: (III)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_initializeCAN
+  (JNIEnv* env, jclass, jint manufacturer, jint deviceId, jint deviceType)
+{
+  int32_t status = 0;
+  auto handle =
+      HAL_InitializeCAN(static_cast<HAL_CANManufacturer>(manufacturer),
+                        static_cast<int32_t>(deviceId),
+                        static_cast<HAL_CANDeviceType>(deviceType), &status);
+
+  CheckStatusForceThrow(env, status);
+  return handle;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CANAPIJNI
+ * Method:    cleanCAN
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_cleanCAN
+  (JNIEnv* env, jclass, jint handle)
+{
+  HAL_CleanCAN(static_cast<HAL_CANHandle>(handle));
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CANAPIJNI
+ * Method:    writeCANPacket
+ * Signature: (I[BI)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_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();
+  int32_t status = 0;
+  HAL_WriteCANPacket(halHandle, reinterpret_cast<const uint8_t*>(arrRef.data()),
+                     arrRef.size(), apiId, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CANAPIJNI
+ * Method:    writeCANPacketRepeating
+ * Signature: (I[BII)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_writeCANPacketRepeating
+  (JNIEnv* env, jclass, jint handle, jbyteArray data, jint apiId,
+   jint timeoutMs)
+{
+  auto halHandle = static_cast<HAL_CANHandle>(handle);
+  JByteArrayRef arr{env, data};
+  auto arrRef = arr.array();
+  int32_t status = 0;
+  HAL_WriteCANPacketRepeating(halHandle,
+                              reinterpret_cast<const uint8_t*>(arrRef.data()),
+                              arrRef.size(), apiId, timeoutMs, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CANAPIJNI
+ * Method:    stopCANPacketRepeating
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_stopCANPacketRepeating
+  (JNIEnv* env, jclass, jint handle, jint apiId)
+{
+  auto halHandle = static_cast<HAL_CANHandle>(handle);
+  int32_t status = 0;
+  HAL_StopCANPacketRepeating(halHandle, apiId, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CANAPIJNI
+ * Method:    readCANPacketNew
+ * Signature: (IILjava/lang/Object;)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_readCANPacketNew
+  (JNIEnv* env, jclass, jint handle, jint apiId, jobject data)
+{
+  auto halHandle = static_cast<HAL_CANHandle>(handle);
+  uint8_t dataTemp[8];
+  int32_t dataLength = 0;
+  uint64_t timestamp = 0;
+  int32_t status = 0;
+  HAL_ReadCANPacketNew(halHandle, apiId, dataTemp, &dataLength, &timestamp,
+                       &status);
+  if (status == HAL_ERR_CANSessionMux_MessageNotFound) {
+    return false;
+  }
+  if (!CheckStatus(env, status)) {
+    return false;
+  }
+  if (dataLength > 8) dataLength = 8;
+
+  jbyteArray toSetArray = SetCANDataObject(env, data, dataLength, timestamp);
+  auto javaLen = env->GetArrayLength(toSetArray);
+  if (javaLen < dataLength) dataLength = javaLen;
+  env->SetByteArrayRegion(toSetArray, 0, dataLength,
+                          reinterpret_cast<jbyte*>(dataTemp));
+  return true;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CANAPIJNI
+ * Method:    readCANPacketLatest
+ * Signature: (IILjava/lang/Object;)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_readCANPacketLatest
+  (JNIEnv* env, jclass, jint handle, jint apiId, jobject data)
+{
+  auto halHandle = static_cast<HAL_CANHandle>(handle);
+  uint8_t dataTemp[8];
+  int32_t dataLength = 0;
+  uint64_t timestamp = 0;
+  int32_t status = 0;
+  HAL_ReadCANPacketLatest(halHandle, apiId, dataTemp, &dataLength, &timestamp,
+                          &status);
+  if (status == HAL_ERR_CANSessionMux_MessageNotFound) {
+    return false;
+  }
+  if (!CheckStatus(env, status)) {
+    return false;
+  }
+  if (dataLength > 8) dataLength = 8;
+
+  jbyteArray toSetArray = SetCANDataObject(env, data, dataLength, timestamp);
+  auto javaLen = env->GetArrayLength(toSetArray);
+  if (javaLen < dataLength) dataLength = javaLen;
+  env->SetByteArrayRegion(toSetArray, 0, dataLength,
+                          reinterpret_cast<jbyte*>(dataTemp));
+  return true;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CANAPIJNI
+ * Method:    readCANPacketTimeout
+ * Signature: (IIILjava/lang/Object;)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_readCANPacketTimeout
+  (JNIEnv* env, jclass, jint handle, jint apiId, jint timeoutMs, jobject data)
+{
+  auto halHandle = static_cast<HAL_CANHandle>(handle);
+  uint8_t dataTemp[8];
+  int32_t dataLength = 0;
+  uint64_t timestamp = 0;
+  int32_t status = 0;
+  HAL_ReadCANPacketTimeout(halHandle, apiId, dataTemp, &dataLength, &timestamp,
+                           timeoutMs, &status);
+  if (status == HAL_CAN_TIMEOUT ||
+      status == HAL_ERR_CANSessionMux_MessageNotFound) {
+    return false;
+  }
+  if (!CheckStatus(env, status)) {
+    return false;
+  }
+  if (dataLength > 8) dataLength = 8;
+
+  jbyteArray toSetArray = SetCANDataObject(env, data, dataLength, timestamp);
+  auto javaLen = env->GetArrayLength(toSetArray);
+  if (javaLen < dataLength) dataLength = javaLen;
+  env->SetByteArrayRegion(toSetArray, 0, dataLength,
+                          reinterpret_cast<jbyte*>(dataTemp));
+  return true;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_CANAPIJNI
+ * Method:    readCANPeriodicPacket
+ * Signature: (IIIILjava/lang/Object;)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_readCANPeriodicPacket
+  (JNIEnv* env, jclass, jint handle, jint apiId, jint timeoutMs, jint periodMs,
+   jobject data)
+{
+  auto halHandle = static_cast<HAL_CANHandle>(handle);
+  uint8_t dataTemp[8];
+  int32_t dataLength = 0;
+  uint64_t timestamp = 0;
+  int32_t status = 0;
+  HAL_ReadCANPeriodicPacket(halHandle, apiId, dataTemp, &dataLength, &timestamp,
+                            timeoutMs, periodMs, &status);
+  if (status == HAL_CAN_TIMEOUT ||
+      status == HAL_ERR_CANSessionMux_MessageNotFound) {
+    return false;
+  }
+  if (!CheckStatus(env, status)) {
+    return false;
+  }
+  if (dataLength > 8) dataLength = 8;
+
+  jbyteArray toSetArray = SetCANDataObject(env, data, dataLength, timestamp);
+  auto javaLen = env->GetArrayLength(toSetArray);
+  if (javaLen < dataLength) dataLength = javaLen;
+  env->SetByteArrayRegion(toSetArray, 0, dataLength,
+                          reinterpret_cast<jbyte*>(dataTemp));
+  return true;
+}
+}  // extern "C"

hal/src/main/native/cpp/jni/HALUtil.cpp

@@ -59,6 +59,7 @@ static JClass pwmConfigDataResultCls;
 static JClass canStatusCls;
 static JClass matchInfoDataCls;
 static JClass accumulatorResultCls;
+static JClass canDataCls;
 
 namespace frc {
 
@@ -237,6 +238,15 @@ void SetAccumulatorResultObject(JNIEnv* env, jobject accumulatorResult,
   env->CallVoidMethod(accumulatorResult, func, (jlong)value, (jlong)count);
 }
 
+jbyteArray SetCANDataObject(JNIEnv* env, jobject canData, int32_t length,
+                            uint64_t timestamp) {
+  static jmethodID func = env->GetMethodID(canDataCls, "setData", "(IJ)[B");
+
+  jbyteArray retVal = static_cast<jbyteArray>(
+      env->CallObjectMethod(canData, func, (jint)length, (jlong)timestamp));
+  return retVal;
+}
+
 JavaVM* GetJVM() { return jvm; }
 
 }  // namespace frc
@@ -314,6 +324,9 @@ JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
   accumulatorResultCls = JClass(env, "edu/wpi/first/wpilibj/AccumulatorResult");
   if (!accumulatorResultCls) return JNI_ERR;
 
+  canDataCls = JClass(env, "edu/wpi/first/wpilibj/CANData");
+  if (!canDataCls) return JNI_ERR;
+
   return sim::SimOnLoad(vm, reserved);
 }
 
@@ -338,6 +351,7 @@ JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {
   canStatusCls.free(env);
   matchInfoDataCls.free(env);
   accumulatorResultCls.free(env);
+  canDataCls.free(env);
   jvm = nullptr;
 }
 

hal/src/main/native/cpp/jni/HALUtil.h

@@ -62,6 +62,9 @@ void SetMatchInfoObject(JNIEnv* env, jobject matchStatus,
 void SetAccumulatorResultObject(JNIEnv* env, jobject accumulatorResult,
                                 int64_t value, int64_t count);
 
+jbyteArray SetCANDataObject(JNIEnv* env, jobject canData, int32_t length,
+                            uint64_t timestamp);
+
 JavaVM* GetJVM();
 
 }  // namespace frc