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Add new CAN API (#1036)
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
55b0fe0082
commit
680aabbe7c
241
hal/src/main/native/cpp/jni/CANAPIJNI.cpp
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241
hal/src/main/native/cpp/jni/CANAPIJNI.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <jni.h>
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#include <cassert>
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#include <wpi/SmallString.h>
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#include <wpi/jni_util.h>
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#include <wpi/raw_ostream.h>
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#include "HAL/CAN.h"
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#include "HAL/CANAPI.h"
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#include "HAL/Errors.h"
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#include "HAL/cpp/Log.h"
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#include "HALUtil.h"
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#include "edu_wpi_first_wpilibj_hal_CANAPIJNI.h"
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using namespace frc;
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using namespace wpi::java;
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extern "C" {
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/*
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* Class: edu_wpi_first_wpilibj_hal_CANAPIJNI
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* Method: initializeCAN
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* Signature: (III)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_initializeCAN
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(JNIEnv* env, jclass, jint manufacturer, jint deviceId, jint deviceType)
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{
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int32_t status = 0;
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auto handle =
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HAL_InitializeCAN(static_cast<HAL_CANManufacturer>(manufacturer),
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static_cast<int32_t>(deviceId),
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static_cast<HAL_CANDeviceType>(deviceType), &status);
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CheckStatusForceThrow(env, status);
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return handle;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CANAPIJNI
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* Method: cleanCAN
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_cleanCAN
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(JNIEnv* env, jclass, jint handle)
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{
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HAL_CleanCAN(static_cast<HAL_CANHandle>(handle));
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CANAPIJNI
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* Method: writeCANPacket
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* Signature: (I[BI)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_writeCANPacket
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(JNIEnv* env, jclass, jint handle, jbyteArray data, jint apiId)
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{
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auto halHandle = static_cast<HAL_CANHandle>(handle);
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JByteArrayRef arr{env, data};
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auto arrRef = arr.array();
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int32_t status = 0;
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HAL_WriteCANPacket(halHandle, reinterpret_cast<const uint8_t*>(arrRef.data()),
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arrRef.size(), apiId, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CANAPIJNI
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* Method: writeCANPacketRepeating
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* Signature: (I[BII)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_writeCANPacketRepeating
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(JNIEnv* env, jclass, jint handle, jbyteArray data, jint apiId,
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jint timeoutMs)
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{
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auto halHandle = static_cast<HAL_CANHandle>(handle);
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JByteArrayRef arr{env, data};
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auto arrRef = arr.array();
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int32_t status = 0;
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HAL_WriteCANPacketRepeating(halHandle,
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reinterpret_cast<const uint8_t*>(arrRef.data()),
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arrRef.size(), apiId, timeoutMs, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CANAPIJNI
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* Method: stopCANPacketRepeating
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_stopCANPacketRepeating
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(JNIEnv* env, jclass, jint handle, jint apiId)
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{
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auto halHandle = static_cast<HAL_CANHandle>(handle);
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int32_t status = 0;
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HAL_StopCANPacketRepeating(halHandle, apiId, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CANAPIJNI
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* Method: readCANPacketNew
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* Signature: (IILjava/lang/Object;)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_readCANPacketNew
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(JNIEnv* env, jclass, jint handle, jint apiId, jobject data)
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{
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auto halHandle = static_cast<HAL_CANHandle>(handle);
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uint8_t dataTemp[8];
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int32_t dataLength = 0;
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uint64_t timestamp = 0;
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int32_t status = 0;
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HAL_ReadCANPacketNew(halHandle, apiId, dataTemp, &dataLength, ×tamp,
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&status);
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if (status == HAL_ERR_CANSessionMux_MessageNotFound) {
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return false;
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}
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if (!CheckStatus(env, status)) {
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return false;
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}
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if (dataLength > 8) dataLength = 8;
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jbyteArray toSetArray = SetCANDataObject(env, data, dataLength, timestamp);
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auto javaLen = env->GetArrayLength(toSetArray);
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if (javaLen < dataLength) dataLength = javaLen;
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env->SetByteArrayRegion(toSetArray, 0, dataLength,
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reinterpret_cast<jbyte*>(dataTemp));
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return true;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CANAPIJNI
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* Method: readCANPacketLatest
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* Signature: (IILjava/lang/Object;)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_readCANPacketLatest
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(JNIEnv* env, jclass, jint handle, jint apiId, jobject data)
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{
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auto halHandle = static_cast<HAL_CANHandle>(handle);
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uint8_t dataTemp[8];
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int32_t dataLength = 0;
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uint64_t timestamp = 0;
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int32_t status = 0;
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HAL_ReadCANPacketLatest(halHandle, apiId, dataTemp, &dataLength, ×tamp,
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&status);
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if (status == HAL_ERR_CANSessionMux_MessageNotFound) {
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return false;
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}
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if (!CheckStatus(env, status)) {
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return false;
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}
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if (dataLength > 8) dataLength = 8;
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jbyteArray toSetArray = SetCANDataObject(env, data, dataLength, timestamp);
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auto javaLen = env->GetArrayLength(toSetArray);
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if (javaLen < dataLength) dataLength = javaLen;
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env->SetByteArrayRegion(toSetArray, 0, dataLength,
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reinterpret_cast<jbyte*>(dataTemp));
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return true;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CANAPIJNI
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* Method: readCANPacketTimeout
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* Signature: (IIILjava/lang/Object;)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_readCANPacketTimeout
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(JNIEnv* env, jclass, jint handle, jint apiId, jint timeoutMs, jobject data)
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{
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auto halHandle = static_cast<HAL_CANHandle>(handle);
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uint8_t dataTemp[8];
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int32_t dataLength = 0;
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uint64_t timestamp = 0;
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int32_t status = 0;
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HAL_ReadCANPacketTimeout(halHandle, apiId, dataTemp, &dataLength, ×tamp,
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timeoutMs, &status);
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if (status == HAL_CAN_TIMEOUT ||
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status == HAL_ERR_CANSessionMux_MessageNotFound) {
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return false;
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}
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if (!CheckStatus(env, status)) {
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return false;
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}
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if (dataLength > 8) dataLength = 8;
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jbyteArray toSetArray = SetCANDataObject(env, data, dataLength, timestamp);
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auto javaLen = env->GetArrayLength(toSetArray);
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if (javaLen < dataLength) dataLength = javaLen;
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env->SetByteArrayRegion(toSetArray, 0, dataLength,
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reinterpret_cast<jbyte*>(dataTemp));
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return true;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_CANAPIJNI
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* Method: readCANPeriodicPacket
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* Signature: (IIIILjava/lang/Object;)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_CANAPIJNI_readCANPeriodicPacket
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(JNIEnv* env, jclass, jint handle, jint apiId, jint timeoutMs, jint periodMs,
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jobject data)
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{
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auto halHandle = static_cast<HAL_CANHandle>(handle);
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uint8_t dataTemp[8];
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int32_t dataLength = 0;
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uint64_t timestamp = 0;
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int32_t status = 0;
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HAL_ReadCANPeriodicPacket(halHandle, apiId, dataTemp, &dataLength, ×tamp,
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timeoutMs, periodMs, &status);
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if (status == HAL_CAN_TIMEOUT ||
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status == HAL_ERR_CANSessionMux_MessageNotFound) {
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return false;
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}
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if (!CheckStatus(env, status)) {
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return false;
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}
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if (dataLength > 8) dataLength = 8;
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jbyteArray toSetArray = SetCANDataObject(env, data, dataLength, timestamp);
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auto javaLen = env->GetArrayLength(toSetArray);
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if (javaLen < dataLength) dataLength = javaLen;
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env->SetByteArrayRegion(toSetArray, 0, dataLength,
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reinterpret_cast<jbyte*>(dataTemp));
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return true;
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}
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} // extern "C"
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