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Add new CAN API (#1036)

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This commit is contained in:
Thad House
2018-05-21 16:09:38 -07:00
committed by Peter Johnson
parent 55b0fe0082
commit 680aabbe7c
19 changed files with 1545 additions and 1 deletions
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14
hal/src/main/native/cpp/jni/HALUtil.cpp
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@@ -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;
}