[hal,wpilib] Move Alert to HAL (#8646)

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

@@ -0,0 +1,124 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <jni.h>
+
+#include <cassert>
+#include <cstdio>
+
+#include "HALUtil.h"
+#include "org_wpilib_hardware_hal_AlertJNI.h"
+#include "wpi/hal/Alert.h"
+#include "wpi/util/jni_util.hpp"
+#include "wpi/util/string.h"
+
+using namespace wpi::hal;
+using namespace wpi::util::java;
+
+extern "C" {
+
+/*
+ * Class:     org_wpilib_hardware_hal_AlertJNI
+ * Method:    createAlert
+ * Signature: (Ljava/lang/String;Ljava/lang/String;I)I
+ */
+JNIEXPORT jint JNICALL
+Java_org_wpilib_hardware_hal_AlertJNI_createAlert
+  (JNIEnv* env, jclass, jstring group, jstring text, jint level)
+{
+  int32_t status = 0;
+  wpi::util::java::JStringRef jgroup{env, group};
+  wpi::util::java::JStringRef jtext{env, text};
+  WPI_String wpiGroup = wpi::util::make_string(jgroup);
+  WPI_String wpiText = wpi::util::make_string(jtext);
+  HAL_AlertHandle alertHandle =
+      HAL_CreateAlert(&wpiGroup, &wpiText, level, &status);
+
+  if (alertHandle <= 0 || !CheckStatusForceThrow(env, status)) {
+    return 0;  // something went wrong in HAL
+  }
+
+  return (jint)alertHandle;
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_AlertJNI
+ * Method:    destroyAlert
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_AlertJNI_destroyAlert
+  (JNIEnv* env, jclass, jint alertHandle)
+{
+  if (alertHandle != HAL_kInvalidHandle) {
+    HAL_DestroyAlert((HAL_AlertHandle)alertHandle);
+  }
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_AlertJNI
+ * Method:    setAlertActive
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_AlertJNI_setAlertActive
+  (JNIEnv* env, jclass cls, jint alertHandle, jboolean active)
+{
+  int32_t status = 0;
+  HAL_SetAlertActive((HAL_AlertHandle)alertHandle, active, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_AlertJNI
+ * Method:    isAlertActive
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_org_wpilib_hardware_hal_AlertJNI_isAlertActive
+  (JNIEnv* env, jclass cls, jint alertHandle)
+{
+  int32_t status = 0;
+  jboolean active = HAL_IsAlertActive((HAL_AlertHandle)alertHandle, &status);
+  CheckStatus(env, status);
+  return active;
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_AlertJNI
+ * Method:    setAlertText
+ * Signature: (ILjava/lang/String;)V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_AlertJNI_setAlertText
+  (JNIEnv* env, jclass cls, jint alertHandle, jstring text)
+{
+  int32_t status = 0;
+  wpi::util::java::JStringRef jtext{env, text};
+  WPI_String wpiText = wpi::util::make_string(jtext);
+  HAL_SetAlertText((HAL_AlertHandle)alertHandle, &wpiText, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_AlertJNI
+ * Method:    getAlertText
+ * Signature: (I)Ljava/lang/String;
+ */
+JNIEXPORT jstring JNICALL
+Java_org_wpilib_hardware_hal_AlertJNI_getAlertText
+  (JNIEnv* env, jclass cls, jint alertHandle)
+{
+  int32_t status = 0;
+  WPI_String text;
+  HAL_GetAlertText((HAL_AlertHandle)alertHandle, &text, &status);
+  if (!CheckStatus(env, status)) {
+    return nullptr;
+  }
+  jstring rv = MakeJString(env, wpi::util::to_string_view(&text));
+  WPI_FreeString(&text);
+  return rv;
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/simulation/AlertDataJNI.cpp

@@ -0,0 +1,91 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "AlertDataJNI.hpp"
+
+#include <jni.h>
+
+#include "org_wpilib_hardware_hal_simulation_AlertDataJNI.h"
+#include "wpi/hal/simulation/AlertData.h"
+#include "wpi/util/jni_util.hpp"
+
+using namespace wpi::util::java;
+
+static JClass alertInfoCls;
+
+static jobject MakeAlertInfoJava(JNIEnv* env, const HALSIM_AlertInfo& info) {
+  static jmethodID func = env->GetMethodID(
+      alertInfoCls, "<init>", "(ILjava/lang/String;Ljava/lang/String;JI)V");
+  return env->NewObject(
+      alertInfoCls, func, static_cast<jint>(info.handle),
+      MakeJString(env, wpi::util::to_string_view(&info.group)),
+      MakeJString(env, wpi::util::to_string_view(&info.text)),
+      static_cast<jlong>(info.activeStartTime), static_cast<jint>(info.level));
+}
+namespace wpi::hal::sim {
+
+bool InitializeAlertDataJNI(JNIEnv* env) {
+  alertInfoCls =
+      JClass(env, "org/wpilib/hardware/hal/simulation/AlertDataJNI$AlertInfo");
+  if (!alertInfoCls) {
+    return false;
+  }
+  return true;
+}
+
+void FreeAlertDataJNI(JNIEnv* env) {
+  alertInfoCls.free(env);
+}
+
+}  // namespace wpi::hal::sim
+
+extern "C" {
+
+/*
+ * Class:     org_wpilib_hardware_hal_simulation_AlertDataJNI
+ * Method:    getNumAlerts
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_org_wpilib_hardware_hal_simulation_AlertDataJNI_getNumAlerts
+  (JNIEnv*, jclass)
+{
+  return HALSIM_GetNumAlerts();
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_simulation_AlertDataJNI
+ * Method:    getAlerts
+ * Signature: ()[Ljava/lang/Object;
+ */
+JNIEXPORT jobjectArray JNICALL
+Java_org_wpilib_hardware_hal_simulation_AlertDataJNI_getAlerts
+  (JNIEnv* env, jclass)
+{
+  int32_t allocLen = HALSIM_GetNumAlerts();
+  HALSIM_AlertInfo* arr = new HALSIM_AlertInfo[allocLen];
+  int32_t len = HALSIM_GetAlerts(arr, allocLen);
+
+  jobjectArray ret = env->NewObjectArray(len, alertInfoCls, nullptr);
+  for (int32_t i = 0; i < len; ++i) {
+    env->SetObjectArrayElement(ret, i, MakeAlertInfoJava(env, arr[i]));
+  }
+  HALSIM_FreeAlerts(arr, len < allocLen ? len : allocLen);
+  delete[] arr;
+  return ret;
+}
+
+/*
+ * Class:     org_wpilib_hardware_hal_simulation_AlertDataJNI
+ * Method:    resetData
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_simulation_AlertDataJNI_resetData
+  (JNIEnv*, jclass)
+{
+  HALSIM_ResetAlertData();
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/simulation/AlertDataJNI.hpp

@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <jni.h>
+
+namespace wpi::hal::sim {
+bool InitializeAlertDataJNI(JNIEnv* env);
+void FreeAlertDataJNI(JNIEnv* env);
+}  // namespace wpi::hal::sim

hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp

@@ -4,6 +4,7 @@
 
 #include "SimulatorJNI.h"
 
+#include "AlertDataJNI.hpp"
 #include "BufferCallbackStore.h"
 #include "CallbackStore.h"
 #include "ConstBufferCallbackStore.h"
@@ -78,6 +79,9 @@ jint SimOnLoad(JavaVM* vm, void* reserved) {
   InitializeBufferStore();
   InitializeConstBufferStore();
   InitializeOpModeOptionsStore();
+  if (!InitializeAlertDataJNI(env)) {
+    return JNI_ERR;
+  }
   if (!InitializeSimDeviceDataJNI(env)) {
     return JNI_ERR;
   }
@@ -95,6 +99,7 @@ void SimOnUnload(JavaVM* vm, void* reserved) {
   bufferCallbackCls.free(env);
   constBufferCallbackCls.free(env);
   biConsumerCls.free(env);
+  FreeAlertDataJNI(env);
   FreeSimDeviceDataJNI(env);
   jvm = nullptr;
 }