Adds match specific calls to Java and C++ (#720)

Uses caching, matching the joystick calls.

wpilibj/src/main/native/cpp/HAL.cpp

@@ -120,7 +120,7 @@ Java_edu_wpi_first_wpilibj_hal_HAL_report(
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetControlWord(JNIEnv*, jclass) {
   NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word";
-  static_assert(sizeof(HAL_ControlWord) == sizeof(jint), 
+  static_assert(sizeof(HAL_ControlWord) == sizeof(jint),
       "Java int must match the size of control word");
   HAL_ControlWord controlWord;
   std::memset(&controlWord, 0, sizeof(HAL_ControlWord));
@@ -285,7 +285,7 @@ Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxisType(JNIEnv*, jclass,
  * Method:    isNewControlData
  * Signature: ()Z
  */
-JNIEXPORT jboolean JNICALL 
+JNIEXPORT jboolean JNICALL
 Java_edu_wpi_first_wpilibj_hal_HAL_isNewControlData(JNIEnv *, jclass) {
   return static_cast<jboolean>(HAL_IsNewControlData());
 }
@@ -315,8 +315,8 @@ Java_edu_wpi_first_wpilibj_hal_HAL_releaseDSMutex(JNIEnv* env, jclass) {
  * Method:    waitForDSDataTimeout
  * Signature: (D)Z
  */
-JNIEXPORT jboolean JNICALL 
-Java_edu_wpi_first_wpilibj_hal_HAL_waitForDSDataTimeout(JNIEnv *, jclass, 
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_waitForDSDataTimeout(JNIEnv *, jclass,
                                                         jdouble timeout) {
   return static_cast<jboolean>(HAL_WaitForDSDataTimeout(timeout));
 }
@@ -358,6 +358,23 @@ Java_edu_wpi_first_wpilibj_hal_HAL_getBrownedOut(JNIEnv* env, jclass) {
   return val;
 }
 
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HAL
+ * Method:    getMatchInfo
+ * Signature: (Ledu/wpi/first/wpilibj/hal/MatchInfoData;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getMatchInfo
+(JNIEnv * env, jclass, jobject info) {
+  HAL_MatchInfo matchInfo;
+  auto status = HAL_GetMatchInfo(&matchInfo);
+  if (status == 0) {
+    SetMatchInfoObject(env, info, matchInfo);
+  }
+  HAL_FreeMatchInfo(&matchInfo);
+  return status;
+}
+
 /*
  * Class: edu_wpi_first_wpilibj_hal_HAL
  * Method:    HAL_SendError

wpilibj/src/main/native/cpp/HALUtil.cpp

@@ -56,6 +56,7 @@ static JException canNotInitializedExCls;
 static JException uncleanStatusExCls;
 static JClass pwmConfigDataResultCls;
 static JClass canStatusCls;
+static JClass matchInfoDataCls;
 
 namespace frc {
 
@@ -208,17 +209,30 @@ jobject CreatePWMConfigDataResult(JNIEnv *env, int32_t maxPwm,
                         minPwm);
 }
 
-void SetCanStatusObject(JNIEnv *env, jobject canStatus, 
+void SetCanStatusObject(JNIEnv *env, jobject canStatus,
                         float percentBusUtilization,
-                        uint32_t busOffCount, uint32_t txFullCount, 
-                        uint32_t receiveErrorCount, 
+                        uint32_t busOffCount, uint32_t txFullCount,
+                        uint32_t receiveErrorCount,
                         uint32_t transmitErrorCount) {
-    static jmethodID func = env->GetMethodID(canStatusCls, "setStatus", 
-                                             "(DIIII)V");
-    env->CallObjectMethod(canStatus, func, (jdouble)percentBusUtilization, 
-                          (jint)busOffCount, (jint)txFullCount, 
-                          (jint)receiveErrorCount, (jint)transmitErrorCount);
-  }
+  static jmethodID func = env->GetMethodID(canStatusCls, "setStatus",
+                                           "(DIIII)V");
+  env->CallObjectMethod(canStatus, func, (jdouble)percentBusUtilization,
+                        (jint)busOffCount, (jint)txFullCount,
+                        (jint)receiveErrorCount, (jint)transmitErrorCount);
+}
+
+void SetMatchInfoObject(JNIEnv* env, jobject matchStatus,
+                        const HAL_MatchInfo& matchInfo) {
+  static jmethodID func = env->GetMethodID(matchInfoDataCls, "setData",
+      "(Ljava/lang/String;Ljava/lang/String;III)V");
+
+  env->CallObjectMethod(matchStatus, func,
+      MakeJString(env, matchInfo.eventName),
+      MakeJString(env, matchInfo.gameSpecificMessage),
+      (jint)matchInfo.matchNumber,
+      (jint)matchInfo.replayNumber,
+      (jint)matchInfo.matchType);
+}
 
 }  // namespace frc
 
@@ -275,6 +289,9 @@ JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved) {
   canStatusCls = JClass(env, "edu/wpi/first/wpilibj/can/CANStatus");
   if (!canStatusCls) return JNI_ERR;
 
+  matchInfoDataCls = JClass(env, "edu/wpi/first/wpilibj/hal/MatchInfoData");
+  if (!matchInfoDataCls) return JNI_ERR;
+
   return JNI_VERSION_1_6;
 }
 
@@ -295,6 +312,7 @@ JNIEXPORT void JNICALL JNI_OnUnload(JavaVM *vm, void *reserved) {
   uncleanStatusExCls.free(env);
   pwmConfigDataResultCls.free(env);
   canStatusCls.free(env);
+  matchInfoDataCls.free(env);
   jvm = nullptr;
 }
 

wpilibj/src/main/native/cpp/HALUtil.h

@@ -14,11 +14,13 @@
 
 extern JavaVM *jvm;
 
+struct HAL_MatchInfo;
+
 namespace frc {
 
 void ReportError(JNIEnv *env, int32_t status, bool doThrow = true);
-                 
-void ThrowError(JNIEnv *env, int32_t status, int32_t minRange, int32_t maxRange, 
+
+void ThrowError(JNIEnv *env, int32_t status, int32_t minRange, int32_t maxRange,
                 int32_t requestedValue);
 
 inline bool CheckStatus(JNIEnv *env, int32_t status, bool doThrow = true) {
@@ -26,7 +28,7 @@ inline bool CheckStatus(JNIEnv *env, int32_t status, bool doThrow = true) {
   return status == 0;
 }
 
-inline bool CheckStatusRange(JNIEnv *env, int32_t status, int32_t minRange, 
+inline bool CheckStatusRange(JNIEnv *env, int32_t status, int32_t minRange,
                              int32_t maxRange, int32_t requestedValue) {
   if (status != 0) ThrowError(env, status, minRange, maxRange, requestedValue);
   return status == 0;
@@ -47,17 +49,20 @@ inline bool CheckCANStatus(JNIEnv *env, int32_t status, int32_t message_id) {
 void ThrowIllegalArgumentException(JNIEnv *env, const char *msg);
 void ThrowBoundaryException(JNIEnv *env, double value, double lower,
                             double upper);
-                            
+
 jobject CreatePWMConfigDataResult(JNIEnv *env, int32_t maxPwm,
                   int32_t deadbandMaxPwm, int32_t centerPwm,
                   int32_t deadbandMinPwm, int32_t minPwm);
 
-void SetCanStatusObject(JNIEnv *env, jobject canStatus, 
+void SetCanStatusObject(JNIEnv *env, jobject canStatus,
                         float percentBusUtilization,
-                        uint32_t busOffCount, uint32_t txFullCount, 
-                        uint32_t receiveErrorCount, 
+                        uint32_t busOffCount, uint32_t txFullCount,
+                        uint32_t receiveErrorCount,
                         uint32_t transmitErrorCount);
-                  
+
+void SetMatchInfoObject(JNIEnv* env, jobject matchStatus,
+                        const HAL_MatchInfo& matchInfo);
+
 }  // namespace frc
 
 #endif  // HALUTIL_H