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

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Uses caching, matching the joystick calls.
This commit is contained in:
Thad House
2017-11-09 19:59:29 -08:00
committed by Peter Johnson
parent 2225c4fee2
commit 7bbd13d914
9 changed files with 310 additions and 51 deletions
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36
wpilibj/src/main/native/cpp/HALUtil.cpp
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@@ -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;
}