New 2018 and later build setup (#1001)

2026-06-20 00:51:42 +00:00 · 2018-04-29 13:29:07 -07:00
parent cb2c9eb6d5
commit 7f88cf768d
317 changed files with 60521 additions and 54781 deletions
--- a/hal/src/main/native/cpp/jni/CANJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CANJNI.cpp
@@ -0,0 +1,153 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <assert.h>
+#include <jni.h>
+
+#include "HAL/cpp/Log.h"
+#include "HAL/CAN.h"
+#include "HALUtil.h"
+#include "edu_wpi_first_wpilibj_can_CANJNI.h"
+#include "llvm/SmallString.h"
+#include "llvm/raw_ostream.h"
+#include "support/jni_util.h"
+
+using namespace frc;
+using namespace wpi::java;
+
+// set the logging level
+// TLogLevel canJNILogLevel = logDEBUG;
+TLogLevel canJNILogLevel = logERROR;
+
+#define CANJNI_LOG(level)     \
+  if (level > canJNILogLevel) \
+    ;                         \
+  else                        \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_can_CANJNI
+ * Method:    FRCNetCommCANSessionMuxSendMessage
+ * Signature: (I[BI)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxSendMessage(
+    JNIEnv *env, jclass, jint messageID, jbyteArray data, jint periodMs) {
+
+  CANJNI_LOG(logDEBUG)
+      << "Calling CANJNI FRCNetCommCANSessionMuxSendMessage";
+
+  JByteArrayRef dataArray{env, data};
+
+  const uint8_t *dataBuffer = reinterpret_cast<const uint8_t*>(dataArray.array().data());
+  uint8_t dataSize = dataArray.array().size();
+
+  CANJNI_LOG(logDEBUG) << "Message ID ";
+  CANJNI_LOG(logDEBUG).write_hex(messageID);
+
+  if (logDEBUG <= canJNILogLevel) {
+    if (dataBuffer) {
+      llvm::SmallString<128> buf;
+      llvm::raw_svector_ostream str(buf);
+      for (int32_t i = 0; i < dataSize; i++) {
+        str.write_hex(dataBuffer[i]) << ' ';
+      }
+
+      Log().Get(logDEBUG) << "Data: " << str.str();
+    } else {
+      CANJNI_LOG(logDEBUG) << "Data: null";
+    }
+  }
+
+  CANJNI_LOG(logDEBUG) << "Period: " << periodMs;
+
+  int32_t status = 0;
+  HAL_CAN_SendMessage(
+      messageID, dataBuffer, dataSize, periodMs, &status);
+
+  CANJNI_LOG(logDEBUG) << "Status: " << status;
+  CheckCANStatus(env, status, messageID);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_can_CANJNI
+ * Method:    FRCNetCommCANSessionMuxReceiveMessage
+ * Signature: (Ljava/nio/IntBuffer;ILjava/nio/ByteBuffer;)[B
+ */
+JNIEXPORT jbyteArray JNICALL
+Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage(
+    JNIEnv *env, jclass, jobject messageID, jint messageIDMask,
+    jobject timeStamp) {
+
+  CANJNI_LOG(logDEBUG)
+      << "Calling CANJNI FRCNetCommCANSessionMuxReceiveMessage";
+
+  uint32_t *messageIDPtr = (uint32_t *)env->GetDirectBufferAddress(messageID);
+  uint32_t *timeStampPtr = (uint32_t *)env->GetDirectBufferAddress(timeStamp);
+
+  uint8_t dataSize = 0;
+  uint8_t buffer[8];
+
+  int32_t status = 0;
+  HAL_CAN_ReceiveMessage(
+      messageIDPtr, messageIDMask, buffer, &dataSize, timeStampPtr, &status);
+
+  CANJNI_LOG(logDEBUG) << "Message ID ";
+  CANJNI_LOG(logDEBUG).write_hex(*messageIDPtr);
+
+  if (logDEBUG <= canJNILogLevel) {
+    llvm::SmallString<128> buf;
+    llvm::raw_svector_ostream str(buf);
+
+    for (int32_t i = 0; i < dataSize; i++) {
+      // Pad one-digit data with a zero
+      if (buffer[i] <= 16) {
+        str << '0';
+      }
+
+      str.write_hex(buffer[i]) << ' ';
+    }
+
+    Log().Get(logDEBUG) << "Data: " << str.str();
+  }
+
+  CANJNI_LOG(logDEBUG) << "Timestamp: " << *timeStampPtr;
+  CANJNI_LOG(logDEBUG) << "Status: " << status;
+
+  if (!CheckCANStatus(env, status, *messageIDPtr)) return nullptr;
+  return MakeJByteArray(env, llvm::StringRef{reinterpret_cast<const char*>(buffer), 
+                        static_cast<size_t>(dataSize)});
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_can_CANJNI
+ * Method:    GetCANStatus
+ * Signature: (Ledu/wpi/first/wpilibj/can/CANStatus;)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_GetCANStatus
+(JNIEnv *env, jclass, jobject canStatus) {
+  CANJNI_LOG(logDEBUG)
+  << "Calling CANJNI HAL_CAN_GetCANStatus";
+
+  float percentBusUtilization = 0;
+  uint32_t busOffCount = 0;
+  uint32_t txFullCount = 0;
+  uint32_t receiveErrorCount = 0;
+  uint32_t transmitErrorCount = 0;
+  int32_t status = 0;
+  HAL_CAN_GetCANStatus(&percentBusUtilization, &busOffCount, &txFullCount,
+                       &receiveErrorCount, &transmitErrorCount, &status);
+  
+  if (!CheckStatus(env, status)) return;
+
+  SetCanStatusObject(env, canStatus, percentBusUtilization, busOffCount,
+                     txFullCount, receiveErrorCount, transmitErrorCount);
+}
+
+}  // extern "C"