mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
New 2018 and later build setup (#1001)
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
cb2c9eb6d5
commit
7f88cf768d
433
hal/src/main/native/cpp/jni/HAL.cpp
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433
hal/src/main/native/cpp/jni/HAL.cpp
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@@ -0,0 +1,433 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <cstring>
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#include <assert.h>
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#include <jni.h>
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#include "HAL/cpp/Log.h"
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#include "HAL/HAL.h"
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#include "HAL/DriverStation.h"
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#include "edu_wpi_first_wpilibj_hal_HAL.h"
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#include "HALUtil.h"
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#include "support/jni_util.h"
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using namespace frc;
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using namespace wpi::java;
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// set the logging level
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static TLogLevel netCommLogLevel = logWARNING;
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#define NETCOMM_LOG(level) \
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if (level > netCommLogLevel) \
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; \
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else \
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Log().Get(level)
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extern "C" {
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: Initialize
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* Signature: (Z)II
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_initialize(JNIEnv*, jclass, jint timeout, jint mode) {
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return HAL_Initialize(timeout, mode);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: observeUserProgramStarting
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramStarting(JNIEnv*, jclass) {
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HAL_ObserveUserProgramStarting();
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: observeUserProgramDisabled
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramDisabled(JNIEnv*, jclass) {
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HAL_ObserveUserProgramDisabled();
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: observeUserProgramAutonomous
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramAutonomous(
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JNIEnv*, jclass) {
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HAL_ObserveUserProgramAutonomous();
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: observeUserProgramTeleop
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTeleop(JNIEnv*, jclass) {
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HAL_ObserveUserProgramTeleop();
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: observeUserProgramTest
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTest(JNIEnv*, jclass) {
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HAL_ObserveUserProgramTest();
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: HAL_Report
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* Signature: (IIILjava/lang/String;)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_report(
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JNIEnv* paramEnv, jclass, jint paramResource, jint paramInstanceNumber,
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jint paramContext, jstring paramFeature) {
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JStringRef featureStr{paramEnv, paramFeature};
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NETCOMM_LOG(logDEBUG) << "Calling HAL report "
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<< "res:" << paramResource
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<< " instance:" << paramInstanceNumber
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<< " context:" << paramContext
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<< " feature:" << featureStr.c_str();
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jint returnValue =
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HAL_Report(paramResource, paramInstanceNumber, paramContext, featureStr.c_str());
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: NativeGetControlWord
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetControlWord(JNIEnv*, jclass) {
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NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word";
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static_assert(sizeof(HAL_ControlWord) == sizeof(jint),
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"Java int must match the size of control word");
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HAL_ControlWord controlWord;
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std::memset(&controlWord, 0, sizeof(HAL_ControlWord));
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HAL_GetControlWord(&controlWord);
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jint retVal = 0;
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std::memcpy(&retVal, &controlWord, sizeof(HAL_ControlWord));
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: NativeGetAllianceStation
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetAllianceStation(JNIEnv*, jclass) {
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NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station";
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int32_t status = 0;
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auto allianceStation = HAL_GetAllianceStation(&status);
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return static_cast<jint>(allianceStation);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: HAL_GetJoystickAxes
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* Signature: (B[F)S
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*/
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JNIEXPORT jshort JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxes(JNIEnv* env, jclass,
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jbyte joystickNum,
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jfloatArray axesArray) {
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NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes";
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HAL_JoystickAxes axes;
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HAL_GetJoystickAxes(joystickNum, &axes);
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jsize javaSize = env->GetArrayLength(axesArray);
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if (axes.count > javaSize)
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{
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ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size");
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}
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env->SetFloatArrayRegion(axesArray, 0, axes.count, axes.axes);
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return axes.count;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: HAL_GetJoystickPOVs
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* Signature: (B[S)S
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*/
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JNIEXPORT jshort JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickPOVs(JNIEnv* env, jclass,
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jbyte joystickNum,
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jshortArray povsArray) {
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NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs";
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HAL_JoystickPOVs povs;
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HAL_GetJoystickPOVs(joystickNum, &povs);
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jsize javaSize = env->GetArrayLength(povsArray);
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if (povs.count > javaSize)
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{
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ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size");
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}
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env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs);
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return povs.count;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: HAL_GetJoystickButtons
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* Signature: (BL)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickButtons(JNIEnv* env, jclass,
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jbyte joystickNum,
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jobject count) {
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NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons";
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HAL_JoystickButtons joystickButtons;
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HAL_GetJoystickButtons(joystickNum, &joystickButtons);
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jbyte *countPtr = (jbyte *)env->GetDirectBufferAddress(count);
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NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons;
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NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count;
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*countPtr = joystickButtons.count;
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NETCOMM_LOG(logDEBUG) << "CountBuffer = " << (jint)*countPtr;
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return joystickButtons.buttons;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: HAL_SetJoystickOutputs
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* Signature: (BISS)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_setJoystickOutputs(JNIEnv*, jclass,
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jbyte port, jint outputs,
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jshort leftRumble,
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jshort rightRumble) {
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NETCOMM_LOG(logDEBUG) << "Calling HAL_SetJoystickOutputs on port " << port;
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NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs;
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NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble
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<< " Right Rumble: " << rightRumble;
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return HAL_SetJoystickOutputs(port, outputs, leftRumble, rightRumble);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: HAL_GetJoystickIsXbox
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* Signature: (B)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickIsXbox(JNIEnv*, jclass,
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jbyte port) {
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NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickIsXbox";
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return HAL_GetJoystickIsXbox(port);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: HAL_GetJoystickType
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* Signature: (B)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickType(JNIEnv*, jclass,
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jbyte port) {
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NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickType";
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return HAL_GetJoystickType(port);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: HAL_GetJoystickName
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* Signature: (B)Ljava/lang/String;
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*/
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JNIEXPORT jstring JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickName(JNIEnv* env, jclass,
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jbyte port) {
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NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickName";
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char *joystickName = HAL_GetJoystickName(port);
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jstring str = MakeJString(env, joystickName);
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HAL_FreeJoystickName(joystickName);
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return str;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: HAL_GetJoystickAxisType
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* Signature: (BB)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxisType(JNIEnv*, jclass,
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jbyte joystickNum,
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jbyte axis) {
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NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickAxisType";
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return HAL_GetJoystickAxisType(joystickNum, axis);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: isNewControlData
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_isNewControlData(JNIEnv *, jclass) {
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return static_cast<jboolean>(HAL_IsNewControlData());
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: waitForDSData
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_waitForDSData(JNIEnv* env, jclass) {
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HAL_WaitForDSData();
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: releaseDSMutex
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_releaseDSMutex(JNIEnv* env, jclass) {
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HAL_ReleaseDSMutex();
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: waitForDSDataTimeout
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* Signature: (D)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_waitForDSDataTimeout(JNIEnv *, jclass,
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jdouble timeout) {
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return static_cast<jboolean>(HAL_WaitForDSDataTimeout(timeout));
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: HAL_GetMatchTime
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* Signature: ()D
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*/
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getMatchTime(JNIEnv* env, jclass) {
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int32_t status = 0;
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return HAL_GetMatchTime(&status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: HAL_GetSystemActive
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getSystemActive(JNIEnv* env, jclass) {
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int32_t status = 0;
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bool val = HAL_GetSystemActive(&status);
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CheckStatus(env, status);
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return val;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: HAL_GetBrownedOut
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getBrownedOut(JNIEnv* env, jclass) {
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int32_t status = 0;
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bool val = HAL_GetBrownedOut(&status);
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CheckStatus(env, status);
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return val;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getMatchInfo
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* Signature: (Ledu/wpi/first/wpilibj/hal/MatchInfoData;)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getMatchInfo
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(JNIEnv * env, jclass, jobject info) {
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HAL_MatchInfo matchInfo;
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auto status = HAL_GetMatchInfo(&matchInfo);
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if (status == 0) {
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SetMatchInfoObject(env, info, matchInfo);
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}
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HAL_FreeMatchInfo(&matchInfo);
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return status;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: HAL_SendError
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* Signature: (ZIZLjava/lang/String;Ljava/lang/String;Ljava/lang/String;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_sendError(JNIEnv* env, jclass,
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jboolean isError, jint errorCode,
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jboolean isLVCode, jstring details,
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jstring location,
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jstring callStack,
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jboolean printMsg) {
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JStringRef detailsStr{env, details};
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JStringRef locationStr{env, location};
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JStringRef callStackStr{env, callStack};
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NETCOMM_LOG(logDEBUG) << "Send Error: " << detailsStr.c_str();
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NETCOMM_LOG(logDEBUG) << "Location: " << locationStr.c_str();
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NETCOMM_LOG(logDEBUG) << "Call Stack: " << callStackStr.c_str();
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jint returnValue = HAL_SendError(isError, errorCode, isLVCode, detailsStr.c_str(),
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locationStr.c_str(), callStackStr.c_str(), printMsg);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getPortWithModule
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* Signature: (BB)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getPortWithModule(
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JNIEnv* env, jclass, jbyte module, jbyte channel) {
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// FILE_LOG(logDEBUG) << "Calling HAL getPortWithModlue";
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// FILE_LOG(logDEBUG) << "Module = " << (jint)module;
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// FILE_LOG(logDEBUG) << "Channel = " << (jint)channel;
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HAL_PortHandle port = HAL_GetPortWithModule(module, channel);
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// FILE_LOG(logDEBUG) << "Port Handle = " << port;
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return (jint)port;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getPort
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* Signature: (B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HAL_getPort(
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JNIEnv* env, jclass, jbyte channel) {
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// FILE_LOG(logDEBUG) << "Calling HAL getPortWithModlue";
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// FILE_LOG(logDEBUG) << "Module = " << (jint)module;
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// FILE_LOG(logDEBUG) << "Channel = " << (jint)channel;
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HAL_PortHandle port = HAL_GetPort(channel);
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// FILE_LOG(logDEBUG) << "Port Handle = " << port;
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return (jint)port;
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}
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} // extern "C"
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