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https://github.com/wpilibsuite/allwpilib
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[wpiutil] Add high speed data logging
This commit is contained in:
Peter Johnson
357
wpiutil/src/main/native/cpp/jni/DataLogJNI.cpp
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357
wpiutil/src/main/native/cpp/jni/DataLogJNI.cpp
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <jni.h>
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#include "edu_wpi_first_util_datalog_DataLogJNI.h"
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#include "wpi/DataLog.h"
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#include "wpi/jni_util.h"
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using namespace wpi::java;
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using namespace wpi::log;
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extern "C" {
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: create
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* Signature: (Ljava/lang/String;Ljava/lang/String;DLjava/lang/String;)J
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*/
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JNIEXPORT jlong JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_create
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(JNIEnv* env, jclass, jstring dir, jstring filename, jdouble period,
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jstring extraHeader)
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{
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return reinterpret_cast<jlong>(new DataLog{JStringRef{env, dir},
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JStringRef{env, filename}, period,
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JStringRef{env, extraHeader}});
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: setFilename
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* Signature: (JLjava/lang/String;)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_setFilename
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(JNIEnv* env, jclass, jlong impl, jstring filename)
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{
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if (impl == 0) {
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return;
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}
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reinterpret_cast<DataLog*>(impl)->SetFilename(JStringRef{env, filename});
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: flush
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_flush
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(JNIEnv*, jclass, jlong impl)
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{
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if (impl == 0) {
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return;
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}
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reinterpret_cast<DataLog*>(impl)->Flush();
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: pause
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_pause
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(JNIEnv*, jclass, jlong impl)
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{
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if (impl == 0) {
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return;
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}
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reinterpret_cast<DataLog*>(impl)->Pause();
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: resume
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_resume
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(JNIEnv*, jclass, jlong impl)
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{
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if (impl == 0) {
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return;
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}
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reinterpret_cast<DataLog*>(impl)->Resume();
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: start
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* Signature: (JLjava/lang/String;Ljava/lang/String;Ljava/lang/String;J)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_start
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(JNIEnv* env, jclass, jlong impl, jstring name, jstring type,
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jstring metadata, jlong timestamp)
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{
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if (impl == 0) {
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return 0;
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}
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return reinterpret_cast<DataLog*>(impl)->Start(
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JStringRef{env, name}, JStringRef{env, type}, JStringRef{env, metadata},
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timestamp);
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: finish
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* Signature: (JIJ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_finish
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(JNIEnv*, jclass, jlong impl, jint entry, jlong timestamp)
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{
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if (impl == 0) {
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return;
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}
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reinterpret_cast<DataLog*>(impl)->Finish(entry, timestamp);
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: setMetadata
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* Signature: (JILjava/lang/String;J)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_setMetadata
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(JNIEnv* env, jclass, jlong impl, jint entry, jstring metadata,
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jlong timestamp)
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{
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if (impl == 0) {
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return;
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}
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reinterpret_cast<DataLog*>(impl)->SetMetadata(
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entry, JStringRef{env, metadata}, timestamp);
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: close
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_close
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(JNIEnv*, jclass, jlong impl)
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{
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delete reinterpret_cast<DataLog*>(impl);
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: appendRaw
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* Signature: (JI[BJ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_appendRaw
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(JNIEnv* env, jclass, jlong impl, jint entry, jbyteArray value,
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jlong timestamp)
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{
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if (impl == 0) {
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return;
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}
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JByteArrayRef cvalue{env, value};
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reinterpret_cast<DataLog*>(impl)->AppendRaw(
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entry,
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{reinterpret_cast<const uint8_t*>(cvalue.array().data()), cvalue.size()},
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timestamp);
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: appendBoolean
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* Signature: (JIZJ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_appendBoolean
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(JNIEnv*, jclass, jlong impl, jint entry, jboolean value, jlong timestamp)
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{
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if (impl == 0) {
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return;
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}
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reinterpret_cast<DataLog*>(impl)->AppendBoolean(entry, value, timestamp);
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: appendInteger
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* Signature: (JIJJ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_appendInteger
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(JNIEnv*, jclass, jlong impl, jint entry, jlong value, jlong timestamp)
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{
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if (impl == 0) {
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return;
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}
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reinterpret_cast<DataLog*>(impl)->AppendInteger(entry, value, timestamp);
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: appendFloat
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* Signature: (JIFJ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_appendFloat
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(JNIEnv*, jclass, jlong impl, jint entry, jfloat value, jlong timestamp)
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{
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if (impl == 0) {
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return;
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}
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reinterpret_cast<DataLog*>(impl)->AppendFloat(entry, value, timestamp);
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: appendDouble
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* Signature: (JIDJ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_appendDouble
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(JNIEnv*, jclass, jlong impl, jint entry, jdouble value, jlong timestamp)
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{
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if (impl == 0) {
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return;
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}
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reinterpret_cast<DataLog*>(impl)->AppendDouble(entry, value, timestamp);
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: appendString
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* Signature: (JILjava/lang/String;J)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_appendString
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(JNIEnv* env, jclass, jlong impl, jint entry, jstring value, jlong timestamp)
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{
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if (impl == 0) {
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return;
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}
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reinterpret_cast<DataLog*>(impl)->AppendString(entry, JStringRef{env, value},
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timestamp);
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: appendBooleanArray
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* Signature: (JI[ZJ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_appendBooleanArray
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(JNIEnv* env, jclass, jlong impl, jint entry, jbooleanArray value,
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jlong timestamp)
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{
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if (impl == 0) {
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return;
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}
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reinterpret_cast<DataLog*>(impl)->AppendBooleanArray(
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entry, JBooleanArrayRef{env, value}, timestamp);
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: appendIntegerArray
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* Signature: (JI[JJ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_appendIntegerArray
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(JNIEnv* env, jclass, jlong impl, jint entry, jlongArray value,
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jlong timestamp)
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{
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if (impl == 0) {
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return;
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}
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JLongArrayRef jarr{env, value};
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if constexpr (sizeof(jlong) == sizeof(int64_t)) {
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reinterpret_cast<DataLog*>(impl)->AppendIntegerArray(
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entry,
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{reinterpret_cast<const int64_t*>(jarr.array().data()),
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jarr.array().size()},
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timestamp);
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} else {
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wpi::SmallVector<int64_t, 16> arr;
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arr.reserve(jarr.size());
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for (auto v : jarr.array()) {
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arr.push_back(v);
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}
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reinterpret_cast<DataLog*>(impl)->AppendIntegerArray(entry, arr, timestamp);
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}
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: appendFloatArray
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* Signature: (JI[FJ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_appendFloatArray
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(JNIEnv* env, jclass, jlong impl, jint entry, jfloatArray value,
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jlong timestamp)
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{
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if (impl == 0) {
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return;
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}
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reinterpret_cast<DataLog*>(impl)->AppendFloatArray(
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entry, JFloatArrayRef{env, value}, timestamp);
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: appendDoubleArray
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* Signature: (JI[DJ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_appendDoubleArray
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(JNIEnv* env, jclass, jlong impl, jint entry, jdoubleArray value,
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jlong timestamp)
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{
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if (impl == 0) {
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return;
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}
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reinterpret_cast<DataLog*>(impl)->AppendDoubleArray(
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entry, JDoubleArrayRef{env, value}, timestamp);
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}
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/*
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* Class: edu_wpi_first_util_datalog_DataLogJNI
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* Method: appendStringArray
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* Signature: (JI[Ljava/lang/Object;J)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_util_datalog_DataLogJNI_appendStringArray
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(JNIEnv* env, jclass, jlong impl, jint entry, jobjectArray value,
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jlong timestamp)
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{
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if (impl == 0) {
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return;
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}
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size_t len = env->GetArrayLength(value);
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std::vector<std::string> arr;
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arr.reserve(len);
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for (size_t i = 0; i < len; ++i) {
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JLocal<jstring> elem{
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env, static_cast<jstring>(env->GetObjectArrayElement(value, i))};
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if (!elem) {
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return;
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}
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arr.emplace_back(JStringRef{env, elem}.str());
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}
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reinterpret_cast<DataLog*>(impl)->AppendStringArray(entry, arr, timestamp);
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}
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} // extern "C"
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