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Adds JNI call to get CANStatus (#677)

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Call already existed in the HAL.
This commit is contained in:
Thad House
2017-10-21 15:32:05 -07:00
committed by Peter Johnson
parent 9dc1de1d09
commit a1ea448406
7 changed files with 144 additions and 0 deletions
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4
wpilibj/src/main/java/edu/wpi/first/wpilibj/can/CANJNI.java
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@@ -29,4 +29,8 @@ public class CANJNI extends JNIWrapper {
@SuppressWarnings("MethodName")
public static native byte[] FRCNetCommCANSessionMuxReceiveMessage(
IntBuffer messageID, int messageIDMask, ByteBuffer timeStamp);
@SuppressWarnings("MethodName")
public static native void GetCANStatus(CANStatus status);
}

54
wpilibj/src/main/java/edu/wpi/first/wpilibj/can/CANStatus.java Normal file
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@@ -0,0 +1,54 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.can;
/**
* Structure for holding the result of a CAN Status request.
*/
public class CANStatus {
/**
* The utilization of the CAN Bus.
*/
@SuppressWarnings("MemberName")
public double percentBusUtilization;
/**
* The CAN Bus off count.
*/
@SuppressWarnings("MemberName")
public int busOffCount;
/**
* The CAN Bus TX full count.
*/
@SuppressWarnings("MemberName")
public int txFullCount;
/**
* The CAN Bus receive error count.
*/
@SuppressWarnings("MemberName")
public int receiveErrorCount;
/**
* The CAN Bus transmit error count.
*/
@SuppressWarnings("MemberName")
public int transmitErrorCount;
@SuppressWarnings("JavadocMethod")
public void setStatus(double percentBusUtilization, int busOffCount, int txFullCount,
int receiveErrorCount, int transmitErrorCount) {
this.percentBusUtilization = percentBusUtilization;
this.busOffCount = busOffCount;
this.txFullCount = txFullCount;
this.receiveErrorCount = receiveErrorCount;
this.transmitErrorCount = transmitErrorCount;
}
}

25
wpilibj/src/main/native/cpp/CANJNI.cpp
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@@ -125,4 +125,29 @@ Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage(
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"

17
wpilibj/src/main/native/cpp/HALUtil.cpp
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@@ -55,6 +55,7 @@ static JException canMessageNotAllowedExCls;
static JException canNotInitializedExCls;
static JException uncleanStatusExCls;
static JClass pwmConfigDataResultCls;
static JClass canStatusCls;
namespace frc {
@@ -207,6 +208,18 @@ jobject CreatePWMConfigDataResult(JNIEnv *env, int32_t maxPwm,
minPwm);
}
void SetCanStatusObject(JNIEnv *env, jobject canStatus,
float percentBusUtilization,
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);
}
} // namespace frc
using namespace frc;
@@ -259,6 +272,9 @@ JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved) {
pwmConfigDataResultCls = JClass(env, "edu/wpi/first/wpilibj/PWMConfigDataResult");
if (!pwmConfigDataResultCls) return JNI_ERR;
canStatusCls = JClass(env, "edu/wpi/first/wpilibj/can/CANStatus");
if (!canStatusCls) return JNI_ERR;
return JNI_VERSION_1_6;
}
@@ -278,6 +294,7 @@ JNIEXPORT void JNICALL JNI_OnUnload(JavaVM *vm, void *reserved) {
canNotInitializedExCls.free(env);
uncleanStatusExCls.free(env);
pwmConfigDataResultCls.free(env);
canStatusCls.free(env);
jvm = nullptr;
}

6
wpilibj/src/main/native/cpp/HALUtil.h
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@@ -51,6 +51,12 @@ void ThrowBoundaryException(JNIEnv *env, double value, double lower,
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,
float percentBusUtilization,
uint32_t busOffCount, uint32_t txFullCount,
uint32_t receiveErrorCount,
uint32_t transmitErrorCount);
} // namespace frc

19
wpilibj/src/test/java/edu/wpi/first/wpilibj/can/CANStatusTest.java Normal file
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@@ -0,0 +1,19 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.can;
import org.junit.Test;
public class CANStatusTest {
@Test
public void canStatusGetDoesntThrow() {
CANStatus status = new CANStatus();
CANJNI.GetCANStatus(status);
// Nothing we can assert, so just make sure it didn't throw.
}
}

19
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANStatusTest.java Normal file
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@@ -0,0 +1,19 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.can;
import org.junit.Test;
public class CANStatusTest {
@Test
public void canStatusGetDoesntThrow() {
CANStatus status = new CANStatus();
CANJNI.GetCANStatus(status);
// Nothing we can assert, so just make sure it didn't throw.
}
}