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Replace FRC_NetworkCommunication CAN in wpilibj with HAL CAN (#650)

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This commit is contained in:
pjreiniger
2017-09-29 01:40:04 -04:00
committed by Peter Johnson
parent db4981f166
commit abb66d3e4b
2 changed files with 10 additions and 29 deletions
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19
wpilibj/src/main/native/cpp/CANJNI.cpp
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@@ -8,10 +8,8 @@
#include <assert.h>
#include <jni.h>
#ifdef CONFIG_ATHENA
#include "FRC_NetworkCommunication/CANSessionMux.h"
#endif
#include "HAL/cpp/Log.h"
#include "HAL/CAN.h"
#include "HALUtil.h"
#include "edu_wpi_first_wpilibj_can_CANJNI.h"
#include "llvm/SmallString.h"
@@ -41,7 +39,7 @@ extern "C" {
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxSendMessage(
JNIEnv *env, jclass, jint messageID, jbyteArray data, jint periodMs) {
#ifdef CONFIG_ATHENA
CANJNI_LOG(logDEBUG)
<< "Calling CANJNI FRCNetCommCANSessionMuxSendMessage";
@@ -70,14 +68,11 @@ Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxSendMessage(
CANJNI_LOG(logDEBUG) << "Period: " << periodMs;
int32_t status = 0;
FRC_NetworkCommunication_CANSessionMux_sendMessage(
HAL_CAN_SendMessage(
messageID, dataBuffer, dataSize, periodMs, &status);
CANJNI_LOG(logDEBUG) << "Status: " << status;
CheckCANStatus(env, status, messageID);
#else
// Noop on other platforms
#endif
}
/*
@@ -89,7 +84,7 @@ JNIEXPORT jbyteArray JNICALL
Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage(
JNIEnv *env, jclass, jobject messageID, jint messageIDMask,
jobject timeStamp) {
#ifdef CONFIG_ATHENA
CANJNI_LOG(logDEBUG)
<< "Calling CANJNI FRCNetCommCANSessionMuxReceiveMessage";
@@ -100,7 +95,7 @@ Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage(
uint8_t buffer[8];
int32_t status = 0;
FRC_NetworkCommunication_CANSessionMux_receiveMessage(
HAL_CAN_ReceiveMessage(
messageIDPtr, messageIDMask, buffer, &dataSize, timeStampPtr, &status);
CANJNI_LOG(logDEBUG) << "Message ID ";
@@ -128,10 +123,6 @@ Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage(
if (!CheckCANStatus(env, status, *messageIDPtr)) return nullptr;
return MakeJByteArray(env, llvm::StringRef{reinterpret_cast<const char*>(buffer),
static_cast<size_t>(dataSize)});
#else
// Noop on other platforms. Return nullptr
return nullptr;
#endif
}
} // extern "C"

20
wpilibj/src/main/native/cpp/HALUtil.cpp
View File

@@ -15,9 +15,7 @@
#include <cstring>
#include <string>
#ifdef CONFIG_ATHENA
#include "FRC_NetworkCommunication/CANSessionMux.h"
#endif
#include "HAL/CAN.h"
#include "HAL/HAL.h"
#include "HAL/DriverStation.h"
#include "HAL/Errors.h"
@@ -122,9 +120,7 @@ void ReportCANError(JNIEnv *env, int32_t status, int message_id) {
case kRioStatusSuccess:
// Everything is ok... don't throw.
break;
#ifdef CONFIG_ATHENA
case ERR_CANSessionMux_InvalidBuffer:
#endif
case HAL_ERR_CANSessionMux_InvalidBuffer:
case kRIOStatusBufferInvalidSize: {
static jmethodID invalidBufConstruct = nullptr;
if (!invalidBufConstruct)
@@ -135,9 +131,7 @@ void ReportCANError(JNIEnv *env, int32_t status, int message_id) {
env->Throw(static_cast<jthrowable>(exception));
break;
}
#ifdef CONFIG_ATHENA
case ERR_CANSessionMux_MessageNotFound:
#endif
case HAL_ERR_CANSessionMux_MessageNotFound:
case kRIOStatusOperationTimedOut: {
static jmethodID messageNotFoundConstruct = nullptr;
if (!messageNotFoundConstruct)
@@ -148,9 +142,7 @@ void ReportCANError(JNIEnv *env, int32_t status, int message_id) {
env->Throw(static_cast<jthrowable>(exception));
break;
}
#ifdef CONFIG_ATHENA
case ERR_CANSessionMux_NotAllowed:
#endif
case HAL_ERR_CANSessionMux_NotAllowed:
case kRIOStatusFeatureNotSupported: {
llvm::SmallString<100> buf;
llvm::raw_svector_ostream oss(buf);
@@ -158,9 +150,7 @@ void ReportCANError(JNIEnv *env, int32_t status, int message_id) {
canMessageNotAllowedExCls.Throw(env, buf.c_str());
break;
}
#ifdef CONFIG_ATHENA
case ERR_CANSessionMux_NotInitialized:
#endif
case HAL_ERR_CANSessionMux_NotInitialized:
case kRIOStatusResourceNotInitialized: {
static jmethodID notInitConstruct = nullptr;
if (!notInitConstruct)