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[wpimath] Catch Drake JNI exceptions and rethrow them (#3032)

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This gives an informative error in Java instead of crashing the JVM.
This commit is contained in:
Tyler Veness
2021-01-01 17:09:50 -08:00
committed by GitHub
parent 62f0f8190d
commit b05946175b
1 changed files with 16 additions and 7 deletions
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23
wpimath/src/main/native/cpp/jni/WPIMathJNI.cpp
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@@ -4,6 +4,8 @@
#include <jni.h>
#include <exception>
#include <wpi/jni_util.h>
#include "Eigen/Core"
@@ -71,15 +73,22 @@ Java_edu_wpi_first_math_WPIMathJNI_discreteAlgebraicRiccatiEquation
Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>
Rmat{nativeR, inputs, inputs};
Eigen::MatrixXd result =
drake::math::DiscreteAlgebraicRiccatiEquation(Amat, Bmat, Qmat, Rmat);
try {
Eigen::MatrixXd result =
drake::math::DiscreteAlgebraicRiccatiEquation(Amat, Bmat, Qmat, Rmat);
env->ReleaseDoubleArrayElements(A, nativeA, 0);
env->ReleaseDoubleArrayElements(B, nativeB, 0);
env->ReleaseDoubleArrayElements(Q, nativeQ, 0);
env->ReleaseDoubleArrayElements(R, nativeR, 0);
env->ReleaseDoubleArrayElements(A, nativeA, 0);
env->ReleaseDoubleArrayElements(B, nativeB, 0);
env->ReleaseDoubleArrayElements(Q, nativeQ, 0);
env->ReleaseDoubleArrayElements(R, nativeR, 0);
env->SetDoubleArrayRegion(S, 0, states * states, result.data());
env->SetDoubleArrayRegion(S, 0, states * states, result.data());
} catch (const std::runtime_error& e) {
jclass cls = env->FindClass("java/lang/RuntimeException");
if (cls) {
env->ThrowNew(cls, e.what());
}
}
}
/*