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[hal] Add CAN Stream API to Java through JNI bindings (#4193)

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The CAN Stream API allows defining an buffer to receive an
arbitrary set of CAN messages, based on an ID and a mask. Messages
are added to this queue separate of other CAN APIs. This means the
messages can be receive without impacting other APIs such as
vendor APIs.

This enables things like detection of what devices are on the
bus, or custom decoding, without using vendor APIs.

Co-authored-by: Thad House <thadhouse1@gmail.com>
This commit is contained in:
William Toth
2022-12-06 23:58:09 -06:00
committed by GitHub
parent be27171236
commit b300518bd1
5 changed files with 147 additions and 0 deletions
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14
hal/src/main/native/cpp/jni/HALUtil.cpp
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@@ -52,6 +52,7 @@ static JClass canStatusCls;
static JClass matchInfoDataCls;
static JClass accumulatorResultCls;
static JClass canDataCls;
static JClass canStreamMessageCls;
static JClass halValueCls;
static JClass baseStoreCls;
static JClass revPHVersionCls;
@@ -64,6 +65,7 @@ static const JClassInit classes[] = {
{"edu/wpi/first/hal/MatchInfoData", &matchInfoDataCls},
{"edu/wpi/first/hal/AccumulatorResult", &accumulatorResultCls},
{"edu/wpi/first/hal/CANData", &canDataCls},
{"edu/wpi/first/hal/CANStreamMessage", &canStreamMessageCls},
{"edu/wpi/first/hal/HALValue", &halValueCls},
{"edu/wpi/first/hal/DMAJNISample$BaseStore", &baseStoreCls},
{"edu/wpi/first/hal/REVPHVersion", &revPHVersionCls}};
@@ -303,6 +305,18 @@ jbyteArray SetCANDataObject(JNIEnv* env, jobject canData, int32_t length,
return retVal;
}
jbyteArray SetCANStreamObject(JNIEnv* env, jobject canStreamData,
int32_t length, uint32_t messageID,
uint64_t timestamp) {
static jmethodID func =
env->GetMethodID(canStreamMessageCls, "setStreamData", "(IIJ)[B");
jbyteArray retVal = static_cast<jbyteArray>(env->CallObjectMethod(
canStreamData, func, static_cast<jint>(length),
static_cast<jint>(messageID), static_cast<jlong>(timestamp)));
return retVal;
}
jobject CreateHALValue(JNIEnv* env, const HAL_Value& value) {
static jmethodID fromNative = env->GetStaticMethodID(
halValueCls, "fromNative", "(IJD)Ledu/wpi/first/hal/HALValue;");