JNI implementation for Java

Normal vs
2026-06-22 01:11:42 +00:00 · 2014-01-06 09:27:51 -05:00
parent 4297b2bc9d
commit b62b606110
185 changed files with 6316 additions and 1106 deletions
--- a/wpilibj/wpilibJavaJNI/src/main/native/HALUtil.cpp
+++ b/wpilibj/wpilibJavaJNI/src/main/native/HALUtil.cpp
@@ -0,0 +1,130 @@
+#include <jni.h>
+#include <assert.h>
+#include "log.h"
+#include "edu_wpi_first_wpilibj_hal_HALUtil.h"
+#include "HAL/HAL.h"
+
+// set the logging level
+TLogLevel halUtilLogLevel = logDEBUG;
+
+#define HALUTIL_LOG(level) \
+    if (level > halUtilLogLevel) ; \
+    else Log().Get(level)
+
+
+//
+// indicate JNI version support desired
+//
+JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved)
+{
+	// set our logging level
+	Log::ReportingLevel() = logDEBUG;
+	return JNI_VERSION_1_6;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    initializeMutex
+ * Signature: (I)Ljava/nio/ByteBuffer;
+ */
+JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_initializeMutexNormal
+(JNIEnv * env, jclass)
+{
+	HALUTIL_LOG(logDEBUG) << "Calling HALUtil initializeMutex";
+	MUTEX_ID* mutexPtr = (MUTEX_ID*)new unsigned char[4];
+	*mutexPtr = initializeMutexNormal();
+	HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *mutexPtr;
+	return env->NewDirectByteBuffer( mutexPtr, 4);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    deleteMutex
+ * Signature: (Ljava/nio/ByteBuffer;)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMutex
+(JNIEnv * env, jclass, jobject id )
+{
+	HALUTIL_LOG(logDEBUG) << "Calling HALUtil deleteMutex";
+	MUTEX_ID* javaId = (MUTEX_ID*)env->GetDirectBufferAddress(id);
+	HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *javaId;
+	deleteMutex( *javaId );
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    takeMutex
+ * Signature: (Ljava/nio/ByteBuffer;I)B
+ */
+JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMutex
+(JNIEnv * env, jclass, jobject id)
+{
+	//HALUTIL_LOG(logDEBUG) << "Calling HALUtil takeMutex";
+	MUTEX_ID* javaId = (MUTEX_ID*)env->GetDirectBufferAddress(id);
+	//HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *javaId;
+	jbyte returnValue = takeMutex(*javaId);
+	//HALUTIL_LOG(logDEBUG) << "Take Result = " << (void*)returnValue;
+	return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    getFPGAVersion
+ * Signature: (Ljava/nio/IntBuffer;)S
+ */
+JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAVersion
+  (JNIEnv * env, jclass, jobject status)
+{
+	HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGAVersion";
+	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
+	jshort returnValue = getFPGAVersion( statusPtr );
+	HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
+	HALUTIL_LOG(logDEBUG) << "FPGAVersion = " << returnValue;
+	return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    getFPGARevision
+ * Signature: (Ljava/nio/IntBuffer;)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGARevision
+  (JNIEnv * env, jclass, jobject status)
+{
+	HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGARevision";
+	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
+	jint returnValue = getFPGARevision( statusPtr );
+	HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
+	HALUTIL_LOG(logDEBUG) << "FPGARevision = " << returnValue;
+	return returnValue;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    getFPGATime
+ * Signature: (Ljava/nio/IntBuffer;)I
+ */
+JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGATime
+  (JNIEnv * env, jclass, jobject status)
+{
+	//HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
+	jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
+	jlong returnValue = getFPGATime( statusPtr );
+	//HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
+	//HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
+	return returnValue;
+
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    getHALErrorMessage
+ * Signature: (I)Ljava/lang/String;
+ */
+JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrorMessage
+  (JNIEnv * paramEnv, jclass, jint paramId)
+{
+	const char * msg = getHALErrorMessage(paramId);
+	HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALErrorMessage id=" << paramId << " msg=" << msg;
+	return paramEnv->NewStringUTF(msg);
+}