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[hal, wpilib] Rewrite CAN APIs (#7798)

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This commit is contained in:
Thad House
2025-02-25 19:07:01 -08:00
committed by GitHub
parent b39744b562
commit baa20fa239
107 changed files with 1447 additions and 1379 deletions
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90
hal/src/main/native/cpp/jni/HALUtil.cpp
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@@ -41,17 +41,13 @@ static JException illegalArgExCls;
static JException boundaryExCls;
static JException allocationExCls;
static JException halHandleExCls;
static JException canInvalidBufferExCls;
static JException canMessageNotFoundExCls;
static JException canMessageNotAllowedExCls;
static JException canNotInitializedExCls;
static JException uncleanStatusExCls;
static JException nullPointerEx;
static JClass powerDistributionVersionCls;
static JClass pwmConfigDataResultCls;
static JClass canStatusCls;
static JClass matchInfoDataCls;
static JClass canDataCls;
static JClass canReceiveMessageCls;
static JClass canStreamMessageCls;
static JClass halValueCls;
static JClass revPHVersionCls;
@@ -63,8 +59,8 @@ static const JClassInit classes[] = {
{"edu/wpi/first/hal/PWMConfigDataResult", &pwmConfigDataResultCls},
{"edu/wpi/first/hal/can/CANStatus", &canStatusCls},
{"edu/wpi/first/hal/MatchInfoData", &matchInfoDataCls},
{"edu/wpi/first/hal/CANData", &canDataCls},
{"edu/wpi/first/hal/CANStreamMessage", &canStreamMessageCls},
{"edu/wpi/first/hal/can/CANReceiveMessage", &canReceiveMessageCls},
{"edu/wpi/first/hal/can/CANStreamMessage", &canStreamMessageCls},
{"edu/wpi/first/hal/HALValue", &halValueCls},
{"edu/wpi/first/hal/REVPHVersion", &revPHVersionCls},
{"edu/wpi/first/hal/can/CANStreamOverflowException",
@@ -75,13 +71,6 @@ static const JExceptionInit exceptions[] = {
{"edu/wpi/first/hal/util/BoundaryException", &boundaryExCls},
{"edu/wpi/first/hal/util/AllocationException", &allocationExCls},
{"edu/wpi/first/hal/util/HalHandleException", &halHandleExCls},
{"edu/wpi/first/hal/can/CANInvalidBufferException", &canInvalidBufferExCls},
{"edu/wpi/first/hal/can/CANMessageNotFoundException",
&canMessageNotFoundExCls},
{"edu/wpi/first/hal/can/CANMessageNotAllowedException",
&canMessageNotAllowedExCls},
{"edu/wpi/first/hal/can/CANNotInitializedException",
&canNotInitializedExCls},
{"edu/wpi/first/hal/util/UncleanStatusException", &uncleanStatusExCls},
{"java/lang/NullPointerException", &nullPointerEx}};
@@ -152,64 +141,6 @@ void ThrowError(JNIEnv* env, int32_t status, int32_t minRange, int32_t maxRange,
env, fmt::format(" Code: {}. {}", status, lastError).c_str(), status);
}
void ReportCANError(JNIEnv* env, int32_t status, int message_id) {
if (status >= 0) {
return;
}
switch (status) {
case kRioStatusSuccess:
// Everything is ok... don't throw.
break;
case HAL_ERR_CANSessionMux_InvalidBuffer:
case kRIOStatusBufferInvalidSize: {
static jmethodID invalidBufConstruct = nullptr;
if (!invalidBufConstruct) {
invalidBufConstruct =
env->GetMethodID(canInvalidBufferExCls, "<init>", "()V");
}
jobject exception =
env->NewObject(canInvalidBufferExCls, invalidBufConstruct);
env->Throw(static_cast<jthrowable>(exception));
break;
}
case HAL_ERR_CANSessionMux_MessageNotFound:
case kRIOStatusOperationTimedOut: {
static jmethodID messageNotFoundConstruct = nullptr;
if (!messageNotFoundConstruct) {
messageNotFoundConstruct =
env->GetMethodID(canMessageNotFoundExCls, "<init>", "()V");
}
jobject exception =
env->NewObject(canMessageNotFoundExCls, messageNotFoundConstruct);
env->Throw(static_cast<jthrowable>(exception));
break;
}
case HAL_ERR_CANSessionMux_NotAllowed:
case kRIOStatusFeatureNotSupported: {
canMessageNotAllowedExCls.Throw(
env, fmt::format("MessageID = {}", message_id).c_str());
break;
}
case HAL_ERR_CANSessionMux_NotInitialized:
case kRIOStatusResourceNotInitialized: {
static jmethodID notInitConstruct = nullptr;
if (!notInitConstruct) {
notInitConstruct =
env->GetMethodID(canNotInitializedExCls, "<init>", "()V");
}
jobject exception =
env->NewObject(canNotInitializedExCls, notInitConstruct);
env->Throw(static_cast<jthrowable>(exception));
break;
}
default: {
uncleanStatusExCls.Throw(
env, fmt::format("Fatal status code detected: {}", status).c_str());
break;
}
}
}
void ThrowNullPointerException(JNIEnv* env, std::string_view msg) {
nullPointerEx.Throw(env, msg);
}
@@ -302,24 +233,27 @@ void SetMatchInfoObject(JNIEnv* env, jobject matchStatus,
static_cast<jint>(matchInfo.matchType));
}
jbyteArray SetCANDataObject(JNIEnv* env, jobject canData, int32_t length,
uint64_t timestamp) {
static jmethodID func = env->GetMethodID(canDataCls, "setData", "(IJ)[B");
jbyteArray SetCANReceiveMessageObject(JNIEnv* env, jobject canData,
int32_t length, int32_t flags,
uint64_t timestamp) {
static jmethodID func =
env->GetMethodID(canReceiveMessageCls, "setReceiveData", "(IIJ)[B");
jbyteArray retVal = static_cast<jbyteArray>(env->CallObjectMethod(
canData, func, static_cast<jint>(length), static_cast<jlong>(timestamp)));
canData, func, static_cast<jint>(length), static_cast<jint>(flags),
static_cast<jlong>(timestamp)));
return retVal;
}
jbyteArray SetCANStreamObject(JNIEnv* env, jobject canStreamData,
int32_t length, uint32_t messageID,
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)));
static_cast<jint>(messageId), static_cast<jlong>(timestamp)));
return retVal;
}