Add Java support for raw values.

Either ByteBuffer or byte[] can be used for putRaw().
getRaw() returns byte[].

java/lib/NetworkTablesJNI.cpp

@@ -206,6 +206,21 @@ class JavaByteRef {
   size_t m_size;
 };
 
+class JavaByteRefBB {
+ public:
+  JavaByteRefBB(JNIEnv *env, jobject bb, int len)
+      : m_env(env), m_elements(env->GetDirectBufferAddress(bb)), m_size(len) {}
+
+  operator nt::StringRef() const {
+    return nt::StringRef(reinterpret_cast<char *>(m_elements), m_size);
+  }
+
+ private:
+  JNIEnv *m_env;
+  void *m_elements;
+  size_t m_size;
+};
+
 std::shared_ptr<nt::Value> FromJavaRaw(JNIEnv *env, jbyteArray jarr) {
   size_t len = env->GetArrayLength(jarr);
   jbyte *elements =
@@ -217,6 +232,14 @@ std::shared_ptr<nt::Value> FromJavaRaw(JNIEnv *env, jbyteArray jarr) {
   return rv;
 }
 
+std::shared_ptr<nt::Value> FromJavaRawBB(JNIEnv *env, jobject jbb, int len) {
+  void* elements = env->GetDirectBufferAddress(jbb);
+  if (!elements) return nullptr;
+  auto rv = nt::Value::MakeRaw(
+      nt::StringRef(reinterpret_cast<char *>(elements), len));
+  return rv;
+}
+
 std::shared_ptr<nt::Value> FromJavaRpc(JNIEnv *env, jbyteArray jarr) {
   size_t len = env->GetArrayLength(jarr);
   jbyte *elements =
@@ -449,7 +472,7 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTable
  * Method:    putRaw
  * Signature: (Ljava/lang/String;[B)Z
  */
-JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI_putRaw
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI_putRaw__Ljava_lang_String_2_3B
   (JNIEnv *env, jclass, jstring key, jbyteArray value)
 {
   auto v = FromJavaRaw(env, value);
@@ -457,6 +480,19 @@ JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTable
   return nt::SetEntryValue(JavaStringRef(env, key), v);
 }
 
+/*
+ * Class:     edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
+ * Method:    putRaw
+ * Signature: (Ljava/lang/String;Ljava/nio/ByteBuffer;I)Z
+ */
+JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI_putRaw__Ljava_lang_String_2Ljava_nio_ByteBuffer_2I
+  (JNIEnv *env, jclass, jstring key, jobject value, jint len)
+{
+  auto v = FromJavaRawBB(env, value, len);
+  if (!v) return false;
+  return nt::SetEntryValue(JavaStringRef(env, key), v);
+}
+
 /*
  * Class:     edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
  * Method:    putBooleanArray
@@ -535,7 +571,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
  * Method:    forcePutRaw
  * Signature: (Ljava/lang/String;[B)V
  */
-JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI_forcePutRaw
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI_forcePutRaw__Ljava_lang_String_2_3B
   (JNIEnv *env, jclass, jstring key, jbyteArray value)
 {
   auto v = FromJavaRaw(env, value);
@@ -543,6 +579,19 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
   nt::SetEntryTypeValue(JavaStringRef(env, key), v);
 }
 
+/*
+ * Class:     edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
+ * Method:    forcePutRaw
+ * Signature: (Ljava/lang/String;Ljava/nio/ByteBuffer;I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI_forcePutRaw__Ljava_lang_String_2Ljava_nio_ByteBuffer_2I
+  (JNIEnv *env, jclass, jstring key, jobject value, jint len)
+{
+  auto v = FromJavaRawBB(env, value, len);
+  if (!v) return;
+  nt::SetEntryTypeValue(JavaStringRef(env, key), v);
+}
+
 /*
  * Class:     edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
  * Method:    forcePutBooleanArray
@@ -1054,12 +1103,24 @@ JNIEXPORT jbyteArray JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTab
  * Method:    callRpc
  * Signature: (Ljava/lang/String;[B)I
  */
-JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI_callRpc
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI_callRpc__Ljava_lang_String_2_3B
   (JNIEnv *env, jclass, jstring key, jbyteArray params)
 {
   return nt::CallRpc(JavaStringRef(env, key), JavaByteRef(env, params));
 }
 
+/*
+ * Class:     edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
+ * Method:    callRpc
+ * Signature: (Ljava/lang/String;Ljava/nio/ByteBuffer;I)I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI_callRpc__Ljava_lang_String_2Ljava_nio_ByteBuffer_2I
+  (JNIEnv *env, jclass, jstring key, jobject params, jint params_len)
+{
+  return nt::CallRpc(JavaStringRef(env, key),
+                     JavaByteRefBB(env, params, params_len));
+}
+
 /*
  * Class:     edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
  * Method:    setNetworkIdentity

java/src/edu/wpi/first/wpilibj/networktables/NetworkTable.java

@@ -3,6 +3,7 @@ package edu.wpi.first.wpilibj.networktables;
 import edu.wpi.first.wpilibj.tables.*;
 import edu.wpi.first.wpilibj.networktables2.type.*;
 import java.io.*;
+import java.nio.ByteBuffer;
 import java.util.*;
 
 /**
@@ -765,6 +766,69 @@ public class NetworkTable implements ITable, IRemote {
     return NetworkTablesJNI.getStringArray(path + PATH_SEPARATOR + key, defaultValue);
   }
 
+  /**
+   * Maps the specified key to the specified value in this table. The key can
+   * not be null. The value can be retrieved by calling the get method with a
+   * key that is equal to the original key.
+   *
+   * @param key
+   *            the key
+   * @param value
+   *            the value
+   * @return False if the table key already exists with a different type
+   */
+  public boolean putRaw(String key, byte[] value) {
+    return NetworkTablesJNI.putRaw(path + PATH_SEPARATOR + key, value);
+  }
+
+  /**
+   * Maps the specified key to the specified value in this table. The key can
+   * not be null. The value can be retrieved by calling the get method with a
+   * key that is equal to the original key.
+   *
+   * @param key
+   *            the key
+   * @param value
+   *            the value
+   * @param len
+   *            the length of the value
+   * @return False if the table key already exists with a different type
+   */
+  public boolean putRaw(String key, ByteBuffer value, int len) {
+    if (!value.isDirect())
+      throw new IllegalArgumentException("must be a direct buffer");
+    if (value.capacity() < len)
+      throw new IllegalArgumentException("buffer is too small, must be at least " + len);
+    return NetworkTablesJNI.putRaw(path + PATH_SEPARATOR + key, value, len);
+  }
+
+  /**
+   * Returns the key that the name maps to.
+   *
+   * @param key
+   *            the key name
+   * @return the key
+   * @throws TableKeyNotDefinedException
+   *             if the specified key is null
+   */
+  public byte[] getRaw(String key) throws TableKeyNotDefinedException {
+    return NetworkTablesJNI.getRaw(path + PATH_SEPARATOR + key);
+  }
+
+  /**
+   * Returns the key that the name maps to. If the key is null, it will return
+   * the default value
+   *
+   * @param key
+   *            the key name
+   * @param defaultValue
+   *            the default value if the key is null
+   * @return the key
+   */
+  public byte[] getRaw(String key, byte[] defaultValue) {
+    return NetworkTablesJNI.getRaw(path + PATH_SEPARATOR + key, defaultValue);
+  }
+
   /**
    * Maps the specified key to the specified value in this table. The key can
    * not be null. The value can be retrieved by calling the get method with a

java/src/edu/wpi/first/wpilibj/networktables/NetworkTablesJNI.java

@@ -7,6 +7,7 @@ import java.io.InputStream;
 import java.io.OutputStream;
 import java.io.FileOutputStream;
 import java.io.IOException;
+import java.nio.ByteBuffer;
 
 public class NetworkTablesJNI {
   static boolean libraryLoaded = false;
@@ -70,6 +71,7 @@ public class NetworkTablesJNI {
   public static native boolean putDouble(String key, double value);
   public static native boolean putString(String key, String value);
   public static native boolean putRaw(String key, byte[] value);
+  public static native boolean putRaw(String key, ByteBuffer value, int len);
   public static native boolean putBooleanArray(String key, boolean[] value);
   public static native boolean putDoubleArray(String key, double[] value);
   public static native boolean putStringArray(String key, String[] value);
@@ -78,6 +80,7 @@ public class NetworkTablesJNI {
   public static native void forcePutDouble(String key, double value);
   public static native void forcePutString(String key, String value);
   public static native void forcePutRaw(String key, byte[] value);
+  public static native void forcePutRaw(String key, ByteBuffer value, int len);
   public static native void forcePutBooleanArray(String key, boolean[] value);
   public static native void forcePutDoubleArray(String key, double[] value);
   public static native void forcePutStringArray(String key, String[] value);
@@ -123,9 +126,11 @@ public class NetworkTablesJNI {
   public static native void removeConnectionListener(int connListenerUid);
 
   // public static native void createRpc(String key, byte[] def, IRpc rpc);
+  // public static native void createRpc(String key, ByteBuffer def, int def_len, IRpc rpc);
   public static native byte[] getRpc(String key) throws TableKeyNotDefinedException;
   public static native byte[] getRpc(String key, byte[] defaultValue);
   public static native int callRpc(String key, byte[] params);
+  public static native int callRpc(String key, ByteBuffer params, int params_len);
   // public static native byte[] getRpcResultBlocking(int callUid);
   // public static native byte[] getRpcResultNonblocking(int callUid) throws RpcNoResponseException;
 

java/src/edu/wpi/first/wpilibj/tables/ITable.java

@@ -1,5 +1,6 @@
 package edu.wpi.first.wpilibj.tables;
 
+import java.nio.ByteBuffer;
 import java.util.NoSuchElementException;
 import java.util.Set;
 
@@ -297,6 +298,36 @@ public interface ITable {
    */
   public String[] getStringArray(String key, String[] defaultValue);
 
+  /**
+   * Put a raw value (byte array) in the table
+   * @param key the key to be assigned to
+   * @param value the value that will be assigned
+   * @return False if the table key already exists with a different type
+   */
+  public boolean putRaw(String key, byte[] value);
+  /**
+   * Put a raw value (bytes from a byte buffer) in the table
+   * @param key the key to be assigned to
+   * @param value the value that will be assigned
+   * @param len the length of the value
+   * @return False if the table key already exists with a different type
+   */
+  public boolean putRaw(String key, ByteBuffer value, int len);
+  /**
+   * @param key the key to look up
+   * @return the value associated with the given key
+   * @throws TableKeyNotDefinedException if there is no value associated with
+   * the given key
+   */
+  public byte[] getRaw(String key) throws TableKeyNotDefinedException;
+  /**
+   * @param key the key to look up
+   * @param defaultValue the value to be returned if no value is found
+   * @return the value associated with the given key or the given default value
+   * if there is no value associated with the key
+   */
+  public byte[] getRaw(String key, byte[] defaultValue);
+
   /** Notifier flag values. */
   public static final int NOTIFY_IMMEDIATE = 0x01;
   public static final int NOTIFY_LOCAL = 0x02;