Wrap IMAQdx functions.

Quite a few functions aren't wrapped, but the most critical ones for
vision should be.

This also fixes a couple of issues:
- nivision_arm.ini (and imaqdx_arm.ini) are now generated without need for
  running the output on the RoboRIO.
- enum values are generated even if the value is not directly specified.

wpilibj/wpilibJavaJNI/nivision/gen_java.py

@@ -17,6 +17,7 @@ java_accessor_map = {
         "J": "Long",
         "F": "Float",
         "D": "Double",
+        "Z": "Boolean",
         }
 
 java_size_map = {
@@ -27,6 +28,7 @@ java_size_map = {
         "J": 8,
         "F": 4,
         "D": 8,
+        "Z": 1,
         }
 
 class JavaType:
@@ -66,6 +68,9 @@ java_types_map = {
         ("unsigned short", None): JavaType("int", "int", "jint", "I"),
         ("unsigned", None): JavaType("int", "int", "jint", "I"),
         ("unsigned int", None): JavaType("int", "int", "jint", "I"),
+        ("uInt32", None): JavaType("int", "int", "jint", "I"),
+        ("IMAQdxSession", None): JavaType("int", "int", "jint", "I"),
+        ("bool32", None): JavaType("boolean", "boolean", "jboolean", "Z"),
         ("long", None): JavaType("long", "long", "jlong", "J"),
         ("unsigned long", None): JavaType("long", "long", "jlong", "J"),
         ("__int64", None): JavaType("long", "long", "jlong", "J"),
@@ -88,6 +93,7 @@ java_types_map = {
         ("short", ""): JavaType("short[]", "short[]", "jshortArray", "[S"),
         ("int", ""): JavaType("int[]", "int[]", "jintArray", "[I"),
         ("unsigned int", ""): JavaType("int[]", "int[]", "jintArray", "[I"),
+        ("uInt32", ""): JavaType("int[]", "int[]", "jintArray", "[I"),
         ("long", ""): JavaType("long[]", "long[]", "jlongArray", "[J"),
         ("float", ""): JavaType("float[]", "float[]", "jfloatArray", "[F"),
         ("double", ""): JavaType("double[]", "double[]", "jdoubleArray", "[D"),
@@ -1117,6 +1123,7 @@ public class {classname} {{
 #include <assert.h>
 #include <jni.h>
 #include <nivision.h>
+#include <NIIMAQdx.h>
 
 // throw java exception
 static void throwJavaException(JNIEnv *env) {{
@@ -1130,6 +1137,18 @@ static void throwJavaException(JNIEnv *env) {{
     free(full_err_msg);
 }}
 
+// throw IMAQdx java exception
+static void dxthrowJavaException(JNIEnv *env, IMAQdxError err) {{
+    jclass je = env->FindClass("{packagepath}/VisionException");
+    char* err_text = (char*)malloc(200);
+    IMAQdxGetErrorString(err, err_text, 200);
+    char* full_err_msg = (char*)malloc(250);
+    sprintf(full_err_msg, "IMAQdxError: %d: %s", err, err_text);
+    free(err_text);
+    env->ThrowNew(je, full_err_msg);
+    free(full_err_msg);
+}}
+
 extern "C" {{
 
 JNIEXPORT void JNICALL Java_{package}_{classname}__1imaqDispose(JNIEnv* , jclass , jlong addr)
@@ -1260,8 +1279,13 @@ JNIEXPORT void JNICALL Java_{package}_{classname}__1imaqDispose(JNIEnv* , jclass
                 continue
             if vname.startswith("IMAQ_"):
                 vname = vname[5:]
+            if vname.startswith("IMAQdx"):
+                vname = vname[6:]
             if vname[0] in "0123456789":
                 vname = "C" + vname
+            if value is None:
+                # auto-increment
+                value = "%d" % (prev_value + 1)
             valuestrs.append("%s(%s),%s" % (vname, value, " // %s" % comment if comment else ""))
             defined.add(vname)
             value_i = int(value, 0)
@@ -1344,6 +1368,10 @@ JNIEXPORT void JNICALL Java_{package}_{classname}__1imaqDispose(JNIEnv* , jclass
             functype = "STDFUNC"
             rettype = c_to_jtype("void", None)
             exceptioncheck = "if (rv == 0) throwJavaException(env);"
+        elif restype == "IMAQdxError":
+            functype = "STDFUNC"
+            rettype = c_to_jtype("void", None)
+            exceptioncheck = "if (rv != IMAQdxErrorSuccess) dxthrowJavaException(env, rv);"
         else:
             if restype[-1] == "*":
                 functype = "STDPTRFUNC"
@@ -1680,36 +1708,45 @@ JNIEXPORT {rettype} JNICALL Java_{package}_{classname}__1{name}({args})
     def union(self, name, fields):
         self.unions[name] = fields
 
-def generate(srcdir, outdir, config_struct_path, configpath, nivisionhpath):
-    # read config files
-    config_struct = configparser.ConfigParser()
-    config_struct.read(config_struct_path)
-    config = configparser.ConfigParser()
-    config.read(configpath)
-    block_comment_exclude = set(x.strip() for x in
-            config.get("Block Comment", "exclude").splitlines())
+def generate(srcdir, outdir, inputs):
+    emit = None
 
-    # open input file
-    inf = open(nivisionhpath)
+    for fname, config_struct_path, configpath in inputs:
+        # read config files
+        config_struct = configparser.ConfigParser()
+        config_struct.read(config_struct_path)
+        config = configparser.ConfigParser()
+        config.read(configpath)
+        block_comment_exclude = set(x.strip() for x in
+                config.get("Block Comment", "exclude").splitlines())
 
-    # prescan for undefined structures
-    prescan_file(inf)
-    inf.seek(0)
+        # open input file
+        with open(fname) as inf:
+            # prescan for undefined structures
+            prescan_file(inf)
+            inf.seek(0)
+
+            if emit is None:
+                emit = JavaEmitter(outdir, config, config_struct)
+            else:
+                emit.config = config
+                emit.config_struct = config_struct
+
+            # generate
+            parse_file(emit, inf, block_comment_exclude)
 
-    # generate
-    emit = JavaEmitter(outdir, config, config_struct)
-    parse_file(emit, inf, block_comment_exclude)
     emit.finish()
 
 if __name__ == "__main__":
-    if len(sys.argv) < 3:
-        print("Usage: gen_wrap.py <nivision.h> config_struct.ini [config.ini]")
+    if len(sys.argv) < 4 or ((len(sys.argv)-1) % 3) != 0:
+        print("Usage: gen_wrap.py <header.h config_struct.ini config.ini>...")
         exit(0)
 
-    fname = sys.argv[1]
-    config_struct_name = sys.argv[2]
-    configname = "nivision_2011.ini"
-    if len(sys.argv) >= 4:
-        configname = sys.argv[3]
+    inputs = []
+    for i in range(1, len(sys.argv), 3):
+        fname = sys.argv[i]
+        config_struct_name = sys.argv[i+1]
+        configname = sys.argv[i+2]
+        inputs.append((fname, config_struct_name, configname))
 
-    generate("", "", config_struct_name, configname, fname)
+    generate("", "", inputs)

wpilibj/wpilibJavaJNI/nivision/gen_struct_sizer.py

@@ -10,16 +10,18 @@ except ImportError:
 from nivision_parse import *
 
 class StructSizerEmitter:
-    def __init__(self, out, config):
+    def __init__(self, out, config, hname):
         self.out = out
         self.config = config
         print("""#include <stdio.h>
-#include <nivision.h>
+#include <stddef.h>
+#include <{hname}>
 
 int main()
-{
-    printf("[_platform_]\\npointer=%d\\n", (int)sizeof(void*));
-""", file=self.out)
+{{
+    asm("#STRUCT_SIZER [_platform_]\\n");
+    asm("#STRUCT_SIZER pointer=%0\\n" : : "n"((int)sizeof(void*)));
+""".format(hname=hname), file=self.out)
 
     def finish(self):
         print("}", file=self.out)
@@ -67,12 +69,13 @@ int main()
         if name in opaque_structs:
             return
 
-        print('printf("[{name}]\\n_SIZE_=%d\\n", (int)sizeof({name}));'.format(name=name), file=self.out)
+        print('asm("#STRUCT_SIZER [{name}]\\n");'.format(name=name), file=self.out)
+        print('asm("#STRUCT_SIZER _SIZE_=%0\\n" : : "n"((int)sizeof({name})));'.format(name=name), file=self.out)
 
         for fname, ftype, arr, comment in fields:
             if ':' in fname:
                 continue # can't handle bitfields
-            print('printf("{field}=%d\\n", (int)offsetof({name}, {field}));'.format(name=name, field=fname), file=self.out)
+            print('asm("#STRUCT_SIZER {field}=%0\\n" : : "n"((int)offsetof({name}, {field})));'.format(name=name, field=fname), file=self.out)
 
     def struct(self, name, fields):
         self.structunion("Structure", name, fields)
@@ -80,7 +83,7 @@ int main()
     def union(self, name, fields):
         self.structunion("Union", name, fields)
 
-def generate(srcdir, configpath=None, nivisionhpath=None):
+def generate(srcdir, configpath=None, hpath=None):
     # read config file
     config = configparser.ConfigParser()
     config.read(configpath)
@@ -88,7 +91,7 @@ def generate(srcdir, configpath=None, nivisionhpath=None):
             config.get("Block Comment", "exclude").splitlines())
 
     # open input file
-    inf = open(nivisionhpath)
+    inf = open(hpath)
 
     # prescan for undefined structures
     prescan_file(inf)
@@ -96,18 +99,16 @@ def generate(srcdir, configpath=None, nivisionhpath=None):
 
     # generate
     with open("struct_sizer.c", "wt") as out:
-        emit = StructSizerEmitter(out, config)
+        emit = StructSizerEmitter(out, config, os.path.basename(hpath))
         parse_file(emit, inf, block_comment_exclude)
         emit.finish()
 
 if __name__ == "__main__":
-    if len(sys.argv) < 2:
-        print("Usage: gen_struct_sizer.py <nivision.h> [config.ini]")
+    if len(sys.argv) != 3:
+        print("Usage: gen_struct_sizer.py <header.h> <config.ini>")
         exit(0)
 
     fname = sys.argv[1]
-    configname = "nivision_2011.ini"
-    if len(sys.argv) >= 3:
-        configname = sys.argv[2]
+    configname = sys.argv[2]
 
     generate("", configname, fname)

wpilibj/wpilibJavaJNI/nivision/generateJNI.sh

@@ -3,9 +3,26 @@
 #   bindings for NIVision.  At some point,
 #   it should be integrated into the build system.
 # Assumes running from allwpilib/wpilibj/wpilibJavaJNI/nivision
-# Get files that we node to generate from.
+
+# Get structure sizes.
+python gen_struct_sizer.py ../../../wpilibc/wpilibC++Devices/include/nivision.h nivision_2011.ini
+arm-frc-linux-gnueabi-gcc -I../../../wpilibc/wpilibC++Devices/include -S struct_sizer.c
+cat struct_sizer.s | python get_struct_size.py > nivision_arm.ini
+
+python gen_struct_sizer.py ../../../wpilibc/wpilibC++Devices/include/NIIMAQdx.h imaqdx.ini
+arm-frc-linux-gnueabi-gcc -I../../../wpilibc/wpilibC++Devices/include -S struct_sizer.c
+cat struct_sizer.s | python get_struct_size.py > imaqdx_arm.ini
+
 # Run python generator.
-python gen_java.py ../../../wpilibc/wpilibC++Devices/include/nivision.h nivision_arm.ini nivision_2011.ini
+python gen_java.py \
+    ../../../wpilibc/wpilibC++Devices/include/nivision.h \
+    nivision_arm.ini \
+    nivision_2011.ini \
+    \
+    ../../../wpilibc/wpilibC++Devices/include/NIIMAQdx.h \
+    imaqdx_arm.ini \
+    imaqdx.ini
+
 # Stick generated files into appropriate places.
 cp NIVision.cpp ../lib/NIVisionJNI.cpp
 mkdir -p ../../wpilibJavaDevices/src/main/java/com/ni/vision

wpilibj/wpilibJavaJNI/nivision/get_struct_size.py

@@ -0,0 +1,14 @@
+from __future__ import print_function
+import sys
+
+def main():
+    for line in sys.stdin:
+        line = line.strip()
+        if not line.startswith("#STRUCT_SIZER"):
+            continue
+        line = line[14:]
+        line = line.replace("#", "")
+        print(line)
+
+if __name__ == "__main__":
+    main()

wpilibj/wpilibJavaJNI/nivision/imaqdx.ini

@@ -0,0 +1,81 @@
+[Block Comment]
+exclude=
+ Typedefs
+ Forward Declare Data Structures
+ Error Codes Enumeration
+ Callbacks
+
+; Error Codes Enumeration
+[IMAQdxError]
+exclude=True
+
+; Callbacks
+[FrameDoneEventCallbackPtr]
+exclude=True
+[PnpEventCallbackPtr]
+exclude=True
+[AttributeUpdatedEventCallbackPtr]
+exclude=True
+
+; Functions
+[IMAQdxSequence]
+arraysize=images:count
+exclude=True
+[IMAQdxEnumerateCameras]
+arraysize=cameraInformationArray:count
+exclude=True
+[IMAQdxGetImageData]
+#arraysize=buffer:bufferSize
+[IMAQdxEnumerateVideoModes]
+arraysize=videoModeArray:count
+exclude=True
+[IMAQdxEnumerateAttributes]
+arraysize=attributeInformationArray:count
+exclude=True
+[IMAQdxGetAttribute]
+exclude=True
+[IMAQdxSetAttribute]
+# has to be manual due to "..."
+exclude=True
+[IMAQdxGetAttributeMinimum]
+exclude=True
+[IMAQdxGetAttributeMaximum]
+exclude=True
+[IMAQdxGetAttributeIncrement]
+exclude=True
+[IMAQdxEnumerateAttributeValues]
+arraysize=list:size
+exclude=True
+[IMAQdxGetAttributeTooltip]
+exclude=True
+[IMAQdxGetAttributeUnits]
+exclude=True
+[IMAQdxRegisterFrameDoneEvent]
+# callback
+exclude=True
+[IMAQdxRegisterPnpEvent]
+# callback
+exclude=True
+[IMAQdxWriteMemory]
+arraysize=values:count
+exclude=True
+[IMAQdxReadMemory]
+arraysize=values:count
+exclude=True
+[IMAQdxGetErrorString]
+exclude=True
+[IMAQdxEnumerateAttributes2]
+arraysize=attributeInformationArray:count
+exclude=True
+[IMAQdxGetAttributeDescription]
+exclude=True
+[IMAQdxGetAttributeDisplayName]
+exclude=True
+[IMAQdxDispose]
+exclude=True
+[IMAQdxRegisterAttributeUpdatedEvent]
+# callback
+exclude=True
+[IMAQdxEnumerateAttributes3]
+arraysize=attributeInformationArray:count
+exclude=True

wpilibj/wpilibJavaJNI/nivision/nivision_parse.py

@@ -7,14 +7,14 @@ __all__ = ["define_after_struct", "defined", "forward_structs", "opaque_structs"
 # parser regular expressions
 number_re = re.compile(r'-?[0-9]+')
 constant_re = re.compile(r'[A-Z0-9_]+')
-define_re = re.compile(r'^#define\s+(?P<name>(IMAQ|ERR)_[A-Z0-9_]+)\s+(?P<value>.*)')
+define_re = re.compile(r'^#define\s+(?P<name>(IMAQ|ERR)[A-Z0-9_]+)\s+(?P<value>.*)')
 enum_re = re.compile(r'^typedef\s+enum\s+(?P<name>[A-Za-z0-9]+)_enum\s*{')
-enum_value_re = re.compile(r'^\s*(?P<name>[A-Z0-9_]+)\s*=\s*(?P<value>-?[0-9A-Fx]+)\s*,?')
+enum_value_re = re.compile(r'^\s*(?P<name>[A-Za-z0-9_]+)\s*(=\s*(?P<value>-?[0-9A-Fx]+))?\s*,?')
 struct_re = re.compile(r'^typedef\s+struct\s+(?P<name>[A-Za-z0-9]+)_struct\s*{')
 union_re = re.compile(r'^typedef\s+union\s+(?P<name>[A-Za-z0-9]+)_union\s*{')
-func_pointer_re = re.compile(r'(?P<restype>[A-Za-z0-9_*]+)\s*\(\s*[A-Za-z0-9_]*[*]\s*(?P<name>[A-Za-z0-9_]+)\s*\)\s*\((?P<params>[^)]*)\)')
+func_pointer_re = re.compile(r'\s*(?P<restype>[A-Za-z0-9_*]+)\s*\(\s*[A-Za-z0-9_]*\s*[*]\s*(?P<name>[A-Za-z0-9_]+)\s*\)\s*\((?P<params>[^)]*)\)')
 static_const_re = re.compile(r'^static\s+const\s+(?P<type>[A-Za-z0-9_]+)\s+(?P<name>[A-Za-z0-9_]+)\s*=\s*(?P<value>[^;]+);')
-function_re = re.compile(r'^(IMAQ_FUNC\s+)?(?P<restype>(const\s+)?[A-Za-z0-9_*]+)\s+(IMAQ_STDCALL\s+)?(?P<name>[A-Za-z0-9_]+)\s*\((?P<params>[^)]*)\);')
+function_re = re.compile(r'^((IMAQ|NI)_FUNC\s+)?(?P<restype>(const\s+)?[A-Za-z0-9_*]+)\s+((IMAQ_STDCALL|NI_FUNC[C]?)\s+)?(?P<name>[A-Za-z0-9_]+)\s*\((?P<params>[^)]*)\);')
 
 # defines deferred until after structures
 define_after_struct = []
@@ -216,5 +216,11 @@ def parse_file(emit, f, block_comment_exclude):
         if not code or code[0] == '#':
             continue
 
+        if not code or code[0] == '#':
+            continue
+
+        if code == 'extern "C" {' or code == "}":
+            continue
+
         print("%d: Unrecognized: %s" % (lineno+1, code))