mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
Update to 2018_v4 image and new build system. (#598)
* Revert "Force OpenCV to 3.1.0 (#602)"
This reverts commit 50ed55e8e2.
* Removes Simulation
* Removes old build system
* Removes old gtest
* Adds new gmock and gtest
* Updates to new ni-libraries
* removes MyRobot (to be replaced)
* moves files to new location
* Adds new sim backend and new test executables
* updates .styleguide and .gitignore
* Changes cpp WPILibVersion to a function
MSVC throws an AV with the old version.
* Disables USBCamera on all systems except for linux
* 2018 NI Libraries
* New build system
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
414
wpilibj/src/main/native/cpp/HALUtil.cpp
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414
wpilibj/src/main/native/cpp/HALUtil.cpp
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@@ -0,0 +1,414 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "HALUtil.h"
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#include <assert.h>
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#include <errno.h>
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#include <jni.h>
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#include <cstdio>
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#include <cstring>
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#include <string>
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#ifdef CONFIG_ATHENA
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#include "FRC_NetworkCommunication/CANSessionMux.h"
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#endif
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#include "HAL/HAL.h"
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#include "HAL/DriverStation.h"
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#include "HAL/Errors.h"
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#include "HAL/cpp/Log.h"
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#include "edu_wpi_first_wpilibj_hal_HALUtil.h"
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#include "llvm/SmallString.h"
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#include "llvm/raw_ostream.h"
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#include "support/jni_util.h"
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using namespace wpi::java;
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// set the logging level
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TLogLevel halUtilLogLevel = logWARNING;
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#define HALUTIL_LOG(level) \
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if (level > halUtilLogLevel) \
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; \
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else \
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Log().Get(level)
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#define kRioStatusOffset -63000
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#define kRioStatusSuccess 0
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#define kRIOStatusBufferInvalidSize (kRioStatusOffset - 80)
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#define kRIOStatusOperationTimedOut -52007
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#define kRIOStatusFeatureNotSupported (kRioStatusOffset - 193)
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#define kRIOStatusResourceNotInitialized -52010
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JavaVM *jvm = nullptr;
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static JException runtimeExCls;
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static JException illegalArgExCls;
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static JException boundaryExCls;
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static JException allocationExCls;
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static JException halHandleExCls;
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static JException canInvalidBufferExCls;
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static JException canMessageNotFoundExCls;
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static JException canMessageNotAllowedExCls;
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static JException canNotInitializedExCls;
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static JException uncleanStatusExCls;
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static JClass pwmConfigDataResultCls;
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namespace frc {
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void ThrowAllocationException(JNIEnv *env, int32_t minRange, int32_t maxRange,
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int32_t requestedValue, int32_t status) {
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const char *message = HAL_GetErrorMessage(status);
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llvm::SmallString<1024> buf;
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llvm::raw_svector_ostream oss(buf);
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oss << " Code: " << status << ". " << message << ", Minimum Value: "
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<< minRange << ", Maximum Value: " << maxRange << ", Requested Value: "
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<< requestedValue;
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env->ThrowNew(allocationExCls, buf.c_str());
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allocationExCls.Throw(env, buf.c_str());
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}
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void ThrowHalHandleException(JNIEnv *env, int32_t status) {
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const char *message = HAL_GetErrorMessage(status);
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llvm::SmallString<1024> buf;
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llvm::raw_svector_ostream oss(buf);
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oss << " Code: " << status << ". " << message;
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halHandleExCls.Throw(env, buf.c_str());
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}
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#ifndef _WIN32
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constexpr const char JNI_wpilibjPrefix[] = "edu.wpi.first.wpilibj";
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#else
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extern const char JNI_wpilibjPrefix[] = "edu.wpi.first.wpilibj";
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#endif
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void ReportError(JNIEnv *env, int32_t status, bool doThrow) {
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if (status == 0) return;
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if (status == HAL_HANDLE_ERROR) {
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ThrowHalHandleException(env, status);
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}
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const char *message = HAL_GetErrorMessage(status);
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if (doThrow && status < 0) {
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llvm::SmallString<1024> buf;
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llvm::raw_svector_ostream oss(buf);
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oss << " Code: " << status << ". " << message;
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runtimeExCls.Throw(env, buf.c_str());
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} else {
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std::string func;
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auto stack = GetJavaStackTrace<JNI_wpilibjPrefix>(env, &func);
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HAL_SendError(1, status, 0, message, func.c_str(), stack.c_str(), 1);
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}
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}
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void ThrowError(JNIEnv *env, int32_t status, int32_t minRange, int32_t maxRange,
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int32_t requestedValue) {
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if (status == 0) return;
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if (status == NO_AVAILABLE_RESOURCES ||
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status == RESOURCE_IS_ALLOCATED ||
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status == RESOURCE_OUT_OF_RANGE) {
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ThrowAllocationException(env, minRange, maxRange, requestedValue, status);
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}
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if (status == HAL_HANDLE_ERROR) {
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ThrowHalHandleException(env, status);
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}
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const char *message = HAL_GetErrorMessage(status);
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llvm::SmallString<1024> buf;
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llvm::raw_svector_ostream oss(buf);
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oss << " Code: " << status << ". " << message;
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runtimeExCls.Throw(env, buf.c_str());
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}
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void ReportCANError(JNIEnv *env, int32_t status, int message_id) {
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if (status >= 0) return;
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switch (status) {
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case kRioStatusSuccess:
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// Everything is ok... don't throw.
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break;
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#ifdef CONFIG_ATHENA
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case ERR_CANSessionMux_InvalidBuffer:
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#endif
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case kRIOStatusBufferInvalidSize: {
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static jmethodID invalidBufConstruct = nullptr;
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if (!invalidBufConstruct)
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invalidBufConstruct =
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env->GetMethodID(canInvalidBufferExCls, "<init>", "()V");
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jobject exception =
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env->NewObject(canInvalidBufferExCls, invalidBufConstruct);
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env->Throw(static_cast<jthrowable>(exception));
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break;
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}
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#ifdef CONFIG_ATHENA
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case ERR_CANSessionMux_MessageNotFound:
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#endif
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case kRIOStatusOperationTimedOut: {
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static jmethodID messageNotFoundConstruct = nullptr;
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if (!messageNotFoundConstruct)
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messageNotFoundConstruct =
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env->GetMethodID(canMessageNotFoundExCls, "<init>", "()V");
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jobject exception =
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env->NewObject(canMessageNotFoundExCls, messageNotFoundConstruct);
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env->Throw(static_cast<jthrowable>(exception));
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break;
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}
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#ifdef CONFIG_ATHENA
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case ERR_CANSessionMux_NotAllowed:
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#endif
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case kRIOStatusFeatureNotSupported: {
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llvm::SmallString<100> buf;
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llvm::raw_svector_ostream oss(buf);
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oss << "MessageID = " << message_id;
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canMessageNotAllowedExCls.Throw(env, buf.c_str());
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break;
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}
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#ifdef CONFIG_ATHENA
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case ERR_CANSessionMux_NotInitialized:
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#endif
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case kRIOStatusResourceNotInitialized: {
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static jmethodID notInitConstruct = nullptr;
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if (!notInitConstruct)
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notInitConstruct =
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env->GetMethodID(canNotInitializedExCls, "<init>", "()V");
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jobject exception =
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env->NewObject(canNotInitializedExCls, notInitConstruct);
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env->Throw(static_cast<jthrowable>(exception));
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break;
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}
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default: {
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llvm::SmallString<100> buf;
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llvm::raw_svector_ostream oss(buf);
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oss << "Fatal status code detected: " << status;
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uncleanStatusExCls.Throw(env, buf.c_str());
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break;
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}
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}
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}
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void ThrowIllegalArgumentException(JNIEnv *env, const char *msg) {
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illegalArgExCls.Throw(env, msg);
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}
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void ThrowBoundaryException(JNIEnv *env, double value, double lower,
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double upper) {
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static jmethodID getMessage = nullptr;
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if (!getMessage)
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getMessage = env->GetStaticMethodID(boundaryExCls, "getMessage",
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"(DDD)Ljava/lang/String;");
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static jmethodID constructor = nullptr;
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if (!constructor)
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constructor =
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env->GetMethodID(boundaryExCls, "<init>", "(Ljava/lang/String;)V");
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jobject msg =
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env->CallStaticObjectMethod(boundaryExCls, getMessage,
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static_cast<jdouble>(value),
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static_cast<jdouble>(lower),
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static_cast<jdouble>(upper));
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jobject ex = env->NewObject(boundaryExCls, constructor, msg);
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env->Throw(static_cast<jthrowable>(ex));
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}
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jobject CreatePWMConfigDataResult(JNIEnv *env, int32_t maxPwm,
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int32_t deadbandMaxPwm, int32_t centerPwm,
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int32_t deadbandMinPwm, int32_t minPwm) {
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static jmethodID constructor =
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env->GetMethodID(pwmConfigDataResultCls, "<init>",
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"(IIIII)V");
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return env->NewObject(pwmConfigDataResultCls, constructor, maxPwm,
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deadbandMaxPwm, centerPwm, deadbandMinPwm,
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minPwm);
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}
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} // namespace frc
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using namespace frc;
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extern "C" {
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//
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// indicate JNI version support desired and load classes
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//
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JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved) {
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jvm = vm;
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// set our logging level
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Log::ReportingLevel() = logDEBUG;
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JNIEnv *env;
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if (vm->GetEnv(reinterpret_cast<void **>(&env), JNI_VERSION_1_6) != JNI_OK)
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return JNI_ERR;
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runtimeExCls = JException(env, "java/lang/RuntimeException");
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if (!runtimeExCls) return JNI_ERR;
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illegalArgExCls = JException(env, "java/lang/IllegalArgumentException");
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if (!illegalArgExCls) return JNI_ERR;
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boundaryExCls = JException(env, "edu/wpi/first/wpilibj/util/BoundaryException");
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if (!boundaryExCls) return JNI_ERR;
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allocationExCls = JException(env, "edu/wpi/first/wpilibj/util/AllocationException");
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if (!allocationExCls) return JNI_ERR;
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halHandleExCls = JException(env, "edu/wpi/first/wpilibj/util/HalHandleException");
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if (!halHandleExCls) return JNI_ERR;
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canInvalidBufferExCls = JException(env, "edu/wpi/first/wpilibj/can/CANInvalidBufferException");
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if (!canInvalidBufferExCls) return JNI_ERR;
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canMessageNotFoundExCls = JException(env, "edu/wpi/first/wpilibj/can/CANMessageNotFoundException");
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if (!canMessageNotFoundExCls) return JNI_ERR;
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canMessageNotAllowedExCls = JException(env, "edu/wpi/first/wpilibj/can/CANMessageNotAllowedException");
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if (!canMessageNotAllowedExCls) return JNI_ERR;
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canNotInitializedExCls = JException(env, "edu/wpi/first/wpilibj/can/CANNotInitializedException");
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if (!canNotInitializedExCls) return JNI_ERR;
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uncleanStatusExCls = JException(env,"edu/wpi/first/wpilibj/util/UncleanStatusException");
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if (!uncleanStatusExCls) return JNI_ERR;
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pwmConfigDataResultCls = JClass(env, "edu/wpi/first/wpilibj/PWMConfigDataResult");
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if (!pwmConfigDataResultCls) return JNI_ERR;
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return JNI_VERSION_1_6;
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}
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JNIEXPORT void JNICALL JNI_OnUnload(JavaVM *vm, void *reserved) {
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JNIEnv *env;
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if (vm->GetEnv(reinterpret_cast<void **>(&env), JNI_VERSION_1_6) != JNI_OK)
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return;
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// Delete global references
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runtimeExCls.free(env);
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illegalArgExCls.free(env);
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boundaryExCls.free(env);
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allocationExCls.free(env);
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halHandleExCls.free(env);
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canInvalidBufferExCls.free(env);
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canMessageNotFoundExCls.free(env);
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canMessageNotAllowedExCls.free(env);
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canNotInitializedExCls.free(env);
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uncleanStatusExCls.free(env);
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pwmConfigDataResultCls.free(env);
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jvm = nullptr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: getFPGAVersion
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* Signature: ()S
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*/
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JNIEXPORT jshort JNICALL
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Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAVersion(JNIEnv *env, jclass) {
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HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGAVersion";
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int32_t status = 0;
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jshort returnValue = HAL_GetFPGAVersion(&status);
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HALUTIL_LOG(logDEBUG) << "Status = " << status;
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HALUTIL_LOG(logDEBUG) << "FPGAVersion = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: getFPGARevision
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGARevision(JNIEnv *env, jclass) {
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HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGARevision";
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int32_t status = 0;
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jint returnValue = HAL_GetFPGARevision(&status);
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HALUTIL_LOG(logDEBUG) << "Status = " << status;
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HALUTIL_LOG(logDEBUG) << "FPGARevision = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: getFPGATime
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* Signature: ()J
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*/
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JNIEXPORT jlong JNICALL
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Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGATime(JNIEnv *env, jclass) {
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// HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
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int32_t status = 0;
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jlong returnValue = HAL_GetFPGATime(&status);
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// HALUTIL_LOG(logDEBUG) << "Status = " << status;
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// HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: getHALRuntimeType
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALRuntimeType(JNIEnv *env, jclass) {
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// HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALRuntimeType";
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jint returnValue = HAL_GetRuntimeType();
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// HALUTIL_LOG(logDEBUG) << "RuntimeType = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: getFPGAButton
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* Signature: ()I
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAButton(JNIEnv *env, jclass) {
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// HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
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int32_t status = 0;
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jboolean returnValue = HAL_GetFPGAButton(&status);
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// HALUTIL_LOG(logDEBUG) << "Status = " << status;
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// HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: getHALErrorMessage
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* Signature: (I)Ljava/lang/String;
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*/
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JNIEXPORT jstring JNICALL
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Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrorMessage(
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JNIEnv *paramEnv, jclass, jint paramId) {
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const char *msg = HAL_GetErrorMessage(paramId);
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HALUTIL_LOG(logDEBUG) << "Calling HALUtil HAL_GetErrorMessage id=" << paramId
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<< " msg=" << msg;
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return MakeJString(paramEnv, msg);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: getHALErrno
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrno(JNIEnv *, jclass) {
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return errno;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HALUtil
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* Method: getHALstrerror
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* Signature: (I)Ljava/lang/String;
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*/
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JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALstrerror(
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JNIEnv *env, jclass, jint errorCode) {
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const char *msg = strerror(errno);
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HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALstrerror errorCode="
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<< errorCode << " msg=" << msg;
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return MakeJString(env, msg);
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}
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||||
|
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} // extern "C"
|
||||
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