Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

Refactored wpilibj HAL JNI to simplify generating it from HAL headers (#109)

Browse Source 
wpilibj FRCNetworkCommunication.java is now generated from HAL headers and was renamed to FRCNetComm.java
This commit is contained in:
Tyler Veness
2016-07-10 16:24:57 -07:00
committed by Peter Johnson
parent aafca4ed7f
commit e44a6e227a
61 changed files with 932 additions and 770 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
wpilibj/src/athena/cpp/lib/CANJNI.cpp
View File

@@ -29,14 +29,14 @@ extern "C" {
/*
* Class: edu_wpi_first_wpilibj_can_CANJNI
* Method: FRCNetworkCommunicationCANSessionMuxSendMessage
* Method: FRCNetCommCANSessionMuxSendMessage
* Signature: (ILjava/nio/ByteBuffer;I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxSendMessage(
Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxSendMessage(
JNIEnv *env, jclass, jint messageID, jobject data, jint periodMs) {
CANJNI_LOG(logDEBUG)
<< "Calling CANJNI FRCNetworkCommunicationCANSessionMuxSendMessage";
<< "Calling CANJNI FRCNetCommCANSessionMuxSendMessage";
uint8_t *dataBuffer =
(uint8_t *)(data ? env->GetDirectBufferAddress(data) : 0);
@@ -72,15 +72,15 @@ static uint8_t buffer[8];
/*
* Class: edu_wpi_first_wpilibj_can_CANJNI
* Method: FRCNetworkCommunicationCANSessionMuxReceiveMessage
* Method: FRCNetCommCANSessionMuxReceiveMessage
* Signature: (Ljava/nio/IntBuffer;ILjava/nio/ByteBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL
Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxReceiveMessage(
Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage(
JNIEnv *env, jclass, jobject messageID, jint messageIDMask,
jobject timeStamp) {
CANJNI_LOG(logDEBUG)
<< "Calling CANJNI FRCNetworkCommunicationCANSessionMuxReceiveMessage";
<< "Calling CANJNI FRCNetCommCANSessionMuxReceiveMessage";
uint32_t *messageIDPtr = (uint32_t *)env->GetDirectBufferAddress(messageID);
uint32_t *timeStampPtr = (uint32_t *)env->GetDirectBufferAddress(timeStamp);

368
wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp
View File

@@ -1,368 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <assert.h>
#include <jni.h>
#include "Log.h"
#include "HAL/HAL.h"
#include "edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary.h"
#include "HALUtil.h"
// set the logging level
TLogLevel netCommLogLevel = logWARNING;
#define NETCOMM_LOG(level) \
if (level > netCommLogLevel) \
; \
else \
Log().Get(level)
extern "C" {
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_nUsageReporting_report
* Signature: (BBBLjava/lang/String;)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationUsageReportingReport(
JNIEnv *paramEnv, jclass, jbyte paramResource, jbyte paramInstanceNumber,
jbyte paramContext, jstring paramFeature) {
const char *featureStr = paramEnv->GetStringUTFChars(paramFeature, nullptr);
NETCOMM_LOG(logDEBUG) << "Calling FRCNetworkCommunicationsLibrary report "
<< "res:" << (unsigned int)paramResource
<< " instance:" << (unsigned int)paramInstanceNumber
<< " context:" << (unsigned int)paramContext
<< " feature:" << featureStr;
jint returnValue =
HAL_Report(paramResource, paramInstanceNumber, paramContext, featureStr);
paramEnv->ReleaseStringUTFChars(paramFeature, featureStr);
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_observeUserProgramStarting
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramStarting(
JNIEnv *, jclass) {
HAL_NetworkCommunicationObserveUserProgramStarting();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_observeUserProgramDisabled
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramDisabled(
JNIEnv *, jclass) {
HAL_NetworkCommunicationObserveUserProgramDisabled();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_observeUserProgramAutonomous
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramAutonomous(
JNIEnv *, jclass) {
HAL_NetworkCommunicationObserveUserProgramAutonomous();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_observeUserProgramTeleop
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTeleop(
JNIEnv *, jclass) {
HAL_NetworkCommunicationObserveUserProgramTeleop();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_observeUserProgramTest
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTest(
JNIEnv *, jclass) {
HAL_NetworkCommunicationObserveUserProgramTest();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: FRCNetworkCommunicationReserve
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationReserve(
JNIEnv *, jclass) {
int rv = HAL_Initialize(0);
assert(1 == rv);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: NativeHALGetControlWord
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetControlWord(
JNIEnv *, jclass) {
NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word";
jint controlWord;
HAL_GetControlWord((HAL_ControlWord *)&controlWord);
return controlWord;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: NativeHALGetAllianceStation
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetAllianceStation(
JNIEnv *, jclass) {
NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station";
jint allianceStation;
HAL_GetAllianceStation((HAL_AllianceStationID *)&allianceStation);
return allianceStation;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HAL_GetJoystickAxes
* Signature: (B[S)B
*/
JNIEXPORT jbyte JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxes(
JNIEnv * env, jclass, jbyte joystickNum, jfloatArray axesArray) {
NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes";
HAL_JoystickAxes axes;
HAL_GetJoystickAxes(joystickNum, &axes);
jsize javaSize = env->GetArrayLength(axesArray);
if (axes.count > javaSize)
{
ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size");
}
env->SetFloatArrayRegion(axesArray, 0, axes.count, axes.axes);
return axes.count;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HAL_GetJoystickPOVs
* Signature: (B[S)B
*/
JNIEXPORT jbyte JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickPOVs(
JNIEnv * env, jclass, jbyte joystickNum, jshortArray povsArray) {
NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs";
HAL_JoystickPOVs povs;
HAL_GetJoystickPOVs(joystickNum, &povs);
jsize javaSize = env->GetArrayLength(povsArray);
if (povs.count > javaSize)
{
ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size");
}
env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs);
return povs.count;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HAL_GetJoystickButtons
* Signature: (B)S
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickButtons(
JNIEnv *env, jclass, jbyte joystickNum, jobject count) {
NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons";
HAL_JoystickButtons joystickButtons;
HAL_GetJoystickButtons(joystickNum, &joystickButtons);
jbyte *countPtr = (jbyte *)env->GetDirectBufferAddress(count);
NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons;
NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count;
*countPtr = joystickButtons.count;
NETCOMM_LOG(logDEBUG) << "CountBuffer = " << (jint)*countPtr;
return joystickButtons.buttons;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HAL_SetJoystickOutputs
* Signature: (BISS)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetJoystickOutputs(
JNIEnv *, jclass, jbyte port, jint outputs, jshort leftRumble,
jshort rightRumble) {
NETCOMM_LOG(logDEBUG) << "Calling HAL_SetJoystickOutputs on port " << port;
NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs;
NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble
<< " Right Rumble: " << rightRumble;
return HAL_SetJoystickOutputs(port, outputs, leftRumble, rightRumble);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HAL_GetJoystickIsXbox
* Signature: (B)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickIsXbox(
JNIEnv *, jclass, jbyte port) {
NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickIsXbox";
return HAL_GetJoystickIsXbox(port);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HAL_GetJoystickType
* Signature: (B)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickType(
JNIEnv *, jclass, jbyte port) {
NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickType";
return HAL_GetJoystickType(port);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HAL_GetJoystickName
* Signature: (B)Ljava/lang/String;
*/
JNIEXPORT jstring JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickName(
JNIEnv *env, jclass, jbyte port) {
NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickName";
char *joystickName = HAL_GetJoystickName(port);
jstring str = env->NewStringUTF(joystickName);
std::free(joystickName);
return str;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HAL_GetJoystickAxisType
* Signature: (BB)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxisType(
JNIEnv *, jclass, jbyte joystickNum, jbyte axis) {
NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickAxisType";
return HAL_GetJoystickAxisType(joystickNum, axis);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: setNewDataSem
* Signature: (J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataSem(
JNIEnv *env, jclass, jlong id) {
NETCOMM_LOG(logDEBUG) << "Mutex Ptr = " << (void *)id;
HAL_SetNewDataSem((MULTIWAIT_ID)id);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HAL_GetMatchTime
* Signature: ()F
*/
JNIEXPORT jfloat JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetMatchTime(
JNIEnv *env, jclass) {
jfloat matchTime;
HAL_GetMatchTime((float *)&matchTime);
return matchTime;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HAL_GetSystemActive
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetSystemActive(
JNIEnv *env, jclass) {
int32_t status = 0;
bool val = HAL_GetSystemActive(&status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HAL_GetBrownedOut
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetBrownedOut(
JNIEnv *env, jclass) {
int32_t status = 0;
bool val = HAL_GetBrownedOut(&status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HAL_SetErrorData
* Signature: (Ljava/lang/String;)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetErrorData(
JNIEnv *env, jclass, jstring error) {
const char *errorStr = env->GetStringUTFChars(error, nullptr);
jsize length = env->GetStringUTFLength(error);
NETCOMM_LOG(logDEBUG) << "Set Error: " << errorStr;
NETCOMM_LOG(logDEBUG) << "Length: " << length;
jint returnValue = HAL_SetErrorData(errorStr, (jint)length, 0);
env->ReleaseStringUTFChars(error, errorStr);
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HAL_SendError
* Signature: (ZIZLjava/lang/String;Ljava/lang/String;Ljava/lang/String;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSendError(
JNIEnv *env, jclass, jboolean isError, jint errorCode, jboolean isLVCode,
jstring details, jstring location, jstring callStack, jboolean printMsg) {
const char *detailsStr = env->GetStringUTFChars(details, nullptr);
const char *locationStr = env->GetStringUTFChars(location, nullptr);
const char *callStackStr = env->GetStringUTFChars(callStack, nullptr);
NETCOMM_LOG(logDEBUG) << "Send Error: " << detailsStr;
NETCOMM_LOG(logDEBUG) << "Location: " << locationStr;
NETCOMM_LOG(logDEBUG) << "Call Stack: " << callStackStr;
jint returnValue = HAL_SendError(isError, errorCode, isLVCode, detailsStr,
locationStr, callStackStr, printMsg);
env->ReleaseStringUTFChars(details, detailsStr);
env->ReleaseStringUTFChars(location, locationStr);
env->ReleaseStringUTFChars(callStack, callStackStr);
return returnValue;
}
} // extern "C"

369
wpilibj/src/athena/cpp/lib/HAL.cpp Normal file
View File

@@ -0,0 +1,369 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <cstring>
#include <assert.h>
#include <jni.h>
#include "Log.h"
#include "HAL/HAL.h"
#include "edu_wpi_first_wpilibj_hal_HAL.h"
#include "HALUtil.h"
// set the logging level
static TLogLevel netCommLogLevel = logWARNING;
#define NETCOMM_LOG(level) \
if (level > netCommLogLevel) \
; \
else \
Log().Get(level)
extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: Initialize
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_initialize(JNIEnv*, jclass, jint mode) {
return HAL_Initialize(mode);
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: observeUserProgramStarting
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramStarting(JNIEnv*, jclass) {
HAL_ObserveUserProgramStarting();
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: observeUserProgramDisabled
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramDisabled(JNIEnv*, jclass) {
HAL_ObserveUserProgramDisabled();
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: observeUserProgramAutonomous
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramAutonomous(
JNIEnv*, jclass) {
HAL_ObserveUserProgramAutonomous();
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: observeUserProgramTeleop
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTeleop(JNIEnv*, jclass) {
HAL_ObserveUserProgramTeleop();
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: observeUserProgramTest
* Signature: ()V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTest(JNIEnv*, jclass) {
HAL_ObserveUserProgramTest();
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_Report
* Signature: (IIILjava/lang/String;)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_report(
JNIEnv* paramEnv, jclass, jint paramResource, jint paramInstanceNumber,
jint paramContext, jstring paramFeature) {
const char *featureStr = paramEnv->GetStringUTFChars(paramFeature, nullptr);
NETCOMM_LOG(logDEBUG) << "Calling HAL report "
<< "res:" << paramResource
<< " instance:" << paramInstanceNumber
<< " context:" << paramContext
<< " feature:" << featureStr;
jint returnValue =
HAL_Report(paramResource, paramInstanceNumber, paramContext, featureStr);
paramEnv->ReleaseStringUTFChars(paramFeature, featureStr);
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: NativeGetControlWord
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetControlWord(JNIEnv*, jclass) {
NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word";
HAL_ControlWord controlWord;
std::memset(&controlWord, 0, sizeof(HAL_ControlWord));
HAL_GetControlWord(&controlWord);
return *reinterpret_cast<jint*>(&controlWord);
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: NativeGetAllianceStation
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetAllianceStation(JNIEnv*, jclass) {
NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station";
int32_t status = 0;
auto allianceStation = HAL_GetAllianceStation(&status);
return *reinterpret_cast<jint*>(&allianceStation);
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetJoystickAxes
* Signature: (B[S)S
*/
JNIEXPORT jshort JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxes(JNIEnv* env, jclass,
jbyte joystickNum,
jfloatArray axesArray) {
NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes";
HAL_JoystickAxes axes;
HAL_GetJoystickAxes(joystickNum, &axes);
jsize javaSize = env->GetArrayLength(axesArray);
if (axes.count > javaSize)
{
ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size");
}
env->SetFloatArrayRegion(axesArray, 0, axes.count, axes.axes);
return axes.count;
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetJoystickPOVs
* Signature: (B[S)S
*/
JNIEXPORT jshort JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickPOVs(JNIEnv* env, jclass,
jbyte joystickNum,
jshortArray povsArray) {
NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs";
HAL_JoystickPOVs povs;
HAL_GetJoystickPOVs(joystickNum, &povs);
jsize javaSize = env->GetArrayLength(povsArray);
if (povs.count > javaSize)
{
ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size");
}
env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs);
return povs.count;
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetJoystickButtons
* Signature: (B)B
*/
JNIEXPORT jbyte JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickButtons(JNIEnv* env, jclass,
jbyte joystickNum,
jobject count) {
NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons";
HAL_JoystickButtons joystickButtons;
HAL_GetJoystickButtons(joystickNum, &joystickButtons);
jbyte *countPtr = (jbyte *)env->GetDirectBufferAddress(count);
NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons;
NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count;
*countPtr = joystickButtons.count;
NETCOMM_LOG(logDEBUG) << "CountBuffer = " << (jint)*countPtr;
return joystickButtons.buttons;
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_SetJoystickOutputs
* Signature: (BISS)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_setJoystickOutputs(JNIEnv*, jclass,
jbyte port, jint outputs,
jshort leftRumble,
jshort rightRumble) {
NETCOMM_LOG(logDEBUG) << "Calling HAL_SetJoystickOutputs on port " << port;
NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs;
NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble
<< " Right Rumble: " << rightRumble;
return HAL_SetJoystickOutputs(port, outputs, leftRumble, rightRumble);
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetJoystickIsXbox
* Signature: (B)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickIsXbox(JNIEnv*, jclass,
jbyte port) {
NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickIsXbox";
return HAL_GetJoystickIsXbox(port);
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetJoystickType
* Signature: (B)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickType(JNIEnv*, jclass,
jbyte port) {
NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickType";
return HAL_GetJoystickType(port);
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetJoystickName
* Signature: (B)Ljava/lang/String;
*/
JNIEXPORT jstring JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickName(JNIEnv* env, jclass,
jbyte port) {
NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickName";
char *joystickName = HAL_GetJoystickName(port);
jstring str = env->NewStringUTF(joystickName);
std::free(joystickName);
return str;
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetJoystickAxisType
* Signature: (BB)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxisType(JNIEnv*, jclass,
jbyte joystickNum,
jbyte axis) {
NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickAxisType";
return HAL_GetJoystickAxisType(joystickNum, axis);
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HALSetNewDataSem
* Signature: (J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_setNewDataSem(JNIEnv* env, jclass,
jlong id) {
NETCOMM_LOG(logDEBUG) << "Mutex Ptr = " << (void *)id;
HAL_SetNewDataSem((MULTIWAIT_ID)id);
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetMatchTime
* Signature: ()F
*/
JNIEXPORT jfloat JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getMatchTime(JNIEnv* env, jclass) {
int32_t status = 0;
return HAL_GetMatchTime(&status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetSystemActive
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getSystemActive(JNIEnv* env, jclass) {
int32_t status = 0;
bool val = HAL_GetSystemActive(&status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_GetBrownedOut
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_getBrownedOut(JNIEnv* env, jclass) {
int32_t status = 0;
bool val = HAL_GetBrownedOut(&status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_SetErrorData
* Signature: (Ljava/lang/String;)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_setErrorData(JNIEnv* env, jclass,
jstring error) {
const char *errorStr = env->GetStringUTFChars(error, nullptr);
jsize length = env->GetStringUTFLength(error);
NETCOMM_LOG(logDEBUG) << "Set Error: " << errorStr;
NETCOMM_LOG(logDEBUG) << "Length: " << length;
jint returnValue = HAL_SetErrorData(errorStr, (jint)length, 0);
env->ReleaseStringUTFChars(error, errorStr);
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_HAL
* Method: HAL_SendError
* Signature: (ZIZLjava/lang/String;Ljava/lang/String;Ljava/lang/String;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HAL_sendError(JNIEnv* env, jclass,
jboolean isError, jint errorCode,
jboolean isLVCode, jstring details,
jstring location,
jstring callStack,
jboolean printMsg) {
const char *detailsStr = env->GetStringUTFChars(details, nullptr);
const char *locationStr = env->GetStringUTFChars(location, nullptr);
const char *callStackStr = env->GetStringUTFChars(callStack, nullptr);
NETCOMM_LOG(logDEBUG) << "Send Error: " << detailsStr;
NETCOMM_LOG(logDEBUG) << "Location: " << locationStr;
NETCOMM_LOG(logDEBUG) << "Call Stack: " << callStackStr;
jint returnValue = HAL_SendError(isError, errorCode, isLVCode, detailsStr,
locationStr, callStackStr, printMsg);
env->ReleaseStringUTFChars(details, detailsStr);
env->ReleaseStringUTFChars(location, locationStr);
env->ReleaseStringUTFChars(callStack, callStackStr);
return returnValue;
}
} // extern "C"