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[ntcore] Add method to get server time offset (#4847)

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Also exposes this as an event signaled when the offset is updated due to
a ping response from the server.
This commit is contained in:
Peter Johnson
2022-12-30 20:15:57 -08:00
committed by GitHub
parent fe1b62647f
commit f1151d375f
29 changed files with 718 additions and 60 deletions
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58
ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp
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@@ -39,7 +39,9 @@ static JClass eventCls;
static JClass floatCls;
static JClass logMessageCls;
static JClass longCls;
static JClass optionalLongCls;
static JClass pubSubOptionsCls;
static JClass timeSyncEventDataCls;
static JClass topicInfoCls;
static JClass valueCls;
static JClass valueEventDataCls;
@@ -55,7 +57,9 @@ static const JClassInit classes[] = {
{"java/lang/Float", &floatCls},
{"edu/wpi/first/networktables/LogMessage", &logMessageCls},
{"java/lang/Long", &longCls},
{"java/util/OptionalLong", &optionalLongCls},
{"edu/wpi/first/networktables/PubSubOptions", &pubSubOptionsCls},
{"edu/wpi/first/networktables/TimeSyncEventData", &timeSyncEventDataCls},
{"edu/wpi/first/networktables/TopicInfo", &topicInfoCls},
{"edu/wpi/first/networktables/NetworkTableValue", &valueCls},
{"edu/wpi/first/networktables/ValueEventData", &valueEventDataCls}};
@@ -164,6 +168,25 @@ static nt::PubSubOptions FromJavaPubSubOptions(JNIEnv* env, jobject joptions) {
// Conversions from C++ to Java objects
//
static jobject MakeJObject(JNIEnv* env, std::optional<int64_t> value) {
static jmethodID emptyMethod = nullptr;
static jmethodID ofMethod = nullptr;
if (!emptyMethod) {
emptyMethod = env->GetStaticMethodID(optionalLongCls, "empty",
"()Ljava/util/OptionalLong;");
}
if (!ofMethod) {
ofMethod = env->GetStaticMethodID(optionalLongCls, "of",
"(J)Ljava/util/OptionalLong;");
}
if (value) {
return env->CallStaticObjectMethod(optionalLongCls, ofMethod,
static_cast<jlong>(*value));
} else {
return env->CallStaticObjectMethod(optionalLongCls, emptyMethod);
}
}
static jobject MakeJObject(JNIEnv* env, const nt::Value& value) {
static jmethodID booleanConstructor = nullptr;
static jmethodID doubleConstructor = nullptr;
@@ -275,6 +298,15 @@ static jobject MakeJObject(JNIEnv* env, jobject inst,
static_cast<jint>(data.subentry), value.obj());
}
static jobject MakeJObject(JNIEnv* env, const nt::TimeSyncEventData& data) {
static jmethodID constructor =
env->GetMethodID(timeSyncEventDataCls, "<init>", "(JJZ)V");
return env->NewObject(timeSyncEventDataCls, constructor,
static_cast<jlong>(data.serverTimeOffset),
static_cast<jlong>(data.rtt2),
static_cast<jboolean>(data.valid));
}
static jobject MakeJObject(JNIEnv* env, jobject inst, const nt::Event& event) {
static jmethodID constructor =
env->GetMethodID(eventCls, "<init>",
@@ -282,11 +314,13 @@ static jobject MakeJObject(JNIEnv* env, jobject inst, const nt::Event& event) {
"Ledu/wpi/first/networktables/ConnectionInfo;"
"Ledu/wpi/first/networktables/TopicInfo;"
"Ledu/wpi/first/networktables/ValueEventData;"
"Ledu/wpi/first/networktables/LogMessage;)V");
"Ledu/wpi/first/networktables/LogMessage;"
"Ledu/wpi/first/networktables/TimeSyncEventData;)V");
JLocal<jobject> connInfo{env, nullptr};
JLocal<jobject> topicInfo{env, nullptr};
JLocal<jobject> valueData{env, nullptr};
JLocal<jobject> logMessage{env, nullptr};
JLocal<jobject> timeSyncData{env, nullptr};
if (auto v = event.GetConnectionInfo()) {
connInfo = JLocal<jobject>{env, MakeJObject(env, *v)};
} else if (auto v = event.GetTopicInfo()) {
@@ -295,11 +329,13 @@ static jobject MakeJObject(JNIEnv* env, jobject inst, const nt::Event& event) {
valueData = JLocal<jobject>{env, MakeJObject(env, inst, *v)};
} else if (auto v = event.GetLogMessage()) {
logMessage = JLocal<jobject>{env, MakeJObject(env, *v)};
} else if (auto v = event.GetTimeSyncEventData()) {
timeSyncData = JLocal<jobject>{env, MakeJObject(env, *v)};
}
return env->NewObject(eventCls, constructor, inst,
static_cast<jint>(event.listener),
static_cast<jint>(event.flags), connInfo.obj(),
topicInfo.obj(), valueData.obj(), logMessage.obj());
return env->NewObject(
eventCls, constructor, inst, static_cast<jint>(event.listener),
static_cast<jint>(event.flags), connInfo.obj(), topicInfo.obj(),
valueData.obj(), logMessage.obj(), timeSyncData.obj());
}
static jobjectArray MakeJObject(JNIEnv* env, std::span<const nt::Value> arr) {
@@ -1344,6 +1380,18 @@ Java_edu_wpi_first_networktables_NetworkTablesJNI_isConnected
return nt::IsConnected(inst);
}
/*
* Class: edu_wpi_first_networktables_NetworkTablesJNI
* Method: getServerTimeOffset
* Signature: (I)Ljava/lang/Object;
*/
JNIEXPORT jobject JNICALL
Java_edu_wpi_first_networktables_NetworkTablesJNI_getServerTimeOffset
(JNIEnv* env, jclass, jint inst)
{
return MakeJObject(env, nt::GetServerTimeOffset(inst));
}
/*
* Class: edu_wpi_first_networktables_NetworkTablesJNI
* Method: now