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[hal, wpilib] Update Addressable LED support (#8100)

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This commit is contained in:
Peter Johnson
2025-07-21 21:52:10 -07:00
committed by GitHub
parent 8aa312fb6f
commit f3af50fc8e
40 changed files with 857 additions and 1104 deletions
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144
hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
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@@ -13,7 +13,7 @@
using namespace hal;
using namespace wpi::java;
static_assert(sizeof(jbyte) * 4 == sizeof(HAL_AddressableLEDData));
static_assert(sizeof(jbyte) * 3 == sizeof(HAL_AddressableLEDData));
static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_RGB ==
HAL_ALED_RGB);
@@ -36,12 +36,12 @@ extern "C" {
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_AddressableLEDJNI_initialize
(JNIEnv* env, jclass, jint handle)
(JNIEnv* env, jclass, jint channel)
{
int32_t status = 0;
auto ret = HAL_InitializeAddressableLED(
static_cast<HAL_DigitalHandle>(handle), &status);
CheckStatus(env, status);
auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
auto ret = HAL_InitializeAddressableLED(channel, stack.c_str(), &status);
CheckStatusForceThrow(env, status);
return ret;
}
@@ -61,17 +61,16 @@ Java_edu_wpi_first_hal_AddressableLEDJNI_free
/*
* Class: edu_wpi_first_hal_AddressableLEDJNI
* Method: setColorOrder
* Method: setStart
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_AddressableLEDJNI_setColorOrder
(JNIEnv* env, jclass, jint handle, jint colorOrder)
Java_edu_wpi_first_hal_AddressableLEDJNI_setStart
(JNIEnv* env, jclass, jint handle, jint start)
{
int32_t status = 0;
HAL_SetAddressableLEDColorOrder(
static_cast<HAL_AddressableLEDHandle>(handle),
static_cast<HAL_AddressableLEDColorOrder>(colorOrder), &status);
HAL_SetAddressableLEDStart(static_cast<HAL_AddressableLEDHandle>(handle),
start, &status);
CheckStatus(env, status);
}
@@ -93,80 +92,79 @@ Java_edu_wpi_first_hal_AddressableLEDJNI_setLength
/*
* Class: edu_wpi_first_hal_AddressableLEDJNI
* Method: setData
* Signature: (I[B)V
* Signature: (II[BII)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_AddressableLEDJNI_setData
(JNIEnv* env, jclass, jint handle, jbyteArray arr)
(JNIEnv* env, jclass, jint outStart, jint colorOrder, jbyteArray data,
jint start, jint len)
{
if (!data) {
ThrowNullPointerException(env, "data is null");
return;
}
if (start < 0) {
ThrowIndexOutOfBoundsException(env, "start must be >= 0");
return;
}
if (len < 0) {
ThrowIndexOutOfBoundsException(env, "len must be >= 0");
return;
}
JSpan<const jbyte> cdata{env, data};
if (static_cast<unsigned int>(start + len) > cdata.size()) {
ThrowIndexOutOfBoundsException(
env, "start + len must be smaller than array length");
return;
}
if ((len % 3) != 0) {
ThrowIndexOutOfBoundsException(env, "len must be a multiple of 3");
return;
}
auto rawdata = cdata.uarray().subspan(start, len);
int32_t status = 0;
JSpan<const jbyte> jArrRef{env, arr};
HAL_WriteAddressableLEDData(
static_cast<HAL_AddressableLEDHandle>(handle),
reinterpret_cast<const HAL_AddressableLEDData*>(jArrRef.data()),
jArrRef.size() / 4, &status);
CheckStatus(env, status);
HAL_SetAddressableLEDData(
outStart, rawdata.size() / 3,
static_cast<HAL_AddressableLEDColorOrder>(colorOrder),
reinterpret_cast<const HAL_AddressableLEDData*>(rawdata.data()), &status);
}
/*
* Class: edu_wpi_first_hal_AddressableLEDJNI
* Method: setBitTiming
* Signature: (IIIII)V
* Method: setDataFromBuffer
* Signature: (IILjava/lang/Object;II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_AddressableLEDJNI_setBitTiming
(JNIEnv* env, jclass, jint handle, jint highTime0, jint lowTime0,
jint highTime1, jint lowTime1)
Java_edu_wpi_first_hal_AddressableLEDJNI_setDataFromBuffer
(JNIEnv* env, jclass, jint outStart, jint colorOrder, jobject data,
jint start, jint len)
{
if (!data) {
ThrowNullPointerException(env, "data is null");
return;
}
if (start < 0) {
ThrowIndexOutOfBoundsException(env, "start must be >= 0");
return;
}
if (len < 0) {
ThrowIndexOutOfBoundsException(env, "len must be >= 0");
return;
}
JSpan<const jbyte> cdata{env, data, static_cast<size_t>(start + len)};
if (!cdata) {
ThrowIllegalArgumentException(env, "data must be a native ByteBuffer");
return;
}
if ((len % 3) != 0) {
ThrowIndexOutOfBoundsException(env, "len must be a multiple of 3");
return;
}
auto rawdata = cdata.uarray().subspan(start, len);
int32_t status = 0;
HAL_SetAddressableLEDBitTiming(static_cast<HAL_AddressableLEDHandle>(handle),
highTime0, lowTime0, highTime1, lowTime1,
&status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_AddressableLEDJNI
* Method: setSyncTime
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_AddressableLEDJNI_setSyncTime
(JNIEnv* env, jclass, jint handle, jint syncTime)
{
int32_t status = 0;
HAL_SetAddressableLEDSyncTime(static_cast<HAL_AddressableLEDHandle>(handle),
syncTime, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_AddressableLEDJNI
* Method: start
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_AddressableLEDJNI_start
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_StartAddressableLEDOutput(static_cast<HAL_AddressableLEDHandle>(handle),
&status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_AddressableLEDJNI
* Method: stop
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_AddressableLEDJNI_stop
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
HAL_StopAddressableLEDOutput(static_cast<HAL_AddressableLEDHandle>(handle),
&status);
CheckStatus(env, status);
HAL_SetAddressableLEDData(
outStart, rawdata.size() / 3,
static_cast<HAL_AddressableLEDColorOrder>(colorOrder),
reinterpret_cast<const HAL_AddressableLEDData*>(rawdata.data()), &status);
}
} // extern "C"