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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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123
hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
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@@ -11,7 +11,7 @@
#include "edu_wpi_first_hal_simulation_AddressableLEDDataJNI.h"
#include "hal/simulation/AddressableLEDData.h"
static_assert(sizeof(jbyte) * 4 == sizeof(HAL_AddressableLEDData));
static_assert(sizeof(jbyte) * 3 == sizeof(HAL_AddressableLEDData));
using namespace hal;
using namespace wpi::java;
@@ -71,53 +71,52 @@ Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_setInitialized
/*
* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
* Method: registerOutputPortCallback
* Method: registerStartCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_registerOutputPortCallback
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_registerStartCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(
env, index, callback, initialNotify,
&HALSIM_RegisterAddressableLEDOutputPortCallback);
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterAddressableLEDStartCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
* Method: cancelOutputPortCallback
* Method: cancelStartCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_cancelOutputPortCallback
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_cancelStartCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelAddressableLEDOutputPortCallback);
&HALSIM_CancelAddressableLEDStartCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
* Method: getOutputPort
* Method: getStart
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_getOutputPort
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_getStart
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetAddressableLEDOutputPort(index);
return HALSIM_GetAddressableLEDStart(index);
}
/*
* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
* Method: setOutputPort
* Method: setStart
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_setOutputPort
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_setStart
(JNIEnv*, jclass, jint index, jint value)
{
HALSIM_SetAddressableLEDOutputPort(index, value);
HALSIM_SetAddressableLEDStart(index, value);
}
/*
@@ -170,96 +169,50 @@ Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_setLength
HALSIM_SetAddressableLEDLength(index, value);
}
/*
* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
* Method: registerRunningCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_registerRunningCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterAddressableLEDRunningCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
* Method: cancelRunningCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_cancelRunningCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelAddressableLEDRunningCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
* Method: getRunning
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_getRunning
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetAddressableLEDRunning(index);
}
/*
* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
* Method: setRunning
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_setRunning
(JNIEnv*, jclass, jint index, jboolean value)
{
HALSIM_SetAddressableLEDRunning(index, value);
}
/*
* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
* Method: registerDataCallback
* Signature: (ILjava/lang/Object;)I
* Signature: (Ljava/lang/Object;)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_registerDataCallback
(JNIEnv* env, jclass, jint index, jobject callback)
(JNIEnv* env, jclass, jobject callback)
{
return sim::AllocateConstBufferCallback(
env, index, callback, &HALSIM_RegisterAddressableLEDDataCallback);
env, -1, callback,
[](int32_t, HAL_ConstBufferCallback callback, void* param) {
return HALSIM_RegisterAddressableLEDDataCallback(callback, param);
});
}
/*
* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
* Method: cancelDataCallback
* Signature: (II)V
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_cancelDataCallback
(JNIEnv* env, jclass, jint index, jint handle)
(JNIEnv* env, jclass, jint handle)
{
sim::FreeConstBufferCallback(env, handle, index,
&HALSIM_CancelAddressableLEDDataCallback);
sim::FreeConstBufferCallback(env, handle, -1, [](int32_t, int32_t uid) {
HALSIM_CancelAddressableLEDDataCallback(uid);
});
}
/*
* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
* Method: getData
* Signature: (I)[B
* Signature: (II)[B
*/
JNIEXPORT jbyteArray JNICALL
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_getData
(JNIEnv* env, jclass, jint index)
(JNIEnv* env, jclass, jint start, jint length)
{
auto data =
std::make_unique<HAL_AddressableLEDData[]>(HAL_kAddressableLEDMaxLength);
int32_t length = HALSIM_GetAddressableLEDData(index, data.get());
length = HALSIM_GetAddressableLEDData(start, length, data.get());
return MakeJByteArray(
env, std::span(reinterpret_cast<jbyte*>(data.get()), length * 4));
env, std::span(reinterpret_cast<jbyte*>(data.get()), length * 3));
}
/*
@@ -269,13 +222,13 @@ Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_getData
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_setData
(JNIEnv* env, jclass, jint index, jbyteArray arr)
(JNIEnv* env, jclass, jint start, jbyteArray arr)
{
JSpan<const jbyte> jArrRef{env, arr};
auto arrRef = jArrRef.array();
HALSIM_SetAddressableLEDData(
index, reinterpret_cast<const HAL_AddressableLEDData*>(arrRef.data()),
arrRef.size() / 4);
start, arrRef.size() / 3,
reinterpret_cast<const HAL_AddressableLEDData*>(arrRef.data()));
}
/*
@@ -290,16 +243,4 @@ Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_resetData
HALSIM_ResetAddressableLEDData(index);
}
/*
* Class: edu_wpi_first_hal_simulation_AddressableLEDDataJNI
* Method: findForChannel
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_findForChannel
(JNIEnv*, jclass, jint channel)
{
return HALSIM_FindAddressableLEDForChannel(channel);
}
} // extern "C"