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Switches CANJNI to use byte[] rather then ByteBuffer, and throws exceptions for invalid platforms (#571)

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Fixes #567
This commit is contained in:
Thad House
2017-07-10 20:33:34 -07:00
committed by Peter Johnson
parent 432c03bf63
commit f3efb948fe
2 changed files with 18 additions and 17 deletions
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29
wpilibj/src/athena/cpp/lib/CANJNI.cpp
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@@ -16,8 +16,10 @@
#include "edu_wpi_first_wpilibj_can_CANJNI.h"
#include "llvm/SmallString.h"
#include "llvm/raw_ostream.h"
#include "support/jni_util.h"
using namespace frc;
using namespace wpi::java;
// set the logging level
// TLogLevel canJNILogLevel = logDEBUG;
@@ -34,18 +36,19 @@ extern "C" {
/*
* Class: edu_wpi_first_wpilibj_can_CANJNI
* Method: FRCNetCommCANSessionMuxSendMessage
* Signature: (ILjava/nio/ByteBuffer;I)V
* Signature: (I[BI)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxSendMessage(
JNIEnv *env, jclass, jint messageID, jobject data, jint periodMs) {
JNIEnv *env, jclass, jint messageID, jbyteArray data, jint periodMs) {
#ifdef CONFIG_ATHENA
CANJNI_LOG(logDEBUG)
<< "Calling CANJNI FRCNetCommCANSessionMuxSendMessage";
uint8_t *dataBuffer =
(uint8_t *)(data ? env->GetDirectBufferAddress(data) : 0);
uint8_t dataSize = (uint8_t)(data ? env->GetDirectBufferCapacity(data) : 0);
JByteArrayRef dataArray{env, data};
const uint8_t *dataBuffer = reinterpret_cast<const uint8_t*>(dataArray.array().data());
uint8_t dataSize = dataArray.array().size();
CANJNI_LOG(logDEBUG) << "Message ID ";
CANJNI_LOG(logDEBUG).write_hex(messageID);
@@ -73,20 +76,16 @@ Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxSendMessage(
CANJNI_LOG(logDEBUG) << "Status: " << status;
CheckCANStatus(env, status, messageID);
#else
// TODO: Make this throw
// Noop on other platforms
#endif
}
#ifdef CONFIG_ATHENA
static uint8_t buffer[8];
#endif
/*
* Class: edu_wpi_first_wpilibj_can_CANJNI
* Method: FRCNetCommCANSessionMuxReceiveMessage
* Signature: (Ljava/nio/IntBuffer;ILjava/nio/ByteBuffer;)Ljava/nio/ByteBuffer;
* Signature: (Ljava/nio/IntBuffer;ILjava/nio/ByteBuffer;)[B
*/
JNIEXPORT jobject JNICALL
JNIEXPORT jbyteArray JNICALL
Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage(
JNIEnv *env, jclass, jobject messageID, jint messageIDMask,
jobject timeStamp) {
@@ -98,6 +97,7 @@ Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage(
uint32_t *timeStampPtr = (uint32_t *)env->GetDirectBufferAddress(timeStamp);
uint8_t dataSize = 0;
uint8_t buffer[8];
int32_t status = 0;
FRC_NetworkCommunication_CANSessionMux_receiveMessage(
@@ -126,9 +126,10 @@ Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage(
CANJNI_LOG(logDEBUG) << "Status: " << status;
if (!CheckCANStatus(env, status, *messageIDPtr)) return nullptr;
return env->NewDirectByteBuffer(buffer, dataSize);
return MakeJByteArray(env, llvm::StringRef{reinterpret_cast<const char*>(buffer),
static_cast<size_t>(dataSize)});
#else
// TODO: Make throw
// Noop on other platforms. Return nullptr
return nullptr;
#endif
}