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Adds JNI methods for the new CANSessionMUX

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Updates the CAN send message to use CANSessionMuxSendMessage in the C++ JNI

Updates the CANJNI to use the new C++ JNI parameters

Change-Id: Ib7da7d5929c7c5656bf388246aa72aed23590173
This commit is contained in:
Jonathan Leitschuh
2014-06-16 14:33:54 -04:00
parent 974362bd89
commit fc2f0e37ba
3 changed files with 37 additions and 26 deletions
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25
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
View File

@@ -611,7 +611,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
status.asIntBuffer().put(0,dataSize+2);
CANJNI.FRCNetworkCommunicationJaguarCANDriverSendMessage(messageID, trustedBuffer, status.asIntBuffer());
CANJNI.FRCNetworkCommunicationCANSessionMuxSendMessage(messageID, trustedBuffer, 0, status.asIntBuffer());
return;
}
}
@@ -620,6 +620,16 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
status.asIntBuffer().put(0,dataSize);
ByteBuffer timeStamp = ByteBuffer.allocateDirect(4);
// set the byte order
timeStamp.order(ByteOrder.LITTLE_ENDIAN);
ByteBuffer messageIDBuffer = ByteBuffer.allocate(4);
//set the byte order
messageIDBuffer.order(ByteOrder.LITTLE_ENDIAN);
messageIDBuffer.asIntBuffer().put(messageID);
ByteBuffer dataBuffer = null;
if( dataSize > 0)
@@ -627,8 +637,10 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
dataBuffer = ByteBuffer.allocateDirect(dataSize);
dataBuffer.put(data);
}
CANJNI.FRCNetworkCommunicationJaguarCANDriverSendMessage(messageID, dataBuffer, status.asIntBuffer());
int messageIDmask = 0x1fffffff;
dataBuffer = CANJNI.FRCNetworkCommunicationCANSessionMuxReceiveMessage(messageIDBuffer.asIntBuffer(), messageIDmask, timeStamp, status.asIntBuffer());
CANExceptionFactory.checkStatus(status.asIntBuffer().get(0), messageID);
}
@@ -648,10 +660,11 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
ByteBuffer messageIDBuffer = ByteBuffer.allocateDirect(4);
messageIDBuffer.order(ByteOrder.LITTLE_ENDIAN);
messageIDBuffer.asIntBuffer().put(0,messageID);
ByteBuffer dataBuffer = CANJNI.FRCNetworkCommunicationJaguarCANDriverReceiveMessage(
ByteBuffer dataBuffer = null; /*CANJNI.FRCNetworkCommunicationJaguarCANDriverReceiveMessage(
messageIDBuffer.asIntBuffer(), (int) (timeout*1000), status.asIntBuffer());
*/
CANExceptionFactory.checkStatus(status.asIntBuffer().get(0), messageID);
byte returnValue = 0;

4
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/can/CANJNI.java
View File

@@ -453,6 +453,6 @@ public class CANJNI extends JNIWrapper{
/** <i>native declaration : src\main\include\CAN\can_proto.h</i> */
public static final int LM_STATUS_LIMIT_STKY_SFWD = 0x40;
public static native void FRCNetworkCommunicationJaguarCANDriverSendMessage(int messageID, ByteBuffer data, IntBuffer status);
public static native ByteBuffer FRCNetworkCommunicationJaguarCANDriverReceiveMessage(IntBuffer messageID, int timeoutMs, IntBuffer status);
public static native void FRCNetworkCommunicationCANSessionMuxSendMessage(int messageID, ByteBuffer data, int periodMs, IntBuffer status);
public static native ByteBuffer FRCNetworkCommunicationCANSessionMuxReceiveMessage(IntBuffer messageID, int messageIDMask, ByteBuffer timeStamp, IntBuffer status);
}

34
wpilibj/wpilibJavaJNI/lib/CANJNI.cpp
View File

@@ -8,7 +8,7 @@
#include "NetworkCommunication/CANSessionMux.h"
// set the logging level
TLogLevel canJNILogLevel = logWARNING;
TLogLevel canJNILogLevel = logDEBUG;
#define CANJNI_LOG(level) \
if (level > canJNILogLevel) ; \
@@ -16,19 +16,17 @@ TLogLevel canJNILogLevel = logWARNING;
/*
* Class: edu_wpi_first_wpilibj_can_CANJNI
* Method: FRCNetworkCommunicationJaguarCANDriverSendMessage
* Signature: (I[BBLjava/nio/IntBuffer;)V
* Method: FRCNetworkCommunicationCANSessionMuxSendMessage
* Signature: (ILjava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationJaguarCANDriverSendMessage
(JNIEnv *env, jclass, jint messageID, jobject data, jobject status)
{
CANJNI_LOG(logDEBUG) << "Calling CANJNI CANSessionMuxSendMessage";
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxSendMessage
(JNIEnv * env, jclass, jint messageID, jobject data, jint periodMs, jobject status){
CANJNI_LOG(logDEBUG) << "Calling CANJNI JaguarCANDriverSendMessage";
CANJNI_LOG(logDEBUG) << "MessageID = " << std::hex << messageID;
jbyte * dataPtr = NULL;
jlong dataCapacity = 0;
if(data != 0)
{
if(data != 0){
dataPtr = (jbyte*)env->GetDirectBufferAddress(data);
dataCapacity = env->GetDirectBufferCapacity(data);
}
@@ -44,32 +42,32 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunica
}
Log().Get(logDEBUG) << "MSG: " << str.str();
}
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
//CANJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
FRC_NetworkCommunication_CANSessionMux_sendMessage((uint32_t) messageID, (const uint8_t*)dataPtr, 0, (uint8_t)dataCapacity, statusPtr);
FRC_NetworkCommunication_CANSessionMux_sendMessage((uint32_t) messageID, (const uint8_t*)dataPtr, periodMs, (uint8_t)dataCapacity, statusPtr);
CANJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_can_CANJNI
* Method: FRCNetworkCommunicationJaguarCANDriverReceiveMessage
* Signature: (Ljava/nio/IntBuffer;Ljava/nio/ByteBuffer;Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
* Method: FRCNetworkCommunicationCANSessionMuxReceiveMessage
* Signature: (Ljava/nio/IntBuffer;ILjava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationJaguarCANDriverReceiveMessage
(JNIEnv * env, jclass, jobject messageID, jint timeout, jobject status)
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxReceiveMessage
(JNIEnv * env, jclass, jobject messageID, jint messageIDMask, jobject timeStamp, jobject status)
{
CANJNI_LOG(logDEBUG) << "Calling CANJNI CANSessionMuxReceiveMessage";
CANJNI_LOG(logDEBUG) << "Calling CANJNI JaguarCANDriverReceiveMessage";
jint * messageIDPtr = (jint*)env->GetDirectBufferAddress(messageID);
CANJNI_LOG(logDEBUG) << "MessageID In = " << std::hex << *messageIDPtr;
CANJNI_LOG(logDEBUG) << "Timeout = " << timeout;
jbyte * timeStampPtr = (jbyte*) env->GetDirectBufferAddress(timeStamp);
CANJNI_LOG(logDEBUG) << "TimeStamp In = " << *timeStampPtr;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
//CANJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
uint8_t dataSize = 8;
jbyte* dataPtr = new jbyte[8];
//CANJNI_LOG(logDEBUG) << "Original MessageSize = " << (jint)dataSize;
//CANJNI_LOG(logDEBUG) << "Original MessagePtr = " << (jint*)dataPtr;
//FRC_NetworkCommunication_CANSessionMux_receiveMessage((uint32_t*)messageIDPtr, 0x1fffffff,(uint8_t*)dataPtr, &dataSize, timeout, statusPtr);
FRC_NetworkCommunication_CANSessionMux_receiveMessage((uint32_t*)messageIDPtr, (uint32_t)messageIDMask,(uint8_t*)dataPtr, &dataSize, (uint32_t*)timeStampPtr, statusPtr);
//CANJNI_LOG(logDEBUG) << "MessageID Out = " << std::hex << *messageIDPtr;
CANJNI_LOG(logDEBUG) << "MessageSize = " << (jint)dataSize;