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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);
}