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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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34
wpilibj/wpilibJavaJNI/lib/CANJNI.cpp
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@@ -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;