allwpilib/wpilibj/wpilibJavaJNI/lib/HALUtil.cpp

#include <jni.h>
#include <assert.h>
#include "Log.hpp"
#include "edu_wpi_first_wpilibj_hal_HALUtil.h"
#include "HAL/HAL.hpp"
#include "errno.h"
#include <string.h>

// set the logging level
TLogLevel halUtilLogLevel = logWARNING;

#define HALUTIL_LOG(level) \
  if (level > halUtilLogLevel) ; \
  else Log().Get(level)


//
// indicate JNI version support desired
//
JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM *vm, void *reserved)
{
  // set our logging level
  Log::ReportingLevel() = logDEBUG;
  return JNI_VERSION_1_6;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    initializeMutex
 * Signature: (I)Ljava/nio/ByteBuffer;
 */
  JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_initializeMutexNormal
(JNIEnv * env, jclass)
{
  HALUTIL_LOG(logDEBUG) << "Calling HALUtil initializeMutex";
  MUTEX_ID mutexPtr = (MUTEX_ID)new unsigned char[sizeof(MUTEX_ID)];
  mutexPtr = initializeMutexNormal();
  HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << mutexPtr;
  return env->NewDirectByteBuffer(mutexPtr, sizeof(MUTEX_ID));
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    deleteMutex
 * Signature: (Ljava/nio/ByteBuffer;)V
 */
  JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMutex
(JNIEnv * env, jclass, jobject id )
{
  HALUTIL_LOG(logDEBUG) << "Calling HALUtil deleteMutex";
  MUTEX_ID javaId = (MUTEX_ID)env->GetDirectBufferAddress(id);
  HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << javaId;
  deleteMutex( javaId );
  delete[] javaId;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    takeMutex
 * Signature: (Ljava/nio/ByteBuffer;I)B
 */
  JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMutex
(JNIEnv * env, jclass, jobject id)
{
  //HALUTIL_LOG(logDEBUG) << "Calling HALUtil takeMutex";
  MUTEX_ID javaId = (MUTEX_ID)env->GetDirectBufferAddress(id);
  //HALUTIL_LOG(logDEBUG) << "Mutex Ptr = " << *javaId;
  takeMutex(javaId);
  //HALUTIL_LOG(logDEBUG) << "Take Result = " << (void*)returnValue;
  return 0;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    initializeMultiWait
 * Signature: ()Ljava/nio/ByteBuffer;
 */
  JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_initializeMultiWait
(JNIEnv * env, jclass)
{
  HALUTIL_LOG(logDEBUG) << "Calling HALUtil initializeMultiWait";
  MULTIWAIT_ID multiWaitPtr = (MULTIWAIT_ID)new unsigned char[4];
  multiWaitPtr = initializeMultiWait();
  HALUTIL_LOG(logDEBUG) << "MultiWait Ptr = " << multiWaitPtr;
  return env->NewDirectByteBuffer( multiWaitPtr, 4);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    deleteMultiWait
 * Signature: (Ljava/nio/ByteBuffer;)V
 */
  JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMultiWait
(JNIEnv * env, jclass, jobject id)
{
  HALUTIL_LOG(logDEBUG) << "Calling HALUtil deleteMultiWait";
  MULTIWAIT_ID javaId = (MULTIWAIT_ID)env->GetDirectBufferAddress(id);
  HALUTIL_LOG(logDEBUG) << "MultiWait Ptr = " << javaId;
  deleteMultiWait( javaId );
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    takeMultiWait
 * Signature: (Ljava/nio/ByteBuffer;Ljava/nio/ByteBuffer;I)B
 */
  JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMultiWait
(JNIEnv * env, jclass, jobject multiWaitId, jobject mutexId)
{
  MULTIWAIT_ID javaMultiWaitId = (MULTIWAIT_ID)env->GetDirectBufferAddress(multiWaitId);
  MUTEX_ID javaMutexId = (MUTEX_ID)env->GetDirectBufferAddress(mutexId);
  takeMultiWait(javaMultiWaitId, javaMutexId);
  return 0;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    getFPGAVersion
 * Signature: (Ljava/nio/IntBuffer;)S
 */
  JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAVersion
(JNIEnv * env, jclass, jobject status)
{
  HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGAVersion";
  jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
  *statusPtr = 0;
  jshort returnValue = getFPGAVersion( statusPtr );
  HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
  HALUTIL_LOG(logDEBUG) << "FPGAVersion = " << returnValue;
  return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    getFPGARevision
 * Signature: (Ljava/nio/IntBuffer;)I
 */
  JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGARevision
(JNIEnv * env, jclass, jobject status)
{
  HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGARevision";
  jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
  *statusPtr = 0;
  jint returnValue = getFPGARevision( statusPtr );
  HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
  HALUTIL_LOG(logDEBUG) << "FPGARevision = " << returnValue;
  return returnValue;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    getFPGATime
 * Signature: (Ljava/nio/IntBuffer;)I
 */
  JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGATime
(JNIEnv * env, jclass, jobject status)
{
  //HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
  jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
  *statusPtr = 0;
  jlong returnValue = getFPGATime( statusPtr );
  //HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
  //HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
  return returnValue;

}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    getFPGAButton
 * Signature: (Ljava/nio/IntBuffer;)I
 */
  JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getFPGAButton
(JNIEnv * env, jclass, jobject status)
{
  //HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
  jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
  *statusPtr = 0;
  jboolean returnValue = getFPGAButton( statusPtr );
  //HALUTIL_LOG(logDEBUG) << "Status = " << *statusPtr;
  //HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
  return returnValue;

}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    getHALErrorMessage
 * Signature: (I)Ljava/lang/String;
 */
  JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrorMessage
(JNIEnv * paramEnv, jclass, jint paramId)
{
  const char * msg = getHALErrorMessage(paramId);
  HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALErrorMessage id=" << paramId << " msg=" << msg;
  return paramEnv->NewStringUTF(msg);
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    getHALErrno
 * Signature: ()I
 */
  JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrno
(JNIEnv *, jclass)
{
  return errno;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_HALUtil
 * Method:    getHALstrerror
 * Signature: (I)Ljava/lang/String;
 */
  JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALstrerror
(JNIEnv * env, jclass, jint errorCode)
{
  const char * msg = strerror(errno);
  HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALstrerror errorCode=" << errorCode << " msg=" << msg;
  return env->NewStringUTF(msg);
}

JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_HALUtil_pointerSize(JNIEnv*, jclass) {
  return sizeof(void*);
}