allwpilib/wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp

#include <jni.h>
#include <assert.h>
#include "Log.hpp"

#include "edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary.h"
#include "HAL/HAL.hpp"
//#include "NetworkCommunication/FRCComm.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "HALUtil.h"

// set the logging level
TLogLevel netCommLogLevel = logWARNING;

#define NETCOMM_LOG(level) \
    if (level > netCommLogLevel) ; \
    else Log().Get(level)

extern "C" {

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
 * Method:    FRC_NetworkCommunication_nUsageReporting_report
 * Signature: (BBBLjava/lang/String;)I
 */
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationUsageReportingReport
  (JNIEnv * paramEnv, jclass, jbyte paramResource, jbyte paramInstanceNumber, jbyte paramContext, jstring paramFeature)
{
	const char * featureStr = paramEnv->GetStringUTFChars(paramFeature, NULL);
	NETCOMM_LOG(logDEBUG) << "Calling FRCNetworkCommunicationsLibrary report " << "res:"<< (unsigned int)paramResource << " instance:" << (unsigned int)paramInstanceNumber << " context:" << (unsigned int)paramContext << " feature:" << featureStr;
	jint returnValue = HALReport(paramResource, paramInstanceNumber, paramContext, featureStr);
	paramEnv->ReleaseStringUTFChars(paramFeature,featureStr);
	return returnValue;
}
/*
 * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
 * Method:    FRC_NetworkCommunication_observeUserProgramStarting
 * Signature: ()V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramStarting
  (JNIEnv *, jclass)
{
	HALNetworkCommunicationObserveUserProgramStarting();
}
/*
 * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
 * Method:    FRC_NetworkCommunication_observeUserProgramDisabled
 * Signature: ()V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramDisabled
  (JNIEnv *, jclass)
{
	HALNetworkCommunicationObserveUserProgramDisabled();
}
/*
 * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
 * Method:    FRC_NetworkCommunication_observeUserProgramAutonomous
 * Signature: ()V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramAutonomous
  (JNIEnv *, jclass)
{
	HALNetworkCommunicationObserveUserProgramAutonomous();
}

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
 * Method:    FRC_NetworkCommunication_observeUserProgramTeleop
 * Signature: ()V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTeleop
  (JNIEnv *, jclass)
{
	HALNetworkCommunicationObserveUserProgramTeleop();
}

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
 * Method:    FRC_NetworkCommunication_observeUserProgramTest
 * Signature: ()V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTest
  (JNIEnv *, jclass)
{
	HALNetworkCommunicationObserveUserProgramTest();
}

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
 * Method:    FRCNetworkCommunicationReserve
 * Signature: ()V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationReserve
  (JNIEnv *, jclass)
{
	int rv = HALInitialize(0);
	assert(1 == rv);
}

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
 * Method:    NativeHALGetControlWord
 * Signature: ()I
 */
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetControlWord
  (JNIEnv *, jclass)
{
	NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word";
    jint controlWord;
    HALGetControlWord((HALControlWord*)&controlWord);
    return controlWord;
}

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
 * Method:    NativeHALGetAllianceStation
 * Signature: ()I
 */
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetAllianceStation
  (JNIEnv *, jclass)
{
	NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station";
    jint allianceStation;
    HALGetAllianceStation((HALAllianceStationID*)&allianceStation);
    return allianceStation;
}

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
 * Method:    HALGetJoystickAxes
 * Signature: (B)[S
 */
JNIEXPORT jshortArray JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxes
  (JNIEnv * env, jclass, jbyte joystickNum)
{
	NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes";
    HALJoystickAxes axes;
    HALGetJoystickAxes(joystickNum, &axes);

    jshortArray axesArray = env->NewShortArray(axes.count);
    env->SetShortArrayRegion(axesArray, 0, axes.count, axes.axes);

    return axesArray;
}

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
 * Method:    HALGetJoystickPOVs
 * Signature: (B)[S
 */
JNIEXPORT jshortArray JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickPOVs
  (JNIEnv * env, jclass, jbyte joystickNum)
{
	NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs";
    HALJoystickPOVs povs;
    HALGetJoystickPOVs(joystickNum, &povs);

    jshortArray povsArray = env->NewShortArray(povs.count);
    env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs);

    return povsArray;
}

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
 * Method:    HALGetJoystickButtons
 * Signature: (B)S
 */
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickButtons
  (JNIEnv * env, jclass, jbyte joystickNum, jobject count)
{
	NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons";
    HALJoystickButtons joystickButtons;
    HALGetJoystickButtons(joystickNum, &joystickButtons);
	jbyte *countPtr = (jbyte*)env->GetDirectBufferAddress(count);
	NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons;
	NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count;
	*countPtr = joystickButtons.count;
	NETCOMM_LOG(logDEBUG) << "CountBuffer = " << (jint)*countPtr;
    return joystickButtons.buttons;
}

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
 * Method:    HALSetJoystickOutputs
 * Signature: (BISS)I
 */
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetJoystickOutputs
  (JNIEnv *, jclass, jbyte port, jint outputs, jshort leftRumble, jshort rightRumble)
{
	NETCOMM_LOG(logDEBUG) << "Calling HALSetJoystickOutputs on port " << port;
	NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs;
	NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble << " Right Rumble: " << rightRumble;
	return HALSetJoystickOutputs(port, outputs, leftRumble, rightRumble);
}

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
 * Method:    HALGetJoystickIsXbox
 * Signature: (B)I
 */
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickIsXbox
  (JNIEnv *, jclass, jbyte port)
  {
	NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickIsXbox";
	return HALGetJoystickIsXbox(port);
  }

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
 * Method:    HALGetJoystickType
 * Signature: (B)I
 */
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickType
  (JNIEnv *, jclass, jbyte port)
  {
	NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickType";
	return HALGetJoystickType(port);
  }

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
 * Method:    HALGetJoystickName
 * Signature: (B)Ljava/lang/String;
 */
JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickName
  (JNIEnv * env, jclass, jbyte port)
  {
	NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickName";
	char* joystickName = HALGetJoystickName(port);
	jstring str = env->NewStringUTF(joystickName);
	std::free(joystickName);
	return str;
  }

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
 * Method:    HALGetJoystickAxisType
 * Signature: (BB)I
 */
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxisType
  (JNIEnv *, jclass, jbyte joystickNum, jbyte axis)
{
	NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickAxisType";
	return HALGetJoystickAxisType(joystickNum, axis);
}

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
 * Method:    setNewDataSem
 * Signature: (J)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataSem
  (JNIEnv * env, jclass, jlong id )
{
	NETCOMM_LOG(logDEBUG) << "Mutex Ptr = " << (void*)id;
	HALSetNewDataSem((MULTIWAIT_ID)id);
}

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary

 * Method:    HALGetMatchTime
 * Signature: ()F
 */
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetMatchTime
  (JNIEnv * env, jclass)
{
	jfloat matchTime;
	HALGetMatchTime((float*)&matchTime);
	return matchTime;
}

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
 * Method:    HALGetSystemActive
 * Signature: ()Z
 */
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetSystemActive
  (JNIEnv * env, jclass)
{
	int32_t status = 0;
	bool val = HALGetSystemActive(&status);
	CheckStatus(env, status);
	return val;
}

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
 * Method:    HALGetBrownedOut
 * Signature: ()Z
 */
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetBrownedOut
  (JNIEnv * env, jclass)
{
	int32_t status = 0;
	bool val = HALGetBrownedOut(&status);
	CheckStatus(env, status);
	return val;
}

/*
 * Class:     edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
 * Method:    HALSetErrorData
 * Signature: (Ljava/lang/String;)I
 */
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetErrorData
  (JNIEnv * env, jclass, jstring error)
{
  const char * errorStr = env->GetStringUTFChars(error, NULL);
  jsize length = env->GetStringUTFLength(error);

  NETCOMM_LOG(logDEBUG) << "Set Error: " << errorStr;
  NETCOMM_LOG(logDEBUG) << "Length: " << length;
  jint returnValue = HALSetErrorData(errorStr, (jint) length, 0);
  env->ReleaseStringUTFChars(error,errorStr);
  return returnValue;
}

}  // extern "C"