mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
320 lines
11 KiB
C++
320 lines
11 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include <assert.h>
|
|
#include <jni.h>
|
|
#include "HAL/cpp/Log.h"
|
|
|
|
#include "edu_wpi_first_wpilibj_hal_OSSerialPortJNI.h"
|
|
|
|
#include "HAL/OSSerialPort.h"
|
|
#include "HALUtil.h"
|
|
|
|
using namespace frc;
|
|
|
|
// set the logging level
|
|
TLogLevel osserialJNILogLevel = logWARNING;
|
|
|
|
#define SERIALJNI_LOG(level) \
|
|
if (level > osserialJNILogLevel) \
|
|
; \
|
|
else \
|
|
Log().Get(level)
|
|
|
|
extern "C" {
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialInitializePort
|
|
* Signature: (B)V
|
|
*/
|
|
JNIEXPORT void JNICALL
|
|
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialInitializePort(
|
|
JNIEnv* env, jclass, jbyte port) {
|
|
SERIALJNI_LOG(logDEBUG) << "Calling Serial Initialize";
|
|
SERIALJNI_LOG(logDEBUG) << "Port = " << (jint)port;
|
|
int32_t status = 0;
|
|
HAL_InitializeOSSerialPort(static_cast<HAL_SerialPort>(port), &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatusForceThrow(env, status);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialSetBaudRate
|
|
* Signature: (BI)V
|
|
*/
|
|
JNIEXPORT void JNICALL
|
|
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetBaudRate(
|
|
JNIEnv* env, jclass, jbyte port, jint rate) {
|
|
SERIALJNI_LOG(logDEBUG) << "Setting Serial Baud Rate";
|
|
SERIALJNI_LOG(logDEBUG) << "Baud: " << rate;
|
|
int32_t status = 0;
|
|
HAL_SetOSSerialBaudRate(static_cast<HAL_SerialPort>(port), rate, &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialSetDataBits
|
|
* Signature: (BB)V
|
|
*/
|
|
JNIEXPORT void JNICALL
|
|
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetDataBits(
|
|
JNIEnv* env, jclass, jbyte port, jbyte bits) {
|
|
SERIALJNI_LOG(logDEBUG) << "Setting Serial Data Bits";
|
|
SERIALJNI_LOG(logDEBUG) << "Data Bits: " << bits;
|
|
int32_t status = 0;
|
|
HAL_SetOSSerialDataBits(static_cast<HAL_SerialPort>(port), bits, &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialSetParity
|
|
* Signature: (BB)V
|
|
*/
|
|
JNIEXPORT void JNICALL
|
|
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetParity(
|
|
JNIEnv* env, jclass, jbyte port, jbyte parity) {
|
|
SERIALJNI_LOG(logDEBUG) << "Setting Serial Parity";
|
|
SERIALJNI_LOG(logDEBUG) << "Parity: " << parity;
|
|
int32_t status = 0;
|
|
HAL_SetOSSerialParity(static_cast<HAL_SerialPort>(port), parity, &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialSetStopBits
|
|
* Signature: (BB)V
|
|
*/
|
|
JNIEXPORT void JNICALL
|
|
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetStopBits(
|
|
JNIEnv* env, jclass, jbyte port, jbyte bits) {
|
|
SERIALJNI_LOG(logDEBUG) << "Setting Serial Stop Bits";
|
|
SERIALJNI_LOG(logDEBUG) << "Stop Bits: " << bits;
|
|
int32_t status = 0;
|
|
HAL_SetOSSerialStopBits(static_cast<HAL_SerialPort>(port), bits, &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialSetWriteMode
|
|
* Signature: (BB)V
|
|
*/
|
|
JNIEXPORT void JNICALL
|
|
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetWriteMode(
|
|
JNIEnv* env, jclass, jbyte port, jbyte mode) {
|
|
SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Mode";
|
|
SERIALJNI_LOG(logDEBUG) << "Write mode: " << mode;
|
|
int32_t status = 0;
|
|
HAL_SetOSSerialWriteMode(static_cast<HAL_SerialPort>(port), mode, &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialSetFlowControl
|
|
* Signature: (BB)V
|
|
*/
|
|
JNIEXPORT void JNICALL
|
|
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetFlowControl(
|
|
JNIEnv* env, jclass, jbyte port, jbyte flow) {
|
|
SERIALJNI_LOG(logDEBUG) << "Setting Serial Flow Control";
|
|
SERIALJNI_LOG(logDEBUG) << "Flow Control: " << flow;
|
|
int32_t status = 0;
|
|
HAL_SetOSSerialFlowControl(static_cast<HAL_SerialPort>(port), flow, &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialSetTimeout
|
|
* Signature: (BD)V
|
|
*/
|
|
JNIEXPORT void JNICALL
|
|
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetTimeout(
|
|
JNIEnv* env, jclass, jbyte port, jdouble timeout) {
|
|
SERIALJNI_LOG(logDEBUG) << "Setting Serial Timeout";
|
|
SERIALJNI_LOG(logDEBUG) << "Timeout: " << timeout;
|
|
int32_t status = 0;
|
|
HAL_SetOSSerialTimeout(static_cast<HAL_SerialPort>(port), timeout, &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialEnableTermination
|
|
* Signature: (BC)V
|
|
*/
|
|
JNIEXPORT void JNICALL
|
|
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialEnableTermination(
|
|
JNIEnv* env, jclass, jbyte port, jchar terminator) {
|
|
SERIALJNI_LOG(logDEBUG) << "Setting Serial Enable Termination";
|
|
SERIALJNI_LOG(logDEBUG) << "Terminator: " << terminator;
|
|
int32_t status = 0;
|
|
HAL_EnableOSSerialTermination(static_cast<HAL_SerialPort>(port), terminator, &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialDisableTermination
|
|
* Signature: (B)V
|
|
*/
|
|
JNIEXPORT void JNICALL
|
|
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialDisableTermination(
|
|
JNIEnv* env, jclass, jbyte port) {
|
|
SERIALJNI_LOG(logDEBUG) << "Setting Serial Disable termination";
|
|
int32_t status = 0;
|
|
HAL_DisableOSSerialTermination(static_cast<HAL_SerialPort>(port), &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialSetReadBufferSize
|
|
* Signature: (BI)V
|
|
*/
|
|
JNIEXPORT void JNICALL
|
|
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetReadBufferSize(
|
|
JNIEnv* env, jclass, jbyte port, jint size) {
|
|
SERIALJNI_LOG(logDEBUG) << "Setting Serial Read Buffer Size";
|
|
SERIALJNI_LOG(logDEBUG) << "Size: " << size;
|
|
int32_t status = 0;
|
|
HAL_SetOSSerialReadBufferSize(static_cast<HAL_SerialPort>(port), size, &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialSetWriteBufferSize
|
|
* Signature: (BI)V
|
|
*/
|
|
JNIEXPORT void JNICALL
|
|
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialSetWriteBufferSize(
|
|
JNIEnv* env, jclass, jbyte port, jint size) {
|
|
SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Buffer Size";
|
|
SERIALJNI_LOG(logDEBUG) << "Size: " << size;
|
|
int32_t status = 0;
|
|
HAL_SetOSSerialWriteBufferSize(static_cast<HAL_SerialPort>(port), size, &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialGetBytesReceived
|
|
* Signature: (B)I
|
|
*/
|
|
JNIEXPORT jint JNICALL
|
|
Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialGetBytesReceived(
|
|
JNIEnv* env, jclass, jbyte port) {
|
|
SERIALJNI_LOG(logDEBUG) << "Serial Get Bytes Received";
|
|
int32_t status = 0;
|
|
jint retVal = HAL_GetOSSerialBytesReceived(static_cast<HAL_SerialPort>(port), &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
return retVal;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialRead
|
|
* Signature: (BLjava/nio/ByteBuffer;I)I
|
|
*/
|
|
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialRead(
|
|
JNIEnv* env, jclass, jbyte port, jobject dataReceived, jint size) {
|
|
SERIALJNI_LOG(logDEBUG) << "Serial Read";
|
|
jbyte* dataReceivedPtr = nullptr;
|
|
dataReceivedPtr = (jbyte*)env->GetDirectBufferAddress(dataReceived);
|
|
int32_t status = 0;
|
|
jint retVal = HAL_ReadOSSerial(static_cast<HAL_SerialPort>(port), reinterpret_cast<char*>(dataReceivedPtr),
|
|
size, &status);
|
|
SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
return retVal;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialWrite
|
|
* Signature: (BLjava/nio/ByteBuffer;I)I
|
|
*/
|
|
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialWrite(
|
|
JNIEnv* env, jclass, jbyte port, jobject dataToSend, jint size) {
|
|
SERIALJNI_LOG(logDEBUG) << "Serial Write";
|
|
jbyte* dataToSendPtr = nullptr;
|
|
if (dataToSend != 0) {
|
|
dataToSendPtr = (jbyte*)env->GetDirectBufferAddress(dataToSend);
|
|
}
|
|
int32_t status = 0;
|
|
jint retVal = HAL_WriteOSSerial(static_cast<HAL_SerialPort>(port), reinterpret_cast<char*>(dataToSendPtr),
|
|
size, &status);
|
|
SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
return retVal;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialFlush
|
|
* Signature: (B)V
|
|
*/
|
|
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialFlush(
|
|
JNIEnv* env, jclass, jbyte port) {
|
|
SERIALJNI_LOG(logDEBUG) << "Serial Flush";
|
|
int32_t status = 0;
|
|
HAL_FlushOSSerial(static_cast<HAL_SerialPort>(port), &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialClear
|
|
* Signature: (B)V
|
|
*/
|
|
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialClear(
|
|
JNIEnv* env, jclass, jbyte port) {
|
|
SERIALJNI_LOG(logDEBUG) << "Serial Clear";
|
|
int32_t status = 0;
|
|
HAL_ClearOSSerial(static_cast<HAL_SerialPort>(port), &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_OSSerialPortJNI
|
|
* Method: serialClose
|
|
* Signature: (B)V
|
|
*/
|
|
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_OSSerialPortJNI_serialClose(
|
|
JNIEnv* env, jclass, jbyte port) {
|
|
SERIALJNI_LOG(logDEBUG) << "Serial Close";
|
|
int32_t status = 0;
|
|
HAL_CloseOSSerial(static_cast<HAL_SerialPort>(port), &status);
|
|
SERIALJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
} // extern "C"
|