mirror of
https://github.com/wpilibsuite/allwpilib
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5cb0340a8c
During HAL_Initialize, wait up to 100ms for a DS packet to be received. Then in RobotBase, right after calling HAL_Initialize, call each language's RefreshData function to force a high level DS update. If the DS is connected, will get joystick data. If there is no data, nothing different will happen, but in that case there's no joysticks anyway.
451 lines
12 KiB
C++
451 lines
12 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <jni.h>
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#include <cassert>
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#include <fmt/format.h>
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#include <wpi/jni_util.h>
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#include "HALUtil.h"
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#include "edu_wpi_first_hal_DriverStationJNI.h"
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#include "hal/DriverStation.h"
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#include "hal/FRCUsageReporting.h"
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#include "hal/HALBase.h"
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// TODO Static asserts
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using namespace hal;
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using namespace wpi::java;
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extern "C" {
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: observeUserProgramStarting
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_observeUserProgramStarting
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(JNIEnv*, jclass)
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{
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HAL_ObserveUserProgramStarting();
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: observeUserProgramDisabled
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_observeUserProgramDisabled
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(JNIEnv*, jclass)
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{
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HAL_ObserveUserProgramDisabled();
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: observeUserProgramAutonomous
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_observeUserProgramAutonomous
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(JNIEnv*, jclass)
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{
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HAL_ObserveUserProgramAutonomous();
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: observeUserProgramTeleop
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_observeUserProgramTeleop
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(JNIEnv*, jclass)
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{
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HAL_ObserveUserProgramTeleop();
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: observeUserProgramTest
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_observeUserProgramTest
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(JNIEnv*, jclass)
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{
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HAL_ObserveUserProgramTest();
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: report
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* Signature: (IIILjava/lang/String;)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_report
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(JNIEnv* paramEnv, jclass, jint paramResource, jint paramInstanceNumber,
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jint paramContext, jstring paramFeature)
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{
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JStringRef featureStr{paramEnv, paramFeature};
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jint returnValue = HAL_Report(paramResource, paramInstanceNumber,
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paramContext, featureStr.c_str());
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: nativeGetControlWord
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_nativeGetControlWord
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(JNIEnv*, jclass)
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{
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static_assert(sizeof(HAL_ControlWord) == sizeof(jint),
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"Java int must match the size of control word");
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HAL_ControlWord controlWord;
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HAL_GetControlWord(&controlWord);
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jint retVal = 0;
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std::memcpy(&retVal, &controlWord, sizeof(HAL_ControlWord));
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return retVal;
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: nativeGetAllianceStation
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_nativeGetAllianceStation
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(JNIEnv*, jclass)
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{
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int32_t status = 0;
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auto allianceStation = HAL_GetAllianceStation(&status);
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return static_cast<jint>(allianceStation);
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: getJoystickAxesRaw
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* Signature: (B[I)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_getJoystickAxesRaw
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(JNIEnv* env, jclass, jbyte joystickNum, jintArray axesRawArray)
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{
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HAL_JoystickAxes axes;
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HAL_GetJoystickAxes(joystickNum, &axes);
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jsize javaSize = env->GetArrayLength(axesRawArray);
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if (axes.count > javaSize) {
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ThrowIllegalArgumentException(
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env,
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fmt::format("Native array size larger then passed in java array "
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"size\nNative Size: {} Java Size: {}",
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static_cast<int>(axes.count), static_cast<int>(javaSize)));
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return 0;
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}
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jint raw[HAL_kMaxJoystickAxes];
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for (int16_t i = 0; i < axes.count; i++) {
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raw[i] = axes.raw[i];
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}
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env->SetIntArrayRegion(axesRawArray, 0, axes.count, raw);
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return axes.count;
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: getJoystickAxes
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* Signature: (B[F)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_getJoystickAxes
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(JNIEnv* env, jclass, jbyte joystickNum, jfloatArray axesArray)
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{
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HAL_JoystickAxes axes;
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HAL_GetJoystickAxes(joystickNum, &axes);
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jsize javaSize = env->GetArrayLength(axesArray);
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if (axes.count > javaSize) {
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ThrowIllegalArgumentException(
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env,
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fmt::format("Native array size larger then passed in java array "
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"size\nNative Size: {} Java Size: {}",
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static_cast<int>(axes.count), static_cast<int>(javaSize)));
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return 0;
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}
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env->SetFloatArrayRegion(axesArray, 0, axes.count, axes.axes);
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return axes.count;
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: getJoystickPOVs
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* Signature: (B[S)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_getJoystickPOVs
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(JNIEnv* env, jclass, jbyte joystickNum, jshortArray povsArray)
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{
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HAL_JoystickPOVs povs;
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HAL_GetJoystickPOVs(joystickNum, &povs);
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jsize javaSize = env->GetArrayLength(povsArray);
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if (povs.count > javaSize) {
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ThrowIllegalArgumentException(
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env,
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fmt::format("Native array size larger then passed in java array "
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"size\nNative Size: {} Java Size: {}",
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static_cast<int>(povs.count), static_cast<int>(javaSize)));
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return 0;
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}
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env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs);
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return povs.count;
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: getAllJoystickData
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* Signature: ([F[B[S[J)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_getAllJoystickData
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(JNIEnv* env, jclass cls, jfloatArray axesArray, jbyteArray rawAxesArray,
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jshortArray povsArray, jlongArray buttonsAndMetadataArray)
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{
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HAL_JoystickAxes axes[HAL_kMaxJoysticks];
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HAL_JoystickPOVs povs[HAL_kMaxJoysticks];
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HAL_JoystickButtons buttons[HAL_kMaxJoysticks];
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HAL_GetAllJoystickData(axes, povs, buttons);
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CriticalJFloatArrayRef jAxes(env, axesArray);
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CriticalJByteArrayRef jRawAxes(env, rawAxesArray);
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CriticalJShortArrayRef jPovs(env, povsArray);
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CriticalJLongArrayRef jButtons(env, buttonsAndMetadataArray);
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static_assert(sizeof(jAxes[0]) == sizeof(axes[0].axes[0]));
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static_assert(sizeof(jRawAxes[0]) == sizeof(axes[0].raw[0]));
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static_assert(sizeof(jPovs[0]) == sizeof(povs[0].povs[0]));
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for (size_t i = 0; i < HAL_kMaxJoysticks; i++) {
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std::memcpy(&jAxes[i * HAL_kMaxJoystickAxes], axes[i].axes,
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sizeof(axes[i].axes));
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std::memcpy(&jRawAxes[i * HAL_kMaxJoystickAxes], axes[i].raw,
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sizeof(axes[i].raw));
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std::memcpy(&jPovs[i * HAL_kMaxJoystickPOVs], povs[i].povs,
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sizeof(povs[i].povs));
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jButtons[i * 4] = axes[i].count;
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jButtons[(i * 4) + 1] = povs[i].count;
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jButtons[(i * 4) + 2] = buttons[i].count;
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jButtons[(i * 4) + 3] = buttons[i].buttons;
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}
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: getJoystickButtons
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* Signature: (BLjava/lang/Object;)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_getJoystickButtons
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(JNIEnv* env, jclass, jbyte joystickNum, jobject count)
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{
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HAL_JoystickButtons joystickButtons;
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HAL_GetJoystickButtons(joystickNum, &joystickButtons);
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jbyte* countPtr =
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reinterpret_cast<jbyte*>(env->GetDirectBufferAddress(count));
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*countPtr = joystickButtons.count;
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return joystickButtons.buttons;
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: setJoystickOutputs
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* Signature: (BISS)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_setJoystickOutputs
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(JNIEnv*, jclass, jbyte port, jint outputs, jshort leftRumble,
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jshort rightRumble)
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{
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return HAL_SetJoystickOutputs(port, outputs, leftRumble, rightRumble);
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: getJoystickIsXbox
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* Signature: (B)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_getJoystickIsXbox
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(JNIEnv*, jclass, jbyte port)
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{
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return HAL_GetJoystickIsXbox(port);
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: getJoystickType
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* Signature: (B)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_getJoystickType
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(JNIEnv*, jclass, jbyte port)
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{
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return HAL_GetJoystickType(port);
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: getJoystickName
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* Signature: (B)Ljava/lang/String;
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*/
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JNIEXPORT jstring JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_getJoystickName
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(JNIEnv* env, jclass, jbyte port)
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{
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char* joystickName = HAL_GetJoystickName(port);
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jstring str = MakeJString(env, joystickName);
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HAL_FreeJoystickName(joystickName);
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return str;
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: getJoystickAxisType
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* Signature: (BB)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_getJoystickAxisType
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(JNIEnv*, jclass, jbyte joystickNum, jbyte axis)
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{
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return HAL_GetJoystickAxisType(joystickNum, axis);
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: getMatchTime
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* Signature: ()D
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*/
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_getMatchTime
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(JNIEnv* env, jclass)
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{
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int32_t status = 0;
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return HAL_GetMatchTime(&status);
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: getMatchInfo
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* Signature: (Ljava/lang/Object;)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_getMatchInfo
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(JNIEnv* env, jclass, jobject info)
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{
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HAL_MatchInfo matchInfo;
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auto status = HAL_GetMatchInfo(&matchInfo);
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if (status == 0) {
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SetMatchInfoObject(env, info, matchInfo);
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}
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return status;
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: sendError
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* Signature: (ZIZLjava/lang/String;Ljava/lang/String;Ljava/lang/String;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_sendError
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(JNIEnv* env, jclass, jboolean isError, jint errorCode, jboolean isLVCode,
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jstring details, jstring location, jstring callStack, jboolean printMsg)
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{
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JStringRef detailsStr{env, details};
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JStringRef locationStr{env, location};
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JStringRef callStackStr{env, callStack};
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jint returnValue =
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HAL_SendError(isError, errorCode, isLVCode, detailsStr.c_str(),
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locationStr.c_str(), callStackStr.c_str(), printMsg);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: sendConsoleLine
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* Signature: (Ljava/lang/String;)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_sendConsoleLine
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(JNIEnv* env, jclass, jstring line)
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{
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JStringRef lineStr{env, line};
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jint returnValue = HAL_SendConsoleLine(lineStr.c_str());
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: refreshDSData
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_refreshDSData
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(JNIEnv*, jclass)
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{
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return HAL_RefreshDSData();
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: provideNewDataEventHandle
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_provideNewDataEventHandle
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(JNIEnv*, jclass, jint handle)
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{
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HAL_ProvideNewDataEventHandle(handle);
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: removeNewDataEventHandle
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_removeNewDataEventHandle
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(JNIEnv*, jclass, jint handle)
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{
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HAL_RemoveNewDataEventHandle(handle);
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}
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/*
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* Class: edu_wpi_first_hal_DriverStationJNI
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* Method: getOutputsActive
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_DriverStationJNI_getOutputsActive
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(JNIEnv*, jclass)
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{
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return HAL_GetOutputsEnabled();
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}
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} // extern "C"
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