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https://github.com/wpilibsuite/allwpilib
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bf7ef4376c
This prevents excessive logging from the HAL. Put it back as needed Change-Id: I217f8bf20dd092dd6205444b08c98c9a7c3c83de
101 lines
3.4 KiB
C++
101 lines
3.4 KiB
C++
#include <jni.h>
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#include <assert.h>
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#include "Log.hpp"
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#include "edu_wpi_first_wpilibj_can_CANJNI.h"
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#include "HAL/CAN.hpp"
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#include "NetworkCommunication/JaguarCANDriver.h"
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// set the logging level
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TLogLevel canJNILogLevel = logWARNING;
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#define CANJNI_LOG(level) \
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if (level > canJNILogLevel) ; \
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else Log().Get(level)
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/*
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* Class: edu_wpi_first_wpilibj_can_CANJNI
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* Method: FRCNetworkCommunicationJaguarCANDriverSendMessage
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* Signature: (I[BBLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationJaguarCANDriverSendMessage
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(JNIEnv *env, jclass, jint messageID, jobject data, jobject status)
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{
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CANJNI_LOG(logDEBUG) << "Calling CANJNI JaguarCANDriverSendMessage";
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CANJNI_LOG(logDEBUG) << "MessageID = " << std::hex << messageID;
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jbyte * dataPtr = NULL;
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jlong dataCapacity = 0;
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if(data != 0)
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{
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dataPtr = (jbyte*)env->GetDirectBufferAddress(data);
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dataCapacity = env->GetDirectBufferCapacity(data);
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}
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CANJNI_LOG(logDEBUG) << "MessageSize = " << dataCapacity;
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if( logDEBUG <= canJNILogLevel )
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{
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std::ostringstream str;
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str << std::setfill('0') << std::hex;
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for( int dataIndex = 0; dataIndex < dataCapacity; dataIndex++)
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{
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str << std::setw(2) << static_cast<unsigned int>(dataPtr[dataIndex]) << " ";
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}
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Log().Get(logDEBUG) << "MSG: " << str.str();
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}
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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//CANJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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FRC_NetworkCommunication_JaguarCANDriver_sendMessage((uint32_t) messageID, (const uint8_t*)dataPtr, (uint8_t)dataCapacity, statusPtr);
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CANJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_can_CANJNI
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* Method: FRCNetworkCommunicationJaguarCANDriverReceiveMessage
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* Signature: (Ljava/nio/IntBuffer;Ljava/nio/ByteBuffer;Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationJaguarCANDriverReceiveMessage
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(JNIEnv * env, jclass, jobject messageID, jint timeout, jobject status)
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{
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CANJNI_LOG(logDEBUG) << "Calling CANJNI JaguarCANDriverReceiveMessage";
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jint * messageIDPtr = (jint*)env->GetDirectBufferAddress(messageID);
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CANJNI_LOG(logDEBUG) << "MessageID In = " << std::hex << *messageIDPtr;
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CANJNI_LOG(logDEBUG) << "Timeout = " << timeout;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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//CANJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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uint8_t dataSize = 8;
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jbyte* dataPtr = new jbyte[8];
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//CANJNI_LOG(logDEBUG) << "Original MessageSize = " << (jint)dataSize;
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//CANJNI_LOG(logDEBUG) << "Original MessagePtr = " << (jint*)dataPtr;
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FRC_NetworkCommunication_JaguarCANDriver_receiveMessage((uint32_t*)messageIDPtr, (uint8_t*)dataPtr, &dataSize, timeout, statusPtr);
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//CANJNI_LOG(logDEBUG) << "MessageID Out = " << std::hex << *messageIDPtr;
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CANJNI_LOG(logDEBUG) << "MessageSize = " << (jint)dataSize;
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CANJNI_LOG(logDEBUG) << "MessagePtr = " << (jint*)dataPtr;
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if( logDEBUG <= canJNILogLevel )
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{
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std::ostringstream str;
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str << std::setfill('0') << std::hex;
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for( int dataIndex = 0; dataIndex < dataSize; dataIndex++)
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{
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str << std::setw(2) << static_cast<unsigned int>(dataPtr[dataIndex]) << " ";
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}
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Log().Get(logDEBUG) << "MSG: " << str.str();
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}
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CANJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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if( dataSize > 0 )
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{
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return env->NewDirectByteBuffer( dataPtr, dataSize);
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}
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else
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{
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return 0;
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}
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}
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