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b300518bd1
The CAN Stream API allows defining an buffer to receive an arbitrary set of CAN messages, based on an ID and a mask. Messages are added to this queue separate of other CAN APIs. This means the messages can be receive without impacting other APIs such as vendor APIs. This enables things like detection of what devices are on the bus, or custom decoding, without using vendor APIs. Co-authored-by: Thad House <thadhouse1@gmail.com>
101 lines
3.5 KiB
C++
101 lines
3.5 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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#ifndef HAL_HAL_SRC_MAIN_NATIVE_CPP_JNI_HALUTIL_H_
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#define HAL_HAL_SRC_MAIN_NATIVE_CPP_JNI_HALUTIL_H_
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#include <jni.h>
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#include <stdint.h>
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#include <string_view>
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struct HAL_MatchInfo;
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struct HAL_Value;
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namespace hal {
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void ReportError(JNIEnv* env, int32_t status, bool doThrow = true);
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void ThrowError(JNIEnv* env, int32_t status, int32_t minRange, int32_t maxRange,
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int32_t requestedValue);
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inline bool CheckStatus(JNIEnv* env, int32_t status, bool doThrow = true) {
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if (status != 0) {
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ReportError(env, status, doThrow);
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}
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return status == 0;
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}
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inline bool CheckStatusRange(JNIEnv* env, int32_t status, int32_t minRange,
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int32_t maxRange, int32_t requestedValue) {
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if (status != 0) {
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ThrowError(env, status, minRange, maxRange, requestedValue);
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}
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return status == 0;
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}
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inline bool CheckStatusForceThrow(JNIEnv* env, int32_t status) {
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if (status != 0) {
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ThrowError(env, status, 0, 0, 0);
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}
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return status == 0;
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}
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void ReportCANError(JNIEnv* env, int32_t status, int32_t message_id);
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inline bool CheckCANStatus(JNIEnv* env, int32_t status, int32_t message_id) {
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if (status != 0) {
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ReportCANError(env, status, message_id);
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}
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return status == 0;
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}
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void ThrowIllegalArgumentException(JNIEnv* env, std::string_view msg);
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void ThrowBoundaryException(JNIEnv* env, double value, double lower,
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double upper);
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jobject CreatePWMConfigDataResult(JNIEnv* env, int32_t maxPwm,
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int32_t deadbandMaxPwm, int32_t centerPwm,
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int32_t deadbandMinPwm, int32_t minPwm);
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jobject CreateREVPHVersion(JNIEnv* env, uint32_t firmwareMajor,
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uint32_t firmwareMinor, uint32_t firmwareFix,
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uint32_t hardwareMinor, uint32_t hardwareMajor,
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uint32_t uniqueId);
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void SetCanStatusObject(JNIEnv* env, jobject canStatus,
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float percentBusUtilization, uint32_t busOffCount,
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uint32_t txFullCount, uint32_t receiveErrorCount,
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uint32_t transmitErrorCount);
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void SetMatchInfoObject(JNIEnv* env, jobject matchStatus,
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const HAL_MatchInfo& matchInfo);
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void SetAccumulatorResultObject(JNIEnv* env, jobject accumulatorResult,
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int64_t value, int64_t count);
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jbyteArray SetCANDataObject(JNIEnv* env, jobject canData, int32_t length,
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uint64_t timestamp);
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jbyteArray SetCANStreamObject(JNIEnv* env, jobject canStreamData,
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int32_t length, uint32_t messageID,
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uint64_t timestamp);
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jobject CreateHALValue(JNIEnv* env, const HAL_Value& value);
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jobject CreateDMABaseStore(JNIEnv* env, jint valueType, jint index);
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jobject CreatePowerDistributionVersion(JNIEnv* env, uint32_t firmwareMajor,
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uint32_t firmwareMinor,
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uint32_t firmwareFix,
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uint32_t hardwareMinor,
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uint32_t hardwareMajor,
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uint32_t uniqueId);
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JavaVM* GetJVM();
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} // namespace hal
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#endif // HAL_HAL_SRC_MAIN_NATIVE_CPP_JNI_HALUTIL_H_
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