mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
158 lines
4.7 KiB
C++
158 lines
4.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "SimulatorJNI.h"
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#include "BufferCallbackStore.h"
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#include "CallbackStore.h"
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#include "ConstBufferCallbackStore.h"
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#include "HAL/HAL.h"
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#include "HAL/cpp/Log.h"
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#include "HAL/handles/HandlesInternal.h"
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#include "MockData/MockHooks.h"
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#include "SpiReadAutoReceiveBufferCallbackStore.h"
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#include "edu_wpi_first_hal_sim_mockdata_SimulatorJNI.h"
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using namespace wpi::java;
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static JavaVM* jvm = nullptr;
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static JClass simValueCls;
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static JClass notifyCallbackCls;
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static JClass bufferCallbackCls;
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static JClass constBufferCallbackCls;
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static JClass spiReadAutoReceiveBufferCallbackCls;
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static jmethodID notifyCallbackCallback;
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static jmethodID bufferCallbackCallback;
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static jmethodID constBufferCallbackCallback;
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static jmethodID spiReadAutoReceiveBufferCallbackCallback;
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namespace sim {
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jint SimOnLoad(JavaVM* vm, void* reserved) {
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jvm = vm;
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JNIEnv* env;
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if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
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return JNI_ERR;
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simValueCls = JClass(env, "edu/wpi/first/wpilibj/sim/SimValue");
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if (!simValueCls) return JNI_ERR;
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notifyCallbackCls = JClass(env, "edu/wpi/first/wpilibj/sim/NotifyCallback");
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if (!notifyCallbackCls) return JNI_ERR;
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notifyCallbackCallback = env->GetMethodID(notifyCallbackCls, "callbackNative",
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"(Ljava/lang/String;IJD)V");
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if (!notifyCallbackCallback) return JNI_ERR;
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bufferCallbackCls = JClass(env, "edu/wpi/first/wpilibj/sim/BufferCallback");
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if (!bufferCallbackCls) return JNI_ERR;
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bufferCallbackCallback = env->GetMethodID(bufferCallbackCls, "callback",
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"(Ljava/lang/String;[BI)V");
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if (!bufferCallbackCallback) return JNI_ERR;
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constBufferCallbackCls =
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JClass(env, "edu/wpi/first/wpilibj/sim/ConstBufferCallback");
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if (!constBufferCallbackCls) return JNI_ERR;
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constBufferCallbackCallback = env->GetMethodID(
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constBufferCallbackCls, "callback", "(Ljava/lang/String;[BI)V");
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if (!constBufferCallbackCallback) return JNI_ERR;
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spiReadAutoReceiveBufferCallbackCls =
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JClass(env, "edu/wpi/first/wpilibj/sim/SpiReadAutoReceiveBufferCallback");
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if (!spiReadAutoReceiveBufferCallbackCls) return JNI_ERR;
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spiReadAutoReceiveBufferCallbackCallback =
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env->GetMethodID(spiReadAutoReceiveBufferCallbackCls, "callback",
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"(Ljava/lang/String;[BI)I");
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if (!spiReadAutoReceiveBufferCallbackCallback) return JNI_ERR;
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InitializeStore();
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InitializeBufferStore();
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InitializeConstBufferStore();
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InitializeSpiBufferStore();
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return JNI_VERSION_1_6;
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}
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void SimOnUnload(JavaVM* vm, void* reserved) {
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JNIEnv* env;
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if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
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return;
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simValueCls.free(env);
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notifyCallbackCls.free(env);
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bufferCallbackCls.free(env);
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constBufferCallbackCls.free(env);
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spiReadAutoReceiveBufferCallbackCls.free(env);
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jvm = nullptr;
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}
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JavaVM* GetJVM() { return jvm; }
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jmethodID GetNotifyCallback() { return notifyCallbackCallback; }
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jmethodID GetBufferCallback() { return bufferCallbackCallback; }
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jmethodID GetConstBufferCallback() { return constBufferCallbackCallback; }
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jmethodID GetSpiReadAutoReceiveBufferCallback() {
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return spiReadAutoReceiveBufferCallbackCallback;
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}
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} // namespace sim
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extern "C" {
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/*
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* Class: edu_wpi_first_hal_sim_mockdata_SimulatorJNI
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* Method: waitForProgramStart
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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_sim_mockdata_SimulatorJNI_waitForProgramStart
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(JNIEnv*, jclass)
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{
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HALSIM_WaitForProgramStart();
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}
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/*
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* Class: edu_wpi_first_hal_sim_mockdata_SimulatorJNI
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* Method: setProgramStarted
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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_sim_mockdata_SimulatorJNI_setProgramStarted
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(JNIEnv*, jclass)
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{
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HALSIM_SetProgramStarted();
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}
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/*
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* Class: edu_wpi_first_hal_sim_mockdata_SimulatorJNI
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* Method: restartTiming
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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_sim_mockdata_SimulatorJNI_restartTiming
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(JNIEnv*, jclass)
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{
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HALSIM_RestartTiming();
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}
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/*
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* Class: edu_wpi_first_hal_sim_mockdata_SimulatorJNI
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* Method: resetHandles
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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_sim_mockdata_SimulatorJNI_resetHandles
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(JNIEnv*, jclass)
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{
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hal::HandleBase::ResetGlobalHandles();
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}
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} // extern "C"
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