mirror of
https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
113 lines
3.7 KiB
C++
113 lines
3.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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 <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 "FRC_NetworkCommunication/CANSessionMux.h"
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#include "HALUtil.h"
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// set the logging level
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//TLogLevel canJNILogLevel = logDEBUG;
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TLogLevel canJNILogLevel = logERROR;
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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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extern "C" {
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/*
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* Class: edu_wpi_first_wpilibj_can_CANJNI
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* Method: FRCNetworkCommunicationCANSessionMuxSendMessage
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* Signature: (ILjava/nio/ByteBuffer;I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxSendMessage
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(JNIEnv * env, jclass, jint messageID, jobject data, jint periodMs)
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{
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CANJNI_LOG(logDEBUG) << "Calling CANJNI FRCNetworkCommunicationCANSessionMuxSendMessage";
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uint8_t *dataBuffer = (uint8_t *)(data? env->GetDirectBufferAddress(data) : 0);
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uint8_t dataSize = (uint8_t)(data? env->GetDirectBufferCapacity(data) : 0);
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CANJNI_LOG(logDEBUG) << "Message ID " << std::hex << messageID;
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if(logDEBUG <= canJNILogLevel)
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{
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if(dataBuffer)
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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 i = 0; i < dataSize; i++)
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{
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str << std::setw(2) << (int)dataBuffer[i] << ' ';
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}
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Log().Get(logDEBUG) << "Data: " << str.str();
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}
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else
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{
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CANJNI_LOG(logDEBUG) << "Data: null";
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}
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}
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CANJNI_LOG(logDEBUG) << "Period: " << periodMs;
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int32_t status = 0;
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FRC_NetworkCommunication_CANSessionMux_sendMessage(messageID, dataBuffer, dataSize, periodMs, &status);
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CANJNI_LOG(logDEBUG) << "Status: " << status;
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CheckCANStatus(env, status, messageID);
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}
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static uint8_t buffer[8];
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/*
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* Class: edu_wpi_first_wpilibj_can_CANJNI
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* Method: FRCNetworkCommunicationCANSessionMuxReceiveMessage
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* Signature: (Ljava/nio/IntBuffer;ILjava/nio/ByteBuffer;)Ljava/nio/ByteBuffer;
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxReceiveMessage
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(JNIEnv * env, jclass, jobject messageID, jint messageIDMask, jobject timeStamp)
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{
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CANJNI_LOG(logDEBUG) << "Calling CANJNI FRCNetworkCommunicationCANSessionMuxReceiveMessage";
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uint32_t *messageIDPtr = (uint32_t *)env->GetDirectBufferAddress(messageID);
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uint32_t *timeStampPtr = (uint32_t *)env->GetDirectBufferAddress(timeStamp);
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uint8_t dataSize = 0;
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int32_t status = 0;
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FRC_NetworkCommunication_CANSessionMux_receiveMessage(messageIDPtr, messageIDMask, buffer, &dataSize, timeStampPtr, &status);
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CANJNI_LOG(logDEBUG) << "Message ID " << std::hex << *messageIDPtr;
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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 i = 0; i < dataSize; i++)
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{
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str << std::setw(2) << (int)buffer[i] << ' ';
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}
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Log().Get(logDEBUG) << "Data: " << str.str();
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}
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CANJNI_LOG(logDEBUG) << "Timestamp: " << *timeStampPtr;
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CANJNI_LOG(logDEBUG) << "Status: " << status;
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if (!CheckCANStatus(env, status, *messageIDPtr)) return nullptr;
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return env->NewDirectByteBuffer(buffer, dataSize);
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}
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} // extern "C"
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