mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
3c3b2c75c0
Fixes artf4809. In both C++ and Java, error messages are being sent to both the console (via stdout/stderr) and being reported via the HAL. We don't want to remove the stdout/stderr reporting at present because users debugging only via netconsole (e.g. using riolog) won't see the HAL-reported errors. Until there's an alternative means to getting the HAL-reported errors to those users, instead store the previous 5 error messages and don't duplicate them more often than once per second. Changes the error reporting from setErrorData() to sendError(), which improves driver station error reporting. The "location" in C++ is given as the immediate caller (e.g. the WPILib function). The "location" in Java is given as the first user function in the call stack. Note the full call stack is provided in both instances. Change-Id: I590dd63dcb66825301ebb260aff00cd8d7d501ed
349 lines
12 KiB
C++
349 lines
12 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_communication_FRCNetworkCommunicationsLibrary.h"
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#include "HAL/HAL.hpp"
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//#include "NetworkCommunication/FRCComm.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "HALUtil.h"
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// set the logging level
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TLogLevel netCommLogLevel = logWARNING;
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#define NETCOMM_LOG(level) \
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if (level > netCommLogLevel) ; \
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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_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_nUsageReporting_report
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* Signature: (BBBLjava/lang/String;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationUsageReportingReport
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(JNIEnv * paramEnv, jclass, jbyte paramResource, jbyte paramInstanceNumber, jbyte paramContext, jstring paramFeature)
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{
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const char * featureStr = paramEnv->GetStringUTFChars(paramFeature, NULL);
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NETCOMM_LOG(logDEBUG) << "Calling FRCNetworkCommunicationsLibrary report " << "res:"<< (unsigned int)paramResource << " instance:" << (unsigned int)paramInstanceNumber << " context:" << (unsigned int)paramContext << " feature:" << featureStr;
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jint returnValue = HALReport(paramResource, paramInstanceNumber, paramContext, featureStr);
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paramEnv->ReleaseStringUTFChars(paramFeature,featureStr);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_observeUserProgramStarting
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramStarting
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(JNIEnv *, jclass)
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{
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HALNetworkCommunicationObserveUserProgramStarting();
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_observeUserProgramDisabled
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramDisabled
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(JNIEnv *, jclass)
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{
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HALNetworkCommunicationObserveUserProgramDisabled();
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_observeUserProgramAutonomous
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramAutonomous
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(JNIEnv *, jclass)
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{
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HALNetworkCommunicationObserveUserProgramAutonomous();
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_observeUserProgramTeleop
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTeleop
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(JNIEnv *, jclass)
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{
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HALNetworkCommunicationObserveUserProgramTeleop();
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
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* Method: FRC_NetworkCommunication_observeUserProgramTest
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTest
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(JNIEnv *, jclass)
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{
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HALNetworkCommunicationObserveUserProgramTest();
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: FRCNetworkCommunicationReserve
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationReserve
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(JNIEnv *, jclass)
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{
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int rv = HALInitialize(0);
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assert(1 == rv);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: NativeHALGetControlWord
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetControlWord
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(JNIEnv *, jclass)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word";
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jint controlWord;
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HALGetControlWord((HALControlWord*)&controlWord);
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return controlWord;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: NativeHALGetAllianceStation
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetAllianceStation
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(JNIEnv *, jclass)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station";
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jint allianceStation;
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HALGetAllianceStation((HALAllianceStationID*)&allianceStation);
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return allianceStation;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickAxes
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* Signature: (B)[S
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*/
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JNIEXPORT jshortArray JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxes
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(JNIEnv * env, jclass, jbyte joystickNum)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes";
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HALJoystickAxes axes;
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HALGetJoystickAxes(joystickNum, &axes);
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jshortArray axesArray = env->NewShortArray(axes.count);
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env->SetShortArrayRegion(axesArray, 0, axes.count, axes.axes);
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return axesArray;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickPOVs
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* Signature: (B)[S
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*/
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JNIEXPORT jshortArray JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickPOVs
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(JNIEnv * env, jclass, jbyte joystickNum)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs";
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HALJoystickPOVs povs;
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HALGetJoystickPOVs(joystickNum, &povs);
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jshortArray povsArray = env->NewShortArray(povs.count);
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env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs);
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return povsArray;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickButtons
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* Signature: (B)S
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickButtons
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(JNIEnv * env, jclass, jbyte joystickNum, jobject count)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons";
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HALJoystickButtons joystickButtons;
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HALGetJoystickButtons(joystickNum, &joystickButtons);
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jbyte *countPtr = (jbyte*)env->GetDirectBufferAddress(count);
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NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons;
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NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count;
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*countPtr = joystickButtons.count;
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NETCOMM_LOG(logDEBUG) << "CountBuffer = " << (jint)*countPtr;
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return joystickButtons.buttons;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALSetJoystickOutputs
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* Signature: (BISS)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetJoystickOutputs
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(JNIEnv *, jclass, jbyte port, jint outputs, jshort leftRumble, jshort rightRumble)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALSetJoystickOutputs on port " << port;
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NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs;
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NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble << " Right Rumble: " << rightRumble;
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return HALSetJoystickOutputs(port, outputs, leftRumble, rightRumble);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickIsXbox
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* Signature: (B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickIsXbox
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(JNIEnv *, jclass, jbyte port)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickIsXbox";
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return HALGetJoystickIsXbox(port);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickType
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* Signature: (B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickType
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(JNIEnv *, jclass, jbyte port)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickType";
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return HALGetJoystickType(port);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickName
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* Signature: (B)Ljava/lang/String;
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*/
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JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickName
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(JNIEnv * env, jclass, jbyte port)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickName";
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char* joystickName = HALGetJoystickName(port);
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jstring str = env->NewStringUTF(joystickName);
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std::free(joystickName);
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return str;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetJoystickAxisType
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* Signature: (BB)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxisType
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(JNIEnv *, jclass, jbyte joystickNum, jbyte axis)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickAxisType";
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return HALGetJoystickAxisType(joystickNum, axis);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: setNewDataSem
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataSem
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(JNIEnv * env, jclass, jlong id )
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{
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NETCOMM_LOG(logDEBUG) << "Mutex Ptr = " << (void*)id;
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HALSetNewDataSem((MULTIWAIT_ID)id);
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetMatchTime
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* Signature: ()F
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*/
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JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetMatchTime
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(JNIEnv * env, jclass)
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{
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jfloat matchTime;
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HALGetMatchTime((float*)&matchTime);
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return matchTime;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetSystemActive
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetSystemActive
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(JNIEnv * env, jclass)
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{
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int32_t status = 0;
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bool val = HALGetSystemActive(&status);
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CheckStatus(env, status);
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return val;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALGetBrownedOut
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetBrownedOut
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(JNIEnv * env, jclass)
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{
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int32_t status = 0;
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bool val = HALGetBrownedOut(&status);
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CheckStatus(env, status);
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return val;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALSetErrorData
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* Signature: (Ljava/lang/String;)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetErrorData
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(JNIEnv * env, jclass, jstring error)
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{
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const char * errorStr = env->GetStringUTFChars(error, NULL);
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jsize length = env->GetStringUTFLength(error);
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NETCOMM_LOG(logDEBUG) << "Set Error: " << errorStr;
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NETCOMM_LOG(logDEBUG) << "Length: " << length;
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jint returnValue = HALSetErrorData(errorStr, (jint) length, 0);
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env->ReleaseStringUTFChars(error,errorStr);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
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* Method: HALSendError
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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 Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSendError
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(JNIEnv * env, jclass, jboolean isError, jint errorCode, jboolean isLVCode, jstring details, jstring location, jstring callStack, jboolean printMsg)
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{
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const char * detailsStr = env->GetStringUTFChars(details, NULL);
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const char * locationStr = env->GetStringUTFChars(location, NULL);
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const char * callStackStr = env->GetStringUTFChars(callStack, NULL);
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NETCOMM_LOG(logDEBUG) << "Send Error: " << detailsStr;
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NETCOMM_LOG(logDEBUG) << "Location: " << locationStr;
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NETCOMM_LOG(logDEBUG) << "Call Stack: " << callStackStr;
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jint returnValue = HALSendError(isError, errorCode, isLVCode, detailsStr, locationStr, callStackStr, printMsg);
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env->ReleaseStringUTFChars(details,detailsStr);
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env->ReleaseStringUTFChars(location,locationStr);
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env->ReleaseStringUTFChars(callStack,callStackStr);
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return returnValue;
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}
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} // extern "C"
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