mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
100 lines
3.3 KiB
C++
100 lines
3.3 KiB
C++
#include <jni.h>
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#include <assert.h>
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#include "Log.h"
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#include "edu_wpi_first_wpilibj_can_CANJNI.h"
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#include "HAL/CAN.h"
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// set the logging level
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TLogLevel canJNILogLevel = logDEBUG;
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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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JaguarCANSendMessage((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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JaguarCANReceiveMessage((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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