Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-22 01:11:42 +00:00
Code Issues Packages Projects Releases Wiki Activity
Files
7023013c4ba3355bc742926d263b43e936191ac2
allwpilib/wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp
Peter Johnson 7023013c4b Simplify JNI interfaces. 
These changes both simplify the Java code and improve performance across the
JNI boundary.

This also fixes the AnalogCrossConnectTest by adding delays to
setInterruptHigh() and setInterruptLow() to ensure the change in voltage has
time to propagate and extends the timeouts in AbstractInterruptTest.

Detailed changes:

Hoisted status checks to C.  This avoids the need to create direct byte
buffers (expensive) and significantly simplifies the Java code.  The C code
now directly generates the exception or reports the error to the DS.

The JVM pointer is now a global across the JNI, initialized by the OnLoad
function, avoiding the need for some of the class-specific initializers to
get this pointer for callbacks.

Opaque pointers (such as ports) are now passed as long values rather than
with a ByteBuffer wrapper.

Added extern "C" to source files.  This allows earlier detection of JNI
definition mismatches to the Java source headers.

Changed JNI signatures to more closely match HAL signatures (in particular,
boolean is now universally used instead of byte for HAL bool, which cleans
up mapping back and forth to 1/0 from true/false).

Change-Id: I4ea0032cabb0871cd74106a3a70d947258c29d2d
2015-11-06 09:04:22 -08:00

656 lines
22 KiB
C++
Raw Blame History

#include <jni.h>
#include <assert.h>
#include "Log.hpp"
#include "edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary.h"
#include "HAL/HAL.hpp"
//#include "NetworkCommunication/FRCComm.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "HALUtil.h"
// set the logging level
TLogLevel netCommLogLevel = logWARNING;
#define NETCOMM_LOG(level) \
if (level > netCommLogLevel) ; \
else Log().Get(level)
extern "C" {
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_nAICalibration_getLSBWeight
* Signature: (IILjava/lang/Integer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationAICalibrationGetLSBWeight
(JNIEnv *, jclass, jint, jint, jobject)
{
assert(false);
return 0;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_nAICalibration_getOffset
* Signature: (IILjava/lang/Integer;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationAICalibrationGetOffset
(JNIEnv *, jclass, jint, jint, jobject)
{
assert(false);
return 0;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: getTargetClass
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getTargetClass
(JNIEnv *, jclass)
{
assert(false);
return 0;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_nLoadOut_getModulePresence
* Signature: (IB)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationLoadOutGetModulePresence
(JNIEnv *, jclass, jint, jbyte)
{
assert(false);
return 0;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_nLoadOut_getTargetClass
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationLoadOutGetTargetClass
(JNIEnv *, jclass)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: report
* Signature: (IBBLjava/lang/String;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_report
(JNIEnv *, jclass, jint, jbyte, jbyte, jstring)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_nUsageReporting_report
* Signature: (BBBLjava/lang/String;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationUsageReportingReport
(JNIEnv * paramEnv, jclass, jbyte paramResource, jbyte paramInstanceNumber, jbyte paramContext, jstring paramFeature)
{
const char * featureStr = paramEnv->GetStringUTFChars(paramFeature, NULL);
NETCOMM_LOG(logDEBUG) << "Calling FRCNetworkCommunicationsLibrary report " << "res:"<< (unsigned int)paramResource << " instance:" << (unsigned int)paramInstanceNumber << " context:" << (unsigned int)paramContext << " feature:" << featureStr;
jint returnValue = HALReport(paramResource, paramInstanceNumber, paramContext, featureStr);
paramEnv->ReleaseStringUTFChars(paramFeature,featureStr);
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: getFPGAHardwareVersion
* Signature: (Ljava/nio/ShortBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_getFPGAHardwareVersion
(JNIEnv *, jclass, jobject, jobject)
{
assert(false);
}
//
// field ids
//
bool initializeComplete = false;
jclass dataClass;
jfieldID packetIndexFieldID;
jfieldID controlFieldID;
jfieldID dsDigitalInFieldID;
jfieldID teamIDFieldID;
jfieldID dsID_AllianceFieldID;
jfieldID dsID_PositionFieldID;
jfieldID stick0AxesFieldID;
jfieldID stick0ButtonsFieldID;
jfieldID stick1AxesFieldID;
jfieldID stick1ButtonsFieldID;
jfieldID stick2AxesFieldID;
jfieldID stick2ButtonsFieldID;
jfieldID stick3AxesFieldID;
jfieldID stick3ButtonsFieldID;
jfieldID analog1FieldID;
jfieldID analog2FieldID;
jfieldID analog3FieldID;
jfieldID analog4FieldID;
jfieldID cRIOChecksumFieldID;
jfieldID FPGAChecksum0FieldID;
jfieldID FPGAChecksum1FieldID;
jfieldID FPGAChecksum2FieldID;
jfieldID FPGAChecksum3FieldID;
jfieldID versionDataFieldID;
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: setErrorData
* Signature: (Ljava/lang/String;II)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setErrorData
(JNIEnv *, jclass, jstring, jint, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: overrideIOConfig
* Signature: (Ljava/lang/String;I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_overrideIOConfig
(JNIEnv *, jclass, jstring, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: signalResyncActionDone
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_signalResyncActionDone
(JNIEnv *, jclass)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: setNewDataOccurRef
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataOccurRef
(JNIEnv *, jclass, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: setResyncOccurRef
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setResyncOccurRef
(JNIEnv *, jclass, jint)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_getVersionString
* Signature: (Ljava/nio/ByteBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationGetVersionString
(JNIEnv *, jclass, jobject)
{
assert(false);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_observeUserProgramStarting
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramStarting
(JNIEnv *, jclass)
{
HALNetworkCommunicationObserveUserProgramStarting();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_observeUserProgramDisabled
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramDisabled
(JNIEnv *, jclass)
{
HALNetworkCommunicationObserveUserProgramDisabled();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_observeUserProgramAutonomous
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramAutonomous
(JNIEnv *, jclass)
{
HALNetworkCommunicationObserveUserProgramAutonomous();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_observeUserProgramTeleop
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTeleop
(JNIEnv *, jclass)
{
HALNetworkCommunicationObserveUserProgramTeleop();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
* Method: FRC_NetworkCommunication_observeUserProgramTest
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTest
(JNIEnv *, jclass)
{
HALNetworkCommunicationObserveUserProgramTest();
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: FRCNetworkCommunicationReserve
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationReserve
(JNIEnv *, jclass)
{
assert(1 == HALInitialize(0));
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: NativeHALGetControlWord
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetControlWord
(JNIEnv *, jclass)
{
NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word";
jint controlWord;
HALGetControlWord((HALControlWord*)&controlWord);
return controlWord;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: NativeHALGetAllianceStation
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetAllianceStation
(JNIEnv *, jclass)
{
NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station";
jint allianceStation;
HALGetAllianceStation((HALAllianceStationID*)&allianceStation);
return allianceStation;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALGetJoystickAxes
* Signature: (B)[S
*/
JNIEXPORT jshortArray JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxes
(JNIEnv * env, jclass, jbyte joystickNum)
{
NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes";
HALJoystickAxes axes;
HALGetJoystickAxes(joystickNum, &axes);
jshortArray axesArray = env->NewShortArray(axes.count);
env->SetShortArrayRegion(axesArray, 0, axes.count, axes.axes);
return axesArray;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALGetJoystickPOVs
* Signature: (B)[S
*/
JNIEXPORT jshortArray JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickPOVs
(JNIEnv * env, jclass, jbyte joystickNum)
{
NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs";
HALJoystickPOVs povs;
HALGetJoystickPOVs(joystickNum, &povs);
jshortArray povsArray = env->NewShortArray(povs.count);
env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs);
return povsArray;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALGetJoystickButtons
* Signature: (B)S
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickButtons
(JNIEnv * env, jclass, jbyte joystickNum, jobject count)
{
NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons";
HALJoystickButtons joystickButtons;
HALGetJoystickButtons(joystickNum, &joystickButtons);
jbyte *countPtr = (jbyte*)env->GetDirectBufferAddress(count);
NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons;
NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count;
*countPtr = joystickButtons.count;
NETCOMM_LOG(logDEBUG) << "CountBuffer = " << (jint)*countPtr;
return joystickButtons.buttons;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALSetJoystickOutputs
* Signature: (BISS)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetJoystickOutputs
(JNIEnv *, jclass, jbyte port, jint outputs, jshort leftRumble, jshort rightRumble)
{
NETCOMM_LOG(logDEBUG) << "Calling HALSetJoystickOutputs on port " << port;
NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs;
NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble << " Right Rumble: " << rightRumble;
return HALSetJoystickOutputs(port, outputs, leftRumble, rightRumble);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALGetJoystickIsXbox
* Signature: (B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickIsXbox
(JNIEnv *, jclass, jbyte port)
{
NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickIsXbox";
return HALGetJoystickIsXbox(port);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALGetJoystickType
* Signature: (B)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickType
(JNIEnv *, jclass, jbyte port)
{
NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickType";
return HALGetJoystickType(port);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALGetJoystickName
* Signature: (B)Ljava/lang/String;
*/
JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickName
(JNIEnv * env, jclass, jbyte port)
{
NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickName";
return env->NewStringUTF(HALGetJoystickName(port));
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: setNewDataSem
* Signature: (J)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataSem
(JNIEnv * env, jclass, jlong id )
{
NETCOMM_LOG(logDEBUG) << "Mutex Ptr = " << (void*)id;
HALSetNewDataSem(((MULTIWAIT_ID)id)->native_handle());
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueParameterTest
* Signature: (ZBCSIJFD)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueParameterTest
(JNIEnv *, jclass, jboolean booleanParam, jbyte byteParam, jchar charParam, jshort shortParam, jint intParam, jlong longParam, jfloat floatParam, jdouble doubleParam)
{
NETCOMM_LOG(logDEBUG) << "Boolean: " << booleanParam;
NETCOMM_LOG(logDEBUG) << "Byte : " << byteParam;
NETCOMM_LOG(logDEBUG) << "Char : " << charParam;
NETCOMM_LOG(logDEBUG) << "Short : " << shortParam;
NETCOMM_LOG(logDEBUG) << "Int : " << intParam;
NETCOMM_LOG(logDEBUG) << "Long : " << longParam;
NETCOMM_LOG(logDEBUG) << "Float : " << floatParam;
NETCOMM_LOG(logDEBUG) << "Double : " << doubleParam;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnBooleanTest
* Signature: (Z)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnBooleanTest
(JNIEnv *, jclass, jboolean booleanParam )
{
NETCOMM_LOG(logDEBUG) << "Boolean: " << booleanParam;
return !booleanParam;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnByteTest
* Signature: (B)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnByteTest
(JNIEnv *, jclass, jbyte byteParam)
{
NETCOMM_LOG(logDEBUG) << "Byte: " << byteParam;
return byteParam+1;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnCharTest
* Signature: (C)C
*/
JNIEXPORT jchar JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnCharTest
(JNIEnv *, jclass, jchar charParam)
{
NETCOMM_LOG(logDEBUG) << "Char: " << charParam;
return charParam+1;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnShortTest
* Signature: (S)S
*/
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnShortTest
(JNIEnv *, jclass, jshort shortParam)
{
NETCOMM_LOG(logDEBUG) << "Short: " << shortParam;
return shortParam+1;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnIntTest
* Signature: (I)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnIntTest
(JNIEnv *, jclass, jint intParam)
{
NETCOMM_LOG(logDEBUG) << "Int: " << intParam;
return intParam+1;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnLongTest
* Signature: (J)J
*/
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnLongTest
(JNIEnv *, jclass, jlong longParam)
{
NETCOMM_LOG(logDEBUG) << "Long: " << longParam;
return longParam+1;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnFloatTest
* Signature: (F)F
*/
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnFloatTest
(JNIEnv *, jclass, jfloat floatParam)
{
NETCOMM_LOG(logDEBUG) << "Float: " << floatParam;
return floatParam/100.0f;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIValueReturnDoubleTest
* Signature: (D)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIValueReturnDoubleTest
(JNIEnv *, jclass, jdouble doubleParam)
{
NETCOMM_LOG(logDEBUG) << "Double: " << doubleParam;
return doubleParam * 100.0;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIObjectReturnString
* Signature: (Ljava/lang/String;)Ljava/lang/String;
*/
JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIObjectReturnStringTest
(JNIEnv * env, jclass, jstring stringParam)
{
const char * stringParamLocal = env->GetStringUTFChars(stringParam, NULL);
NETCOMM_LOG(logDEBUG) << "String: " << stringParamLocal;
env->ReleaseStringUTFChars(stringParam,stringParamLocal);
char returnStringLocal[] = "this is the return string";
return env->NewStringUTF(returnStringLocal);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIObjectReturnByteBufferTest
* Signature: (Ljava/nio/ByteBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIObjectReturnByteBufferTest
(JNIEnv * env, jclass, jobject byteArrayIn )
{
jbyte * byteArray = (jbyte*)env->GetDirectBufferAddress(byteArrayIn);
NETCOMM_LOG(logDEBUG) << "Ptr: " << (long)byteArray;
jlong byteArrayLength = env->GetDirectBufferCapacity(byteArrayIn);
NETCOMM_LOG(logDEBUG) << "Capacity: " << byteArrayLength;
NETCOMM_LOG(logDEBUG) << "Byte0: " << (short)byteArray[0];
NETCOMM_LOG(logDEBUG) << "Byte1: " << (short)byteArray[1];
NETCOMM_LOG(logDEBUG) << "Byte2: " << (short)byteArray[2];
NETCOMM_LOG(logDEBUG) << "Byte3: " << (short)byteArray[3];
jbyte * returnByteArray = new jbyte[4];
returnByteArray[0] = byteArray[0];
returnByteArray[1] = byteArray[1];
returnByteArray[2] = byteArray[2];
returnByteArray[3] = byteArray[3];
return env->NewDirectByteBuffer(returnByteArray, 4);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: JNIObjectAndParamReturnIntBufferTest
* Signature: (Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_JNIObjectAndParamReturnIntBufferTest
(JNIEnv * env, jclass, jobject intArrayIn)
{
jint * intArray = (jint*)env->GetDirectBufferAddress(intArrayIn);
jbyte * byteArray = (jbyte*)env->GetDirectBufferAddress(intArrayIn);
NETCOMM_LOG(logDEBUG) << "Ptr: " << (long)intArray;
jlong byteArrayLength = env->GetDirectBufferCapacity(intArrayIn);
NETCOMM_LOG(logDEBUG) << "Capacity: " << byteArrayLength;
NETCOMM_LOG(logDEBUG) << "Int0: " << intArray[0];
NETCOMM_LOG(logDEBUG) << "Byte0: " << (short)byteArray[0];
NETCOMM_LOG(logDEBUG) << "Byte1: " << (short)byteArray[1];
NETCOMM_LOG(logDEBUG) << "Byte2: " << (short)byteArray[2];
NETCOMM_LOG(logDEBUG) << "Byte3: " << (short)byteArray[3];
// increment the param
intArray[0]++;
jbyte * returnByteArray = new jbyte[4];
returnByteArray[0] = byteArray[0];
returnByteArray[1] = byteArray[1];
returnByteArray[2] = byteArray[2];
returnByteArray[3] = byteArray[3];
return env->NewDirectByteBuffer(returnByteArray, 4);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALGetMatchTime
* Signature: ()F
*/
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetMatchTime
(JNIEnv * env, jclass)
{
jfloat matchTime;
HALGetMatchTime((float*)&matchTime);
return matchTime;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALGetSystemActive
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetSystemActive
(JNIEnv * env, jclass)
{
int32_t status = 0;
bool val = HALGetSystemActive(&status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALGetBrownedOut
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetBrownedOut
(JNIEnv * env, jclass)
{
int32_t status = 0;
bool val = HALGetBrownedOut(&status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALSetErrorData
* Signature: (Ljava/lang/String;)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetErrorData
(JNIEnv * env, jclass, jstring error)
{
const char * errorStr = env->GetStringUTFChars(error, NULL);
jsize length = env->GetStringUTFLength(error);
NETCOMM_LOG(logDEBUG) << "Set Error: " << errorStr;
NETCOMM_LOG(logDEBUG) << "Length: " << length;
jint returnValue = HALSetErrorData(errorStr, (jint) length, 0);
env->ReleaseStringUTFChars(error,errorStr);
return returnValue;
}
} // extern "C"
Reference in New Issue View Git Blame Copy Permalink