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https://github.com/wpilibsuite/allwpilib
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81c2c8a7de
This allows high-level library classes to implement enhanced simulation support even if no low-level corresponding simulation library exists, and avoids the need for bit-banging complex interfaces like SPI or CAN.
78 lines
2.8 KiB
C++
78 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2019 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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#ifndef HAL_HAL_SRC_MAIN_NATIVE_CPP_JNI_HALUTIL_H_
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#define HAL_HAL_SRC_MAIN_NATIVE_CPP_JNI_HALUTIL_H_
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#include <jni.h>
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#include <stdint.h>
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#include <wpi/StringRef.h>
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struct HAL_MatchInfo;
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struct HAL_Value;
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namespace frc {
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void ReportError(JNIEnv* env, int32_t status, bool doThrow = true);
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void ThrowError(JNIEnv* env, int32_t status, int32_t minRange, int32_t maxRange,
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int32_t requestedValue);
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inline bool CheckStatus(JNIEnv* env, int32_t status, bool doThrow = true) {
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if (status != 0) ReportError(env, status, doThrow);
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return status == 0;
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}
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inline bool CheckStatusRange(JNIEnv* env, int32_t status, int32_t minRange,
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int32_t maxRange, int32_t requestedValue) {
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if (status != 0) ThrowError(env, status, minRange, maxRange, requestedValue);
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return status == 0;
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}
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inline bool CheckStatusForceThrow(JNIEnv* env, int32_t status) {
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if (status != 0) ThrowError(env, status, 0, 0, 0);
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return status == 0;
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}
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void ReportCANError(JNIEnv* env, int32_t status, int32_t message_id);
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inline bool CheckCANStatus(JNIEnv* env, int32_t status, int32_t message_id) {
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if (status != 0) ReportCANError(env, status, message_id);
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return status == 0;
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}
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void ThrowIllegalArgumentException(JNIEnv* env, wpi::StringRef msg);
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void ThrowBoundaryException(JNIEnv* env, double value, double lower,
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double upper);
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jobject CreatePWMConfigDataResult(JNIEnv* env, int32_t maxPwm,
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int32_t deadbandMaxPwm, int32_t centerPwm,
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int32_t deadbandMinPwm, int32_t minPwm);
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void SetCanStatusObject(JNIEnv* env, jobject canStatus,
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float percentBusUtilization, uint32_t busOffCount,
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uint32_t txFullCount, uint32_t receiveErrorCount,
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uint32_t transmitErrorCount);
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void SetMatchInfoObject(JNIEnv* env, jobject matchStatus,
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const HAL_MatchInfo& matchInfo);
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void SetAccumulatorResultObject(JNIEnv* env, jobject accumulatorResult,
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int64_t value, int64_t count);
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jbyteArray SetCANDataObject(JNIEnv* env, jobject canData, int32_t length,
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uint64_t timestamp);
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jobject CreateHALValue(JNIEnv* env, const HAL_Value& value);
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JavaVM* GetJVM();
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} // namespace frc
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#endif // HAL_HAL_SRC_MAIN_NATIVE_CPP_JNI_HALUTIL_H_
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