mirror of
https://github.com/wpilibsuite/allwpilib
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114 lines
3.6 KiB
C++
114 lines
3.6 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 <assert.h>
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#include <jni.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 "FRC_NetworkCommunication/CANSessionMux.h"
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#include "HAL/CAN.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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; \
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else \
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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
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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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CANJNI_LOG(logDEBUG)
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<< "Calling CANJNI FRCNetworkCommunicationCANSessionMuxSendMessage";
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uint8_t *dataBuffer =
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(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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if (dataBuffer) {
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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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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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} else {
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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(
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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
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Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxReceiveMessage(
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JNIEnv *env, jclass, jobject messageID, jint messageIDMask,
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jobject timeStamp) {
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CANJNI_LOG(logDEBUG)
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<< "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(
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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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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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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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