mirror of
https://github.com/wpilibsuite/allwpilib
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049be6870c
The HAL functions often call NI functions that may expect status to be initialized on entry. Java does not guarantee direct pointer allocation memory to be initialized, although that may have been occurring by accident. Change-Id: I5e3a553f3a7be8de3716ccfc13e6ca1cb4f2a552
113 lines
3.9 KiB
C++
113 lines
3.9 KiB
C++
#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_hal_I2CJNI.h"
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#include "HAL/Digital.hpp"
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// set the logging level
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TLogLevel i2cJNILogLevel = logWARNING;
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#define I2CJNI_LOG(level) \
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if (level > i2cJNILogLevel) ; \
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else Log().Get(level)
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2cInitialize
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* Signature: (BLjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CInitialize
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(JNIEnv * env, jclass, jbyte value, jobject status)
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{
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CInititalize";
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I2CJNI_LOG(logDEBUG) << "Port: " << (jint) value;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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*statusPtr = 0;
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i2CInitialize(value, statusPtr);
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I2CJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2CTransaction
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* Signature: (BBLjava/nio/ByteBuffer;BLjava/nio/ByteBuffer;B)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransaction
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(JNIEnv * env, jclass, jbyte port, jbyte address, jobject dataToSend, jbyte sendSize, jobject dataReceived, jbyte receiveSize)
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{
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CTransaction";
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I2CJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
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jbyte * dataToSendPtr = NULL;
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jbyte * dataReceivedPtr = NULL;
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if(dataToSend !=0){
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dataToSendPtr = (jbyte*)env->GetDirectBufferAddress(dataToSend);
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}
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I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << (jint*)dataToSendPtr;
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I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
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dataReceivedPtr = (jbyte*)env->GetDirectBufferAddress(dataReceived);
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I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*)dataReceivedPtr;
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I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize;
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jbyte returnValue = i2CTransaction(port, address, (uint8_t*)dataToSendPtr, sendSize, (uint8_t*) dataReceivedPtr, receiveSize);
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I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2CWrite
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* Signature: (BBLjava/nio/ByteBuffer;B)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWrite
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(JNIEnv * env, jclass, jbyte port, jbyte address, jobject dataToSend, jbyte sendSize)
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{
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CWrite";
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I2CJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
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jbyte * dataToSendPtr = NULL;
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if(dataToSend !=0){
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dataToSendPtr = (jbyte*)env->GetDirectBufferAddress(dataToSend);
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}
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I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << (jint*)dataToSendPtr;
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I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)dataToSend;
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jbyte returnValue = i2CWrite(port, address, (uint8_t*)dataToSendPtr, sendSize);
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I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2CRead
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* Signature: (BBLjava/nio/ByteBuffer;B)B
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*/
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JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead
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(JNIEnv * env, jclass, jbyte port, jbyte address, jobject dataReceived, jbyte receiveSize)
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{
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CRead";
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I2CJNI_LOG(logDEBUG) << "Port = " << port;
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I2CJNI_LOG(logDEBUG) << "Address = " << address;
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jbyte * dataReceivedPtr = NULL;
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dataReceivedPtr = (jbyte*)env->GetDirectBufferAddress(dataReceived);
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I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*)dataReceivedPtr;
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I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize;
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jbyte returnValue = i2CRead(port, address, (uint8_t*) dataReceivedPtr, receiveSize);
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I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2CClose
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* Signature: (B)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CClose
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(JNIEnv *, jclass, jbyte value)
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{
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2cClose";
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i2CClose(value);
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}
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