mirror of
https://github.com/wpilibsuite/allwpilib
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95dd20a151
Benign spotbugs warnings were suppressed, and all others were fixed. Bug descriptions are documented here: https://spotbugs.readthedocs.io/en/stable/bugDescriptions.html Co-authored-by: Austin Shalit <austinshalit@gmail.com>
97 lines
2.7 KiB
C++
97 lines
2.7 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <jni.h>
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#include <cassert>
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#include <wpi/jni_util.h>
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#include "HALUtil.h"
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#include "edu_wpi_first_hal_can_CANJNI.h"
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#include "hal/CAN.h"
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using namespace hal;
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using namespace wpi::java;
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extern "C" {
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/*
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* Class: edu_wpi_first_hal_can_CANJNI
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* Method: FRCNetCommCANSessionMuxSendMessage
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* Signature: (I[BI)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_can_CANJNI_FRCNetCommCANSessionMuxSendMessage
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(JNIEnv* env, jclass, jint messageID, jbyteArray data, jint periodMs)
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{
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JByteArrayRef dataArray{env, data};
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const uint8_t* dataBuffer =
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reinterpret_cast<const uint8_t*>(dataArray.array().data());
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uint8_t dataSize = dataArray.array().size();
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int32_t status = 0;
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HAL_CAN_SendMessage(messageID, dataBuffer, dataSize, periodMs, &status);
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CheckCANStatus(env, status, messageID);
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}
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/*
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* Class: edu_wpi_first_hal_can_CANJNI
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* Method: FRCNetCommCANSessionMuxReceiveMessage
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* Signature: (Ljava/lang/Object;ILjava/lang/Object;)[B
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*/
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JNIEXPORT jbyteArray JNICALL
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Java_edu_wpi_first_hal_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage
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(JNIEnv* env, jclass, jobject messageID, jint messageIDMask,
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jobject timeStamp)
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{
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uint32_t* messageIDPtr =
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reinterpret_cast<uint32_t*>(env->GetDirectBufferAddress(messageID));
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uint32_t* timeStampPtr =
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reinterpret_cast<uint32_t*>(env->GetDirectBufferAddress(timeStamp));
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uint8_t dataSize = 0;
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uint8_t buffer[8];
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int32_t status = 0;
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HAL_CAN_ReceiveMessage(messageIDPtr, messageIDMask, buffer, &dataSize,
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timeStampPtr, &status);
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if (!CheckCANStatus(env, status, *messageIDPtr)) {
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return nullptr;
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}
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return MakeJByteArray(env,
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std::string_view{reinterpret_cast<const char*>(buffer),
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static_cast<size_t>(dataSize)});
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}
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/*
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* Class: edu_wpi_first_hal_can_CANJNI
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* Method: getCANStatus
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* Signature: (Ljava/lang/Object;)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_can_CANJNI_getCANStatus
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(JNIEnv* env, jclass, jobject canStatus)
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{
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float percentBusUtilization = 0;
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uint32_t busOffCount = 0;
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uint32_t txFullCount = 0;
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uint32_t receiveErrorCount = 0;
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uint32_t transmitErrorCount = 0;
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int32_t status = 0;
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HAL_CAN_GetCANStatus(&percentBusUtilization, &busOffCount, &txFullCount,
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&receiveErrorCount, &transmitErrorCount, &status);
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if (!CheckStatus(env, status)) {
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return;
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}
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SetCanStatusObject(env, canStatus, percentBusUtilization, busOffCount,
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txFullCount, receiveErrorCount, transmitErrorCount);
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}
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} // extern "C"
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