mirror of
https://github.com/wpilibsuite/allwpilib
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124 lines
3.6 KiB
C++
124 lines
3.6 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 "ConstBufferCallbackStore.hpp"
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#include <jni.h>
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#include <cstdio>
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#include <memory>
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#include "SimulatorJNI.hpp"
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#include "wpi/hal/Types.h"
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#include "wpi/hal/handles/UnlimitedHandleResource.hpp"
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#include "wpi/util/jni_util.hpp"
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using namespace wpi::hal;
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using namespace wpi::hal::sim;
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using namespace wpi::util::java;
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static wpi::hal::UnlimitedHandleResource<
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SIM_JniHandle, ConstBufferCallbackStore,
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wpi::hal::HAL_HandleEnum::SimulationJni>* callbackHandles;
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namespace wpi::hal::sim {
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void InitializeConstBufferStore() {
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static wpi::hal::UnlimitedHandleResource<
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SIM_JniHandle, ConstBufferCallbackStore,
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wpi::hal::HAL_HandleEnum::SimulationJni>
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cb;
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callbackHandles = &cb;
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}
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} // namespace wpi::hal::sim
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void ConstBufferCallbackStore::create(JNIEnv* env, jobject obj) {
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m_call = JGlobal<jobject>(env, obj);
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}
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void ConstBufferCallbackStore::performCallback(const char* name,
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const uint8_t* buffer,
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uint32_t length) {
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JNIEnv* env;
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JavaVM* vm = sim::GetJVM();
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bool didAttachThread = false;
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int tryGetEnv = vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6);
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if (tryGetEnv == JNI_EDETACHED) {
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// Thread not attached
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didAttachThread = true;
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if (vm->AttachCurrentThread(reinterpret_cast<void**>(&env), nullptr) != 0) {
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// Failed to attach, log and return
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std::puts("Failed to attach");
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std::fflush(stdout);
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return;
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}
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} else if (tryGetEnv == JNI_EVERSION) {
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std::puts("Invalid JVM Version requested");
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std::fflush(stdout);
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}
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auto toCallbackArr =
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MakeJByteArray(env, {buffer, static_cast<size_t>(length)});
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env->CallVoidMethod(m_call, sim::GetConstBufferCallback(),
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MakeJString(env, name), toCallbackArr,
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static_cast<jint>(length));
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if (env->ExceptionCheck()) {
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env->ExceptionDescribe();
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}
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if (didAttachThread) {
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vm->DetachCurrentThread();
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}
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}
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void ConstBufferCallbackStore::free(JNIEnv* env) {
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m_call.free(env);
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}
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SIM_JniHandle sim::AllocateConstBufferCallback(
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JNIEnv* env, jint index, jobject callback,
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RegisterConstBufferCallbackFunc createCallback) {
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auto callbackStore = std::make_shared<ConstBufferCallbackStore>();
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auto handle = callbackHandles->Allocate(callbackStore);
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if (handle == HAL_kInvalidHandle) {
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return -1;
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}
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uintptr_t handleAsPtr = static_cast<uintptr_t>(handle);
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void* handleAsVoidPtr = reinterpret_cast<void*>(handleAsPtr);
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callbackStore->create(env, callback);
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auto callbackFunc = [](const char* name, void* param, const uint8_t* buffer,
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uint32_t length) {
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uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
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SIM_JniHandle handle = static_cast<SIM_JniHandle>(handleTmp);
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auto data = callbackHandles->Get(handle);
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if (!data) {
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return;
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}
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data->performCallback(name, buffer, length);
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};
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auto id = createCallback(index, callbackFunc, handleAsVoidPtr);
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callbackStore->setCallbackId(id);
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return handle;
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}
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void sim::FreeConstBufferCallback(JNIEnv* env, SIM_JniHandle handle, jint index,
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FreeConstBufferCallbackFunc freeCallback) {
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auto callback = callbackHandles->Free(handle);
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if (callback == nullptr) {
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return;
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}
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freeCallback(index, callback->getCallbackId());
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callback->free(env);
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}
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