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101 lines
3.5 KiB
C++
101 lines
3.5 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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#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 <string_view>
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struct HAL_MatchInfo;
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struct HAL_Value;
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namespace hal {
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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) {
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ReportError(env, status, doThrow);
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}
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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) {
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ThrowError(env, status, minRange, maxRange, requestedValue);
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}
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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) {
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ThrowError(env, status, 0, 0, 0);
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}
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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) {
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ReportCANError(env, status, message_id);
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}
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return status == 0;
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}
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void ThrowNullPointerException(JNIEnv* env, std::string_view msg);
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void ThrowCANStreamOverflowException(JNIEnv* env, jobjectArray messages,
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jint length);
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void ThrowIllegalArgumentException(JNIEnv* env, std::string_view 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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jobject CreateREVPHVersion(JNIEnv* env, uint32_t firmwareMajor,
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uint32_t firmwareMinor, uint32_t firmwareFix,
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uint32_t hardwareMinor, uint32_t hardwareMajor,
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uint32_t uniqueId);
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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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jbyteArray SetCANDataObject(JNIEnv* env, jobject canData, int32_t length,
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uint64_t timestamp);
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jbyteArray SetCANStreamObject(JNIEnv* env, jobject canStreamData,
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int32_t length, uint32_t messageID,
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uint64_t timestamp);
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jobject CreateHALValue(JNIEnv* env, const HAL_Value& value);
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jobject CreatePowerDistributionVersion(JNIEnv* env, uint32_t firmwareMajor,
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uint32_t firmwareMinor,
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uint32_t firmwareFix,
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uint32_t hardwareMinor,
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uint32_t hardwareMajor,
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uint32_t uniqueId);
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jobject CreateCANStreamMessage(JNIEnv* env);
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JavaVM* GetJVM();
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} // namespace hal
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#endif // HAL_HAL_SRC_MAIN_NATIVE_CPP_JNI_HALUTIL_H_
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