mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
227084e92e
This makes it much more user-friendly to use simulation classes without needing to ifdef for C++ to avoid linker errors or be very careful about construction to avoid runtime errors in Java.
121 lines
3.9 KiB
C++
121 lines
3.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2020 FIRST. 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 "ConstBufferCallbackStore.h"
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#include <jni.h>
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#include <wpi/jni_util.h>
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#include "SimulatorJNI.h"
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#include "hal/Types.h"
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#include "hal/Value.h"
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#include "hal/handles/UnlimitedHandleResource.h"
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#include "hal/simulation/NotifyListener.h"
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using namespace hal;
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using namespace hal::sim;
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using namespace wpi::java;
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static hal::UnlimitedHandleResource<SIM_JniHandle, ConstBufferCallbackStore,
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hal::HAL_HandleEnum::SimulationJni>*
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callbackHandles;
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namespace hal {
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namespace sim {
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void InitializeConstBufferStore() {
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static hal::UnlimitedHandleResource<SIM_JniHandle, ConstBufferCallbackStore,
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hal::HAL_HandleEnum::SimulationJni>
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cb;
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callbackHandles = &cb;
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}
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} // namespace sim
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} // namespace hal
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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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wpi::outs() << "Failed to attach\n";
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wpi::outs().flush();
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return;
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}
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} else if (tryGetEnv == JNI_EVERSION) {
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wpi::outs() << "Invalid JVM Version requested\n";
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wpi::outs().flush();
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}
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auto toCallbackArr =
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MakeJByteArray(env, wpi::StringRef{reinterpret_cast<const char*>(buffer),
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static_cast<size_t>(length)});
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env->CallVoidMethod(m_call, sim::GetConstBufferCallback(),
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MakeJString(env, name), toCallbackArr, (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) { m_call.free(env); }
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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) return;
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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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freeCallback(index, callback->getCallbackId());
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callback->free(env);
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}
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