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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
101 lines
3.3 KiB
C++
101 lines
3.3 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_can_CANJNI.h"
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#include "HAL/CAN.hpp"
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#include "FRC_NetworkCommunication/CANSessionMux.h"
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// set the logging level
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//TLogLevel canJNILogLevel = logDEBUG;
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TLogLevel canJNILogLevel = logERROR;
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#define CANJNI_LOG(level) \
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if (level > canJNILogLevel) ; \
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else Log().Get(level)
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/*
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* Class: edu_wpi_first_wpilibj_can_CANJNI
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* Method: FRCNetworkCommunicationCANSessionMuxSendMessage
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* Signature: (ILjava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxSendMessage
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(JNIEnv * env, jclass, jint messageID, jobject data, jint periodMs, jobject status)
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{
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CANJNI_LOG(logDEBUG) << "Calling CANJNI FRCNetworkCommunicationCANSessionMuxSendMessage";
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uint8_t *dataBuffer = (uint8_t *)(data? env->GetDirectBufferAddress(data) : 0);
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uint8_t dataSize = (uint8_t)(data? env->GetDirectBufferCapacity(data) : 0);
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int32_t *statusPtr = (int32_t *)env->GetDirectBufferAddress(status);
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CANJNI_LOG(logDEBUG) << "Message ID " << std::hex << messageID;
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if(logDEBUG <= canJNILogLevel)
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{
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if(dataBuffer)
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{
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std::ostringstream str;
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str << std::setfill('0') << std::hex;
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for(int i = 0; i < dataSize; i++)
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{
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str << std::setw(2) << (int)dataBuffer[i] << ' ';
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}
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Log().Get(logDEBUG) << "Data: " << str.str();
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}
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else
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{
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CANJNI_LOG(logDEBUG) << "Data: null";
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}
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}
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CANJNI_LOG(logDEBUG) << "Period: " << periodMs;
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*statusPtr = 0;
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FRC_NetworkCommunication_CANSessionMux_sendMessage(messageID, dataBuffer, dataSize, periodMs, statusPtr);
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CANJNI_LOG(logDEBUG) << "Status: " << *statusPtr;
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}
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static uint8_t buffer[8];
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/*
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* Class: edu_wpi_first_wpilibj_can_CANJNI
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* Method: FRCNetworkCommunicationCANSessionMuxReceiveMessage
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* Signature: (Ljava/nio/IntBuffer;ILjava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxReceiveMessage
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(JNIEnv * env, jclass, jobject messageID, jint messageIDMask, jobject timeStamp, jobject status)
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{
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CANJNI_LOG(logDEBUG) << "Calling CANJNI FRCNetworkCommunicationCANSessionMuxReceiveMessage";
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uint32_t *messageIDPtr = (uint32_t *)env->GetDirectBufferAddress(messageID);
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uint32_t *timeStampPtr = (uint32_t *)env->GetDirectBufferAddress(timeStamp);
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int32_t *statusPtr = (int32_t *)env->GetDirectBufferAddress(status);
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uint8_t dataSize = 0;
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*statusPtr = 0;
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FRC_NetworkCommunication_CANSessionMux_receiveMessage(messageIDPtr, messageIDMask, buffer, &dataSize, timeStampPtr, statusPtr);
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CANJNI_LOG(logDEBUG) << "Message ID " << std::hex << *messageIDPtr;
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if(logDEBUG <= canJNILogLevel)
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{
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std::ostringstream str;
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str << std::setfill('0') << std::hex;
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for(int i = 0; i < dataSize; i++)
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{
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str << std::setw(2) << (int)buffer[i] << ' ';
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}
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Log().Get(logDEBUG) << "Data: " << str.str();
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}
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CANJNI_LOG(logDEBUG) << "Timestamp: " << *timeStampPtr;
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CANJNI_LOG(logDEBUG) << "Status: " << *statusPtr;
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return env->NewDirectByteBuffer(buffer, dataSize);
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}
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