mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
154 lines
4.6 KiB
C++
154 lines
4.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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 <assert.h>
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#include <jni.h>
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#include "HAL/cpp/Log.h"
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#include "HAL/CAN.h"
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#include "HALUtil.h"
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#include "edu_wpi_first_wpilibj_can_CANJNI.h"
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#include "llvm/SmallString.h"
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#include "llvm/raw_ostream.h"
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#include "support/jni_util.h"
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using namespace frc;
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using namespace wpi::java;
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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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; \
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else \
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Log().Get(level)
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extern "C" {
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/*
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* Class: edu_wpi_first_wpilibj_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_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxSendMessage(
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JNIEnv *env, jclass, jint messageID, jbyteArray data, jint periodMs) {
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CANJNI_LOG(logDEBUG)
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<< "Calling CANJNI FRCNetCommCANSessionMuxSendMessage";
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JByteArrayRef dataArray{env, data};
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const uint8_t *dataBuffer = reinterpret_cast<const uint8_t*>(dataArray.array().data());
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uint8_t dataSize = dataArray.array().size();
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CANJNI_LOG(logDEBUG) << "Message ID ";
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CANJNI_LOG(logDEBUG).write_hex(messageID);
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if (logDEBUG <= canJNILogLevel) {
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if (dataBuffer) {
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llvm::SmallString<128> buf;
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llvm::raw_svector_ostream str(buf);
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for (int32_t i = 0; i < dataSize; i++) {
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str.write_hex(dataBuffer[i]) << ' ';
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}
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Log().Get(logDEBUG) << "Data: " << str.str();
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} else {
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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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int32_t status = 0;
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HAL_CAN_SendMessage(
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messageID, dataBuffer, dataSize, periodMs, &status);
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CANJNI_LOG(logDEBUG) << "Status: " << 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_wpilibj_can_CANJNI
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* Method: FRCNetCommCANSessionMuxReceiveMessage
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* Signature: (Ljava/nio/IntBuffer;ILjava/nio/ByteBuffer;)[B
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*/
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JNIEXPORT jbyteArray JNICALL
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Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage(
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JNIEnv *env, jclass, jobject messageID, jint messageIDMask,
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jobject timeStamp) {
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CANJNI_LOG(logDEBUG)
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<< "Calling CANJNI FRCNetCommCANSessionMuxReceiveMessage";
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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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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(
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messageIDPtr, messageIDMask, buffer, &dataSize, timeStampPtr, &status);
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CANJNI_LOG(logDEBUG) << "Message ID ";
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CANJNI_LOG(logDEBUG).write_hex(*messageIDPtr);
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if (logDEBUG <= canJNILogLevel) {
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llvm::SmallString<128> buf;
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llvm::raw_svector_ostream str(buf);
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for (int32_t i = 0; i < dataSize; i++) {
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// Pad one-digit data with a zero
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if (buffer[i] <= 16) {
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str << '0';
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}
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str.write_hex(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: " << status;
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if (!CheckCANStatus(env, status, *messageIDPtr)) return nullptr;
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return MakeJByteArray(env, llvm::StringRef{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_wpilibj_can_CANJNI
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* Method: GetCANStatus
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* Signature: (Ledu/wpi/first/wpilibj/can/CANStatus;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_GetCANStatus
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(JNIEnv *env, jclass, jobject canStatus) {
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CANJNI_LOG(logDEBUG)
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<< "Calling CANJNI HAL_CAN_GetCANStatus";
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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)) return;
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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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