mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
f84018af5f
During shared library loading, a different libLLVM can be pulled in, causing llvm symbols from dependent libraries to resolve to that library instead of this one. This has been seen in the wild with the Mesa OpenGL implementation in JavaFX applications (see wpilibsuite/shuffleboard#361). This is clearly a very breaking change. For some level of backwards compatibility, a namespace alias from llvm to wpi is performed in the "llvm" headers. Unfortunately, forward declarations of llvm classes will still break, but compilers seem to generate clear error messages in those cases ("namespace alias 'llvm' not allowed here, assuming 'wpi'"). This change also moves all the wpiutil headers to a single "wpi" subdirectory from the previously split "llvm", "support", "tcpsockets", and "udpsockets". Shim headers will be added for backwards compatibility in a later commit.
197 lines
7.4 KiB
C++
197 lines
7.4 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 "edu_wpi_first_wpilibj_hal_I2CJNI.h"
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#include "HAL/I2C.h"
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#include "HALUtil.h"
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#include "wpi/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 i2cJNILogLevel = logWARNING;
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#define I2CJNI_LOG(level) \
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if (level > i2cJNILogLevel) \
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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_hal_I2CJNI
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* Method: i2cInitialize
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CInitialize(
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JNIEnv* env, jclass, jint port) {
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CInititalize";
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I2CJNI_LOG(logDEBUG) << "Port: " << port;
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int32_t status = 0;
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HAL_InitializeI2C(static_cast<HAL_I2CPort>(port), &status);
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I2CJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatusForceThrow(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2CTransaction
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* Signature: (IBLjava/nio/ByteBuffer;BLjava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransaction(
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JNIEnv* env, jclass, jint port, jbyte address, jobject dataToSend,
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jbyte sendSize, jobject dataReceived, jbyte receiveSize) {
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CTransaction";
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I2CJNI_LOG(logDEBUG) << "Port = " << port;
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I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
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uint8_t* dataToSendPtr = nullptr;
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if (dataToSend != 0) {
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dataToSendPtr = (uint8_t*)env->GetDirectBufferAddress(dataToSend);
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}
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I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << (jint*)dataToSendPtr;
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I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
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uint8_t* dataReceivedPtr =
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(uint8_t*)env->GetDirectBufferAddress(dataReceived);
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I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << (jint*)dataReceivedPtr;
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I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize;
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jint returnValue = HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address, dataToSendPtr, sendSize,
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dataReceivedPtr, receiveSize);
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I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2CTransactionB
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* Signature: (IB[BB[BB)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransactionB(
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JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataToSend,
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jbyte sendSize, jbyteArray dataReceived, jbyte receiveSize) {
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CTransactionB";
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I2CJNI_LOG(logDEBUG) << "Port = " << port;
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I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
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I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
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wpi::SmallVector<uint8_t, 128> recvBuf;
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recvBuf.resize(receiveSize);
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I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize;
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jint returnValue =
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HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address,
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reinterpret_cast<const uint8_t *>(
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JByteArrayRef(env, dataToSend).array().data()),
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sendSize, recvBuf.data(), receiveSize);
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env->SetByteArrayRegion(dataReceived, 0, receiveSize,
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reinterpret_cast<const jbyte *>(recvBuf.data()));
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I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2CWrite
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* Signature: (IBLjava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWrite(
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JNIEnv* env, jclass, jint port, jbyte address, jobject dataToSend,
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jbyte sendSize) {
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CWrite";
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I2CJNI_LOG(logDEBUG) << "Port = " << port;
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I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
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uint8_t* dataToSendPtr = nullptr;
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if (dataToSend != 0) {
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dataToSendPtr = (uint8_t*)env->GetDirectBufferAddress(dataToSend);
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}
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I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
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I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
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jint returnValue = HAL_WriteI2C(static_cast<HAL_I2CPort>(port), address, dataToSendPtr, sendSize);
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I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2CWriteB
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* Signature: (IB[BB)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWriteB(
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JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataToSend,
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jbyte sendSize) {
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CWrite";
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I2CJNI_LOG(logDEBUG) << "Port = " << port;
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I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
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I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
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jint returnValue =
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HAL_WriteI2C(static_cast<HAL_I2CPort>(port), address,
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reinterpret_cast<const uint8_t *>(
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JByteArrayRef(env, dataToSend).array().data()),
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sendSize);
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I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2CRead
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* Signature: (IBLjava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead(
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JNIEnv* env, jclass, jint port, jbyte address, jobject dataReceived,
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jbyte receiveSize) {
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CRead";
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I2CJNI_LOG(logDEBUG) << "Port = " << port;
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I2CJNI_LOG(logDEBUG) << "Address = " << address;
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uint8_t* dataReceivedPtr =
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(uint8_t*)env->GetDirectBufferAddress(dataReceived);
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I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
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I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize;
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jint returnValue = HAL_ReadI2C(static_cast<HAL_I2CPort>(port), address, dataReceivedPtr, receiveSize);
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I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2CReadB
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* Signature: (IB[BB)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CReadB(
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JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataReceived,
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jbyte receiveSize) {
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CRead";
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I2CJNI_LOG(logDEBUG) << "Port = " << port;
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I2CJNI_LOG(logDEBUG) << "Address = " << address;
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I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize;
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wpi::SmallVector<uint8_t, 128> recvBuf;
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recvBuf.resize(receiveSize);
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jint returnValue = HAL_ReadI2C(static_cast<HAL_I2CPort>(port), address, recvBuf.data(), receiveSize);
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env->SetByteArrayRegion(dataReceived, 0, receiveSize,
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reinterpret_cast<const jbyte *>(recvBuf.data()));
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I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_I2CJNI
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* Method: i2CClose
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CClose(JNIEnv*, jclass, jint port) {
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I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CClose";
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HAL_CloseI2C(static_cast<HAL_I2CPort>(port));
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}
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} // extern "C"
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