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.
439 lines
16 KiB
C++
439 lines
16 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_SPIJNI.h"
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#include "HAL/SPI.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 spiJNILogLevel = logWARNING;
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#define SPIJNI_LOG(level) \
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if (level > spiJNILogLevel) \
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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_SPIJNI
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* Method: spiInitialize
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitialize(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitialize";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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HAL_InitializeSPI(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_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_SPIJNI
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* Method: spiTransaction
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* Signature: (ILjava/nio/ByteBuffer;Ljava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransaction(
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JNIEnv *env, jclass, jint port, jobject dataToSend, jobject dataReceived,
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jbyte size) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiTransaction";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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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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uint8_t *dataReceivedPtr =
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(uint8_t *)env->GetDirectBufferAddress(dataReceived);
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
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SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
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jint retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port), dataToSendPtr, dataReceivedPtr, size);
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiTransactionB
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* Signature: (I[B[BB)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransactionB(
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JNIEnv *env, jclass, jint port, jbyteArray dataToSend, jbyteArray dataReceived,
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jbyte size) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiTransactionB";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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wpi::SmallVector<uint8_t, 128> recvBuf;
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recvBuf.resize(size);
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jint retVal =
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HAL_TransactionSPI(static_cast<HAL_SPIPort>(port),
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reinterpret_cast<const uint8_t *>(
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JByteArrayRef(env, dataToSend).array().data()),
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recvBuf.data(), size);
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env->SetByteArrayRegion(dataReceived, 0, size,
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reinterpret_cast<const jbyte *>(recvBuf.data()));
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiWrite
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* Signature: (ILjava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWrite(
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JNIEnv *env, jclass, jint port, jobject dataToSend, jbyte size) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiWrite";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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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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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
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jint retVal = HAL_WriteSPI(static_cast<HAL_SPIPort>(port), dataToSendPtr, size);
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiWriteB
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* Signature: (I[BB)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWriteB(
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JNIEnv *env, jclass, jint port, jbyteArray dataToSend, jbyte size) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiWriteB";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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jint retVal = HAL_WriteSPI(static_cast<HAL_SPIPort>(port),
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reinterpret_cast<const uint8_t *>(
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JByteArrayRef(env, dataToSend).array().data()),
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size);
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiRead
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* Signature: (IZLjava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiRead(
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JNIEnv *env, jclass, jint port, jboolean initiate, jobject dataReceived, jbyte size) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiRead";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Initiate = " << (jboolean)initiate;
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uint8_t *dataReceivedPtr =
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(uint8_t *)env->GetDirectBufferAddress(dataReceived);
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
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jint retVal;
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if (initiate) {
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wpi::SmallVector<uint8_t, 128> sendBuf;
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sendBuf.resize(size);
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retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port), sendBuf.data(), dataReceivedPtr, size);
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} else {
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retVal = HAL_ReadSPI(static_cast<HAL_SPIPort>(port), (uint8_t *)dataReceivedPtr, size);
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}
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiReadB
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* Signature: (IZ[BB)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadB(
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JNIEnv *env, jclass, jint port, jboolean initiate, jbyteArray dataReceived, jbyte size) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadB";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Initiate = " << (jboolean)initiate;
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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jint retVal;
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wpi::SmallVector<uint8_t, 128> recvBuf;
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recvBuf.resize(size);
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if (initiate) {
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wpi::SmallVector<uint8_t, 128> sendBuf;
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sendBuf.resize(size);
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retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port), sendBuf.data(), recvBuf.data(), size);
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} else {
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retVal = HAL_ReadSPI(static_cast<HAL_SPIPort>(port), recvBuf.data(), size);
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}
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env->SetByteArrayRegion(dataReceived, 0, size,
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reinterpret_cast<const jbyte *>(recvBuf.data()));
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiClose
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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_SPIJNI_spiClose(JNIEnv *, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiClose";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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HAL_CloseSPI(static_cast<HAL_SPIPort>(port));
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetSpeed
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetSpeed(
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JNIEnv *, jclass, jint port, jint speed) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetSpeed";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "Speed = " << (jint)speed;
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HAL_SetSPISpeed(static_cast<HAL_SPIPort>(port), speed);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetOpts
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* Signature: (IIII)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetOpts(
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JNIEnv *, jclass, jint port, jint msb_first, jint sample_on_trailing,
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jint clk_idle_high) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetOpts";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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SPIJNI_LOG(logDEBUG) << "msb_first = " << msb_first;
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SPIJNI_LOG(logDEBUG) << "sample_on_trailing = " << sample_on_trailing;
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SPIJNI_LOG(logDEBUG) << "clk_idle_high = " << clk_idle_high;
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HAL_SetSPIOpts(static_cast<HAL_SPIPort>(port), msb_first, sample_on_trailing, clk_idle_high);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetChipSelectActiveHigh
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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_SPIJNI_spiSetChipSelectActiveHigh(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveHigh";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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HAL_SetSPIChipSelectActiveHigh(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetChipSelectActiveLow
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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_SPIJNI_spiSetChipSelectActiveLow(
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JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveLow";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
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int32_t status = 0;
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HAL_SetSPIChipSelectActiveLow(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiInitAuto
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* Signature: (II)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitAuto
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(JNIEnv *env, jclass, jint port, jint bufferSize) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitAuto";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "BufferSize = " << bufferSize;
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int32_t status = 0;
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HAL_InitSPIAuto(static_cast<HAL_SPIPort>(port), bufferSize, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiFreeAuto
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiFreeAuto
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(JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiFreeAuto";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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int32_t status = 0;
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HAL_FreeSPIAuto(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiStartAutoRate
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* Signature: (ID)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStartAutoRate
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(JNIEnv *env, jclass, jint port, jdouble period) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStartAutoRate";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "Period = " << period;
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int32_t status = 0;
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HAL_StartSPIAutoRate(static_cast<HAL_SPIPort>(port), period, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiStartAutoTrigger
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* Signature: (IIIZZ)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStartAutoTrigger
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(JNIEnv *env, jclass, jint port, jint digitalSourceHandle, jint analogTriggerType, jboolean triggerRising, jboolean triggerFalling) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStartAutoTrigger";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "DigitalSourceHandle = " << digitalSourceHandle;
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SPIJNI_LOG(logDEBUG) << "AnalogTriggerType = " << analogTriggerType;
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SPIJNI_LOG(logDEBUG) << "TriggerRising = " << (jint)triggerRising;
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SPIJNI_LOG(logDEBUG) << "TriggerFalling = " << (jint)triggerFalling;
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int32_t status = 0;
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HAL_StartSPIAutoTrigger(static_cast<HAL_SPIPort>(port), digitalSourceHandle,
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static_cast<HAL_AnalogTriggerType>(analogTriggerType), triggerRising,
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triggerFalling, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiStopAuto
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiStopAuto
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(JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStopAuto";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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int32_t status = 0;
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HAL_StopSPIAuto(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetAutoTransmitData
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* Signature: (I[BI)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetAutoTransmitData
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(JNIEnv *env, jclass, jint port, jbyteArray dataToSend, jint zeroSize) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAutoTransmitData";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "ZeroSize = " << zeroSize;
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JByteArrayRef jarr(env, dataToSend);
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int32_t status = 0;
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HAL_SetSPIAutoTransmitData(static_cast<HAL_SPIPort>(port),
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reinterpret_cast<const uint8_t*>(jarr.array().data()),
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jarr.array().size(), zeroSize, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiForceAutoRead
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiForceAutoRead
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(JNIEnv *env, jclass, jint port) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiForceAutoRead";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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int32_t status = 0;
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HAL_ForceSPIAutoRead(static_cast<HAL_SPIPort>(port), &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiReadAutoReceivedData
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* Signature: (ILjava/nio/ByteBuffer;ID)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadAutoReceivedData__ILjava_nio_ByteBuffer_2ID
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(JNIEnv *env, jclass, jint port, jobject buffer, jint numToRead, jdouble timeout) {
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadAutoReceivedData";
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SPIJNI_LOG(logDEBUG) << "Port = " << port;
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SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
|
|
SPIJNI_LOG(logDEBUG) << "Timeout = " << timeout;
|
|
uint8_t *recvBuf = (uint8_t *)env->GetDirectBufferAddress(buffer);
|
|
int32_t status = 0;
|
|
jint retval = HAL_ReadSPIAutoReceivedData(static_cast<HAL_SPIPort>(port), recvBuf, numToRead, timeout, &status);
|
|
SPIJNI_LOG(logDEBUG) << "Status = " << status;
|
|
SPIJNI_LOG(logDEBUG) << "Return = " << retval;
|
|
CheckStatus(env, status);
|
|
return retval;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
|
* Method: spiReadAutoReceivedData
|
|
* Signature: (I[BID)I
|
|
*/
|
|
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiReadAutoReceivedData__I_3BID
|
|
(JNIEnv *env, jclass, jint port, jbyteArray buffer, jint numToRead, jdouble timeout) {
|
|
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadAutoReceivedData";
|
|
SPIJNI_LOG(logDEBUG) << "Port = " << port;
|
|
SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
|
|
SPIJNI_LOG(logDEBUG) << "Timeout = " << timeout;
|
|
wpi::SmallVector<uint8_t, 128> recvBuf;
|
|
recvBuf.resize(numToRead);
|
|
int32_t status = 0;
|
|
jint retval = HAL_ReadSPIAutoReceivedData(static_cast<HAL_SPIPort>(port), recvBuf.data(), numToRead, timeout, &status);
|
|
SPIJNI_LOG(logDEBUG) << "Status = " << status;
|
|
SPIJNI_LOG(logDEBUG) << "Return = " << retval;
|
|
if (!CheckStatus(env, status)) return retval;
|
|
if (numToRead > 0) {
|
|
env->SetByteArrayRegion(buffer, 0, numToRead,
|
|
reinterpret_cast<const jbyte *>(recvBuf.data()));
|
|
}
|
|
return retval;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_SPIJNI
|
|
* Method: spiGetAutoDroppedCount
|
|
* Signature: (I)I
|
|
*/
|
|
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiGetAutoDroppedCount
|
|
(JNIEnv *env, jclass, jint port) {
|
|
SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAutoDroppedCount";
|
|
SPIJNI_LOG(logDEBUG) << "Port = " << port;
|
|
int32_t status = 0;
|
|
auto retval = HAL_GetSPIAutoDroppedCount(static_cast<HAL_SPIPort>(port), &status);
|
|
SPIJNI_LOG(logDEBUG) << "Status = " << status;
|
|
SPIJNI_LOG(logDEBUG) << "Return = " << retval;
|
|
CheckStatus(env, status);
|
|
return retval;
|
|
}
|
|
|
|
} // extern "C"
|