mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
fe5d7dd6ba
Also switch eventName and gameSpecificData to fixed 64-byte arrays to avoid mallocs and extra NetComm calls. This behavior matches 2018 LabView. The DS caching is kept in Java to avoid JNI and/or massive amounts of allocations. This does not increase latency because Java still only hits NetComm once. Moving the DS caching benefits all languages other than Java, because it avoids the need for individual implementations. If caching is ever added to NetComm, it will then only be necessary to remove it from the HAL and Java rather than all languages.
471 lines
12 KiB
C++
471 lines
12 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 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 "HAL/HAL.h"
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#include <jni.h>
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#include <cassert>
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#include <cstring>
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#include <wpi/jni_util.h>
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#include "HAL/DriverStation.h"
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#include "HAL/cpp/Log.h"
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#include "HALUtil.h"
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#include "edu_wpi_first_wpilibj_hal_HAL.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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static TLogLevel netCommLogLevel = logWARNING;
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#define NETCOMM_LOG(level) \
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if (level > netCommLogLevel) \
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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_HAL
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* Method: initialize
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* Signature: (II)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_initialize
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(JNIEnv*, jclass, jint timeout, jint mode)
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{
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return HAL_Initialize(timeout, mode);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: observeUserProgramStarting
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramStarting
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(JNIEnv*, jclass)
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{
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HAL_ObserveUserProgramStarting();
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: observeUserProgramDisabled
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramDisabled
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(JNIEnv*, jclass)
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{
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HAL_ObserveUserProgramDisabled();
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: observeUserProgramAutonomous
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramAutonomous
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(JNIEnv*, jclass)
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{
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HAL_ObserveUserProgramAutonomous();
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: observeUserProgramTeleop
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTeleop
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(JNIEnv*, jclass)
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{
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HAL_ObserveUserProgramTeleop();
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: observeUserProgramTest
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTest
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(JNIEnv*, jclass)
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{
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HAL_ObserveUserProgramTest();
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: report
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* Signature: (IIILjava/lang/String;)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_report
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(JNIEnv* paramEnv, jclass, jint paramResource, jint paramInstanceNumber,
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jint paramContext, jstring paramFeature)
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{
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JStringRef featureStr{paramEnv, paramFeature};
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NETCOMM_LOG(logDEBUG) << "Calling HAL report "
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<< "res:" << paramResource
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<< " instance:" << paramInstanceNumber
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<< " context:" << paramContext
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<< " feature:" << featureStr.c_str();
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jint returnValue = HAL_Report(paramResource, paramInstanceNumber,
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paramContext, featureStr.c_str());
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: nativeGetControlWord
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetControlWord
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(JNIEnv*, jclass)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word";
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static_assert(sizeof(HAL_ControlWord) == sizeof(jint),
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"Java int must match the size of control word");
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HAL_ControlWord controlWord;
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std::memset(&controlWord, 0, sizeof(HAL_ControlWord));
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HAL_GetControlWord(&controlWord);
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jint retVal = 0;
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std::memcpy(&retVal, &controlWord, sizeof(HAL_ControlWord));
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: nativeGetAllianceStation
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetAllianceStation
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(JNIEnv*, jclass)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station";
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int32_t status = 0;
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auto allianceStation = HAL_GetAllianceStation(&status);
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return static_cast<jint>(allianceStation);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getJoystickAxes
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* Signature: (B[F)S
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*/
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JNIEXPORT jshort JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxes
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(JNIEnv* env, jclass, jbyte joystickNum, jfloatArray axesArray)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes";
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HAL_JoystickAxes axes;
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HAL_GetJoystickAxes(joystickNum, &axes);
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jsize javaSize = env->GetArrayLength(axesArray);
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if (axes.count > javaSize) {
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ThrowIllegalArgumentException(
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env, "Native array size larger then passed in java array size");
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}
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env->SetFloatArrayRegion(axesArray, 0, axes.count, axes.axes);
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return axes.count;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getJoystickPOVs
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* Signature: (B[S)S
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*/
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JNIEXPORT jshort JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickPOVs
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(JNIEnv* env, jclass, jbyte joystickNum, jshortArray povsArray)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs";
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HAL_JoystickPOVs povs;
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HAL_GetJoystickPOVs(joystickNum, &povs);
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jsize javaSize = env->GetArrayLength(povsArray);
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if (povs.count > javaSize) {
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ThrowIllegalArgumentException(
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env, "Native array size larger then passed in java array size");
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}
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env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs);
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return povs.count;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getJoystickButtons
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* Signature: (BLjava/lang/Object;)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickButtons
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(JNIEnv* env, jclass, jbyte joystickNum, jobject count)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons";
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HAL_JoystickButtons joystickButtons;
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HAL_GetJoystickButtons(joystickNum, &joystickButtons);
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jbyte* countPtr =
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reinterpret_cast<jbyte*>(env->GetDirectBufferAddress(count));
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NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons;
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NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count;
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*countPtr = joystickButtons.count;
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NETCOMM_LOG(logDEBUG) << "CountBuffer = " << (jint)*countPtr;
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return joystickButtons.buttons;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: setJoystickOutputs
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* Signature: (BISS)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_setJoystickOutputs
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(JNIEnv*, jclass, jbyte port, jint outputs, jshort leftRumble,
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jshort rightRumble)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HAL_SetJoystickOutputs on port " << port;
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NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs;
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NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble
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<< " Right Rumble: " << rightRumble;
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return HAL_SetJoystickOutputs(port, outputs, leftRumble, rightRumble);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getJoystickIsXbox
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* Signature: (B)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickIsXbox
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(JNIEnv*, jclass, jbyte port)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickIsXbox";
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return HAL_GetJoystickIsXbox(port);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getJoystickType
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* Signature: (B)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickType
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(JNIEnv*, jclass, jbyte port)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickType";
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return HAL_GetJoystickType(port);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getJoystickName
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* Signature: (B)Ljava/lang/String;
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*/
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JNIEXPORT jstring JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickName
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(JNIEnv* env, jclass, jbyte port)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickName";
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char* joystickName = HAL_GetJoystickName(port);
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jstring str = MakeJString(env, joystickName);
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HAL_FreeJoystickName(joystickName);
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return str;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getJoystickAxisType
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* Signature: (BB)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxisType
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(JNIEnv*, jclass, jbyte joystickNum, jbyte axis)
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{
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NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickAxisType";
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return HAL_GetJoystickAxisType(joystickNum, axis);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: isNewControlData
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_isNewControlData
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(JNIEnv*, jclass)
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{
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return static_cast<jboolean>(HAL_IsNewControlData());
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: waitForDSData
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_waitForDSData
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(JNIEnv* env, jclass)
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{
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HAL_WaitForDSData();
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: releaseDSMutex
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* Signature: ()V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_releaseDSMutex
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(JNIEnv* env, jclass)
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{
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HAL_ReleaseDSMutex();
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: waitForDSDataTimeout
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* Signature: (D)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_waitForDSDataTimeout
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(JNIEnv*, jclass, jdouble timeout)
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{
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return static_cast<jboolean>(HAL_WaitForDSDataTimeout(timeout));
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getMatchTime
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* Signature: ()D
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*/
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getMatchTime
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(JNIEnv* env, jclass)
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{
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int32_t status = 0;
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return HAL_GetMatchTime(&status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getSystemActive
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getSystemActive
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(JNIEnv* env, jclass)
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{
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int32_t status = 0;
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bool val = HAL_GetSystemActive(&status);
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CheckStatus(env, status);
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return val;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getBrownedOut
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getBrownedOut
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(JNIEnv* env, jclass)
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{
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int32_t status = 0;
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bool val = HAL_GetBrownedOut(&status);
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CheckStatus(env, status);
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return val;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getMatchInfo
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* Signature: (Ljava/lang/Object;)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getMatchInfo
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(JNIEnv* env, jclass, jobject info)
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{
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HAL_MatchInfo matchInfo;
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auto status = HAL_GetMatchInfo(&matchInfo);
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if (status == 0) {
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SetMatchInfoObject(env, info, matchInfo);
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}
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return status;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: sendError
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* Signature: (ZIZLjava/lang/String;Ljava/lang/String;Ljava/lang/String;Z)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_sendError
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(JNIEnv* env, jclass, jboolean isError, jint errorCode, jboolean isLVCode,
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jstring details, jstring location, jstring callStack, jboolean printMsg)
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{
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JStringRef detailsStr{env, details};
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JStringRef locationStr{env, location};
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JStringRef callStackStr{env, callStack};
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NETCOMM_LOG(logDEBUG) << "Send Error: " << detailsStr.c_str();
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NETCOMM_LOG(logDEBUG) << "Location: " << locationStr.c_str();
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NETCOMM_LOG(logDEBUG) << "Call Stack: " << callStackStr.c_str();
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jint returnValue =
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HAL_SendError(isError, errorCode, isLVCode, detailsStr.c_str(),
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locationStr.c_str(), callStackStr.c_str(), printMsg);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getPortWithModule
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* Signature: (BB)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getPortWithModule
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(JNIEnv* env, jclass, jbyte module, jbyte channel)
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{
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// FILE_LOG(logDEBUG) << "Calling HAL getPortWithModlue";
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// FILE_LOG(logDEBUG) << "Module = " << (jint)module;
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// FILE_LOG(logDEBUG) << "Channel = " << (jint)channel;
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HAL_PortHandle port = HAL_GetPortWithModule(module, channel);
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// FILE_LOG(logDEBUG) << "Port Handle = " << port;
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return (jint)port;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_HAL
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* Method: getPort
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* Signature: (B)I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_wpilibj_hal_HAL_getPort
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(JNIEnv* env, jclass, jbyte channel)
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{
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// FILE_LOG(logDEBUG) << "Calling HAL getPortWithModlue";
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// FILE_LOG(logDEBUG) << "Module = " << (jint)module;
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// FILE_LOG(logDEBUG) << "Channel = " << (jint)channel;
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HAL_PortHandle port = HAL_GetPort(channel);
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// FILE_LOG(logDEBUG) << "Port Handle = " << port;
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return (jint)port;
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}
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} // extern "C"
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