/*
* Class: edu_wpi_first_wpilibj_can_CANJNI
* Method: FRCNetworkCommunicationCANSessionMuxReceiveMessage
* Signature: (Ljava/nio/IntBuffer;ILjava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxReceiveMessage
(JNIEnv * env, jclass, jobject messageID, jint messageIDMask, jobject timeStamp, jobject status)
{
CANJNI_LOG(logDEBUG) << "Calling CANJNI FRCNetworkCommunicationCANSessionMuxReceiveMessage";
uint32_t *messageIDPtr = (uint32_t *)env->GetDirectBufferAddress(messageID);
uint32_t *timeStampPtr = (uint32_t *)env->GetDirectBufferAddress(timeStamp);
int32_t *statusPtr = (int32_t *)env->GetDirectBufferAddress(status);
uint8_t dataSize = 0;
FRC_NetworkCommunication_CANSessionMux_receiveMessage(messageIDPtr, messageIDMask, buffer, &dataSize, timeStampPtr, statusPtr);
CANJNI_LOG(logDEBUG) << "Message ID " << std::hex << *messageIDPtr;
if(logDEBUG <= canJNILogLevel)
{
std::ostringstream str;
str << std::setfill('0') << std::hex;
for(int i = 0; i < dataSize; i++)
{
str << std::setw(2) << (int)buffer[i] << ' ';
}
Log().Get(logDEBUG) << "Data: " << str.str();
}
CANJNI_LOG(logDEBUG) << "Timestamp: " << *timeStampPtr;
CANJNI_LOG(logDEBUG) << "Status: " << *statusPtr;
return env->NewDirectByteBuffer(buffer, dataSize);
}
CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
{
CTR_Code retval = CTR_OKAY;
int32_t status = 0;
uint8_t len = 0;
uint32_t timeStamp;
/* cap timeout at 999ms */
if(timeoutMs > 999)
timeoutMs = 999;
FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
if(status == 0){
/* fresh update */
rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
clock_gettime(2,&r.time); /* fill in time */
memcpy(r.bytes, dataBytes, 8); /* fill in databytes */
}else{
/* did not get the message */
rxRxEvents_t::iterator i = _rxRxEvents.find(arbId);
if(i == _rxRxEvents.end()){
/* we've never gotten this mesage */
retval = CTR_RxTimeout;
/* fill caller's buffer with zeros */
memset(dataBytes,0,8);
}else{
/* we've gotten this message before but not recently */
memcpy(dataBytes,i->second.bytes,8);
/* get the time now */
struct timespec temp;
clock_gettime(2,&temp); /* get now */
/* how long has it been? */
temp = diff(i->second.time,temp); /* temp = now - last */
if(temp.tv_sec > 0){
retval = CTR_RxTimeout;
}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
retval = CTR_RxTimeout;
}else {
/* our last update was recent enough */
}
}
}
return retval;
}
void HAL_CAN_ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask,
uint8_t* data, uint8_t* dataSize,
uint32_t* timeStamp, int32_t* status) {
FRC_NetworkCommunication_CANSessionMux_receiveMessage(
messageID, messageIDMask, data, dataSize, timeStamp, status);
}
