/*
* 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);
}
/*
* Class: edu_wpi_first_wpilibj_can_CANJNI
* Method: FRCNetworkCommunicationCANSessionMuxSendMessage
* Signature: (ILjava/nio/ByteBuffer;I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxSendMessage
(JNIEnv * env, jclass, jint messageID, jobject data, jint periodMs)
{
CANJNI_LOG(logDEBUG) << "Calling CANJNI FRCNetworkCommunicationCANSessionMuxSendMessage";
uint8_t *dataBuffer = (uint8_t *)(data? env->GetDirectBufferAddress(data) : 0);
uint8_t dataSize = (uint8_t)(data? env->GetDirectBufferCapacity(data) : 0);
CANJNI_LOG(logDEBUG) << "Message ID " << std::hex << messageID;
if(logDEBUG <= canJNILogLevel)
{
if(dataBuffer)
{
std::ostringstream str;
str << std::setfill('0') << std::hex;
for(int i = 0; i < dataSize; i++)
{
str << std::setw(2) << (int)dataBuffer[i] << ' ';
}
Log().Get(logDEBUG) << "Data: " << str.str();
}
else
{
CANJNI_LOG(logDEBUG) << "Data: null";
}
}
CANJNI_LOG(logDEBUG) << "Period: " << periodMs;
int32_t status = 0;
FRC_NetworkCommunication_CANSessionMux_sendMessage(messageID, dataBuffer, dataSize, periodMs, &status);
CANJNI_LOG(logDEBUG) << "Status: " << status;
CheckCANStatus(env, status, messageID);
}
