Colony

#include "org_roboticsclub_colony_Wireless.h"

#include "wireless.h"

#include <string.h>

/* Memory used to hold XBee port name */

char xbeeport[128];

/* Flag to track whether wl has been initialized */

static int _init = 0;

JavaVM *jvm;

#include "handlers.c"

jobject handlers[WL_MAX_PACKET_GROUPS] = {0};

void callTimeout(int num)

{

    jobject pgh = handlers[num];

    JNIEnv *env;

    int bAttached = 0;

    if (jvm==NULL) /* JVM wasn't set - there was an error */

        return;

    if ((*jvm)->GetEnv(jvm, (void **)&env, JNI_VERSION_1_1))

    {

        /* Aren't attached to a JVM, so try to attach */

        if ((*jvm)->AttachCurrentThread(jvm, (void **)&env, NULL))

            return; /* Error getting JNI Environment, can't continue */

        else

            bAttached = 1;

    }

    jclass cls = (*env)->GetObjectClass(env, pgh);

    jmethodID mid = (*env)->GetMethodID(env, cls, "timeout_handler", "()V");

    if (mid == NULL)

        return; /* method not found */

    (*env)->CallVoidMethod(env, pgh, mid);

    if (bAttached)

        (*jvm)->DetachCurrentThread(jvm);

}

void callHandleResponse(int num, int frame, int received)

{

    jobject pgh = handlers[num];

    JNIEnv *env;

    int bAttached = 0;

    if (jvm==NULL) /* JVM wasn't set - there was an error */

        return;

    if ((*jvm)->GetEnv(jvm, (void **)&env, JNI_VERSION_1_1))

    {

        /* Aren't attached to a JVM, so try to attach */

        if ((*jvm)->AttachCurrentThread(jvm, (void **)&env, NULL))

            return; /* Error getting JNI Environment, can't continue */

        else

            bAttached = 1;

    }

    jclass cls = (*env)->GetObjectClass(env, pgh);

    jmethodID mid = (*env)->GetMethodID(env, cls, "handle_response", "(II)V");

    if (mid == NULL)

        return; /* method not found */

    (*env)->CallVoidMethod(env, pgh, mid, (jint)frame, (jint)received);

    if (bAttached)

        (*jvm)->DetachCurrentThread(jvm);

}

void callHandleReceived(int num, char type, int source, unsigned char *packet, int length)

{

    jobject pgh = handlers[num];

    JNIEnv *env;

    int bAttached = 0;

    if (jvm==NULL) /* JVM wasn't set - there was an error */

        return;

    if ((*jvm)->GetEnv(jvm, (void **)&env, JNI_VERSION_1_1))

    {

        /* Aren't attached to a JVM, so try to attach */

        if ((*jvm)->AttachCurrentThread(jvm, (void **)&env, NULL))

            return; /* Error getting JNI Environment, can't continue */

        else

            bAttached = 1;

    }

    jclass cls = (*env)->GetObjectClass(env, pgh);

    jmethodID mid = (*env)->GetMethodID(env, cls, "handle_received", "(BI[B)V");

    if (mid == NULL)

        return; /* method not found */

    jbyteArray arr = (*env)->NewByteArray(env, length);

    (*env)->SetByteArrayRegion(env, arr, 0, length, (jbyte *)packet);

    (*env)->CallVoidMethod(env, pgh, mid, (jbyte)type, (jint)source, packet);

    if (bAttached)

        (*jvm)->DetachCurrentThread(jvm);

}

void callUnregister(int num)

{

    jobject pgh = handlers[num];

    JNIEnv *env;

    int bAttached = 0;

    if (jvm==NULL) /* JVM wasn't set - there was an error */

        return;

    if ((*jvm)->GetEnv(jvm, (void **)&env, JNI_VERSION_1_1))

    {

        /* Aren't attached to a JVM, so try to attach */

        if ((*jvm)->AttachCurrentThread(jvm, (void **)&env, NULL))

            return; /* Error getting JNI Environment, can't continue */

        else

            bAttached = 1;

    }

    jclass cls = (*env)->GetObjectClass(env, pgh);

    jmethodID mid = (*env)->GetMethodID(env, cls, "unregister", "()V");

    if (mid == NULL)

        return; /* method not found */

    (*env)->CallVoidMethod(env, pgh, mid);

    (*env)->DeleteGlobalRef(env, pgh);

    if (bAttached)

        (*jvm)->DetachCurrentThread(jvm);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_init

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1init

  (JNIEnv *env, jclass class)

{

    int ret;

    //init_pga();

    (*env)->GetJavaVM(env, &jvm);

    ret = wl_init();

    if (!ret)

      _init = 1;

    return ret;

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_terminate

 * Signature: ()V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1terminate

  (JNIEnv *env, jclass class)

{

    if (_init)

        wl_terminate();

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_do

 * Signature: ()V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1do

  (JNIEnv *env, jclass class)

{

    wl_do();

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_register_packet_group

 * Signature: (Lorg/roboticsclub/colony/Wireless/PacketGroupHandler;)V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1register_1packet_1group

  (JNIEnv *env, jclass class, jobject pgh)

{

    jint groupId;

    jobject gPgh;

    jclass cls = (*env)->GetObjectClass(env, pgh);

    jmethodID mid = (*env)->GetMethodID(env, cls, "getGroupCode", "()I");

    if (mid == NULL)

        return; /* method not found */

    groupId = (*env)->CallIntMethod(env, pgh, mid);

    if (groupId > 15 || groupId < 0)

        return;

    gPgh = (*env)->NewGlobalRef(env, pgh);

    handlers[groupId] = gPgh;

    wl_register_packet_group(&packet_groups[groupId]);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_unregister_packet_group

 * Signature: (Lorg/roboticsclub/colony/Wireless/PacketGroupHandler;)V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1unregister_1packet_1group

  (JNIEnv *env, jclass class, jobject pgh)

{

    jint groupId;

    jclass cls = (*env)->GetObjectClass(env, pgh);

    jmethodID mid = (*env)->GetMethodID(env, cls, "getGroupCode", "()I");

    if (mid == NULL)

        return; /* method not found */

    groupId = (*env)->CallIntMethod(env, pgh, mid);

    if (groupId < 0 || groupId > 15)

        return;

    wl_unregister_packet_group(&packet_groups[groupId]);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_send_robot_to_robot_global_packet

 * Signature: (BB[BIB)I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1send_1robot_1to_1robot_1global_1packet

  (JNIEnv *env, jclass class, jbyte group, jbyte type, jbyteArray data, jint dest, jbyte frame)

{

    jbyte buf[256];

    jsize length = (*env)->GetArrayLength(env, data);

    (*env)->GetByteArrayRegion(env, data, 0, 256, buf);

    return wl_send_robot_to_robot_global_packet(group, type, (char *)buf, length, (int)dest, frame);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_send_robot_to_robot_packet

 * Signature: (BB[BIB)I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1send_1robot_1to_1robot_1packet

  (JNIEnv *env, jclass class, jbyte group, jbyte type, jbyteArray data, jint dest, jbyte frame)

{

    jbyte buf[256];

    jsize length = (*env)->GetArrayLength(env, data);

    (*env)->GetByteArrayRegion(env, data, 0, 256, buf);

    return wl_send_robot_to_robot_packet(group, type, (char *)buf, length, (int)dest, frame);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_send_global_packet

 * Signature: (BB[BB)I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1send_1global_1packet

  (JNIEnv *env, jclass class, jbyte group, jbyte type, jbyteArray data, jbyte frame)

{

    jbyte buf[256];

    jsize length = (*env)->GetArrayLength(env, data);

    (*env)->GetByteArrayRegion(env, data, 0, 256, buf);

    return wl_send_global_packet(group, type, (char *)buf, length, frame);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_send_pan_packet

 * Signature: (BB[BB)V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1send_1pan_1packet

  (JNIEnv *env, jclass class, jbyte group, jbyte type, jbyteArray data, jbyte frame)

{

    jbyte buf[256];

    jsize length = (*env)->GetArrayLength(env, data);

    (*env)->GetByteArrayRegion(env, data, 0, 256, buf);

    wl_send_pan_packet(group, type, (char *)buf, length, frame);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_set_pan

 * Signature: (I)I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1set_1pan

  (JNIEnv *env, jclass class, jint pan)

{

    return wl_set_pan((int)pan);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_get_pan

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1get_1pan

  (JNIEnv *env, jclass class)

{

    return wl_get_pan();

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_set_channel

 * Signature: (I)I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1set_1channel

  (JNIEnv *env, jclass class, jint channel)

{

    return wl_set_channel((int)channel);

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_get_channel

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1get_1channel

  (JNIEnv *env, jclass class)

{

    return wl_get_channel();

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_get_xbee_id

 * Signature: ()I

 */

JNIEXPORT jint JNICALL Java_org_roboticsclub_colony_Wireless_wl_1get_1xbee_1id

  (JNIEnv *env, jclass class)

{

    return wl_get_xbee_id();

}

/*

 * Class:     org_roboticsclub_colony_Wireless

 * Method:    wl_set_com_port

 * Signature: (Ljava/lang/String;)V

 */

JNIEXPORT void JNICALL Java_org_roboticsclub_colony_Wireless_wl_1set_1com_1port

  (JNIEnv *env, jclass class, jstring port)

{

    const jbyte *str = (*env)->GetStringUTFChars(env, port, NULL);

    if (str == NULL)

        return; /* OutOfMemoryError already thrown */

    strcpy(xbeeport, (const char *)str);

    (*env)->ReleaseStringUTFChars(env, port, str);

    wl_set_com_port(xbeeport);

}