[wpiutil] jni_util: Add JSpan and CriticalJSpan (#5554)

These replace JArrayRef et al and support statically sized arrays similar to std::span.
wpilibsuite · Aug 24, 2023 · 2e4ad35 · 2e4ad35
1 parent 8f3d6a1
commit 2e4ad35
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Showing 19 changed files with 324 additions and 308 deletions.
diff --git a/apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp b/apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp
@@ -504,15 +504,14 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseHomography
     nullPointerEx.Throw(env, "homography cannot be null");
     return nullptr;
   }
-  JDoubleArrayRef harr{env, homography};
+  JSpan<const jdouble, 9> harr{env, homography};
   if (harr.size() != 9) {
     illegalArgEx.Throw(env, "homography array must be size 9");
     return nullptr;
   }
 
   AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
-  return MakeJObject(env, estimator.EstimateHomography(
-                              std::span<const double, 9>{harr.array()}));
+  return MakeJObject(env, estimator.EstimateHomography(harr));
 }
 
 /*
@@ -530,7 +529,7 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
     nullPointerEx.Throw(env, "homography cannot be null");
     return nullptr;
   }
-  JDoubleArrayRef harr{env, homography};
+  JSpan<const jdouble, 9> harr{env, homography};
   if (harr.size() != 9) {
     illegalArgEx.Throw(env, "homography array must be size 9");
     return nullptr;
@@ -541,17 +540,15 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
     nullPointerEx.Throw(env, "corners cannot be null");
     return nullptr;
   }
-  JDoubleArrayRef carr{env, corners};
+  JSpan<const jdouble, 8> carr{env, corners};
   if (carr.size() != 8) {
     illegalArgEx.Throw(env, "corners array must be size 8");
     return nullptr;
   }
 
   AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
   return MakeJObject(env,
-                     estimator.EstimateOrthogonalIteration(
-                         std::span<const double, 9>{harr.array()},
-                         std::span<const double, 8>{carr.array()}, nIters));
+                     estimator.EstimateOrthogonalIteration(harr, carr, nIters));
 }
 
 /*
@@ -569,7 +566,7 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePose
     nullPointerEx.Throw(env, "homography cannot be null");
     return nullptr;
   }
-  JDoubleArrayRef harr{env, homography};
+  JSpan<const jdouble, 9> harr{env, homography};
   if (harr.size() != 9) {
     illegalArgEx.Throw(env, "homography array must be size 9");
     return nullptr;
@@ -580,16 +577,14 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePose
     nullPointerEx.Throw(env, "corners cannot be null");
     return nullptr;
   }
-  JDoubleArrayRef carr{env, corners};
+  JSpan<const jdouble, 8> carr{env, corners};
   if (carr.size() != 8) {
     illegalArgEx.Throw(env, "corners array must be size 8");
     return nullptr;
   }
 
   AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
-  return MakeJObject(
-      env, estimator.Estimate(std::span<const double, 9>{harr.array()},
-                              std::span<const double, 8>{carr.array()}));
+  return MakeJObject(env, estimator.Estimate(harr, carr));
 }
 
 }  // extern "C"
diff --git a/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp b/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
@@ -69,12 +69,11 @@ Java_edu_wpi_first_hal_AddressableLEDJNI_setData
   (JNIEnv* env, jclass, jint handle, jbyteArray arr)
 {
   int32_t status = 0;
-  JByteArrayRef jArrRef{env, arr};
-  auto arrRef = jArrRef.array();
+  JSpan<const jbyte> jArrRef{env, arr};
   HAL_WriteAddressableLEDData(
       static_cast<HAL_AddressableLEDHandle>(handle),
-      reinterpret_cast<const HAL_AddressableLEDData*>(arrRef.data()),
-      arrRef.size() / 4, &status);
+      reinterpret_cast<const HAL_AddressableLEDData*>(jArrRef.data()),
+      jArrRef.size() / 4, &status);
   CheckStatus(env, status);
 }
 

diff --git a/hal/src/main/native/cpp/jni/CANAPIJNI.cpp b/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
@@ -71,11 +71,10 @@ Java_edu_wpi_first_hal_CANAPIJNI_writeCANPacket
   (JNIEnv* env, jclass, jint handle, jbyteArray data, jint apiId)
 {
   auto halHandle = static_cast<HAL_CANHandle>(handle);
-  JByteArrayRef arr{env, data};
-  auto arrRef = arr.array();
+  JSpan<const jbyte> arr{env, data};
   int32_t status = 0;
-  HAL_WriteCANPacket(halHandle, reinterpret_cast<const uint8_t*>(arrRef.data()),
-                     arrRef.size(), apiId, &status);
+  HAL_WriteCANPacket(halHandle, reinterpret_cast<const uint8_t*>(arr.data()),
+                     arr.size(), apiId, &status);
   CheckStatus(env, status);
 }
 
@@ -90,12 +89,11 @@ Java_edu_wpi_first_hal_CANAPIJNI_writeCANPacketRepeating
    jint timeoutMs)
 {
   auto halHandle = static_cast<HAL_CANHandle>(handle);
-  JByteArrayRef arr{env, data};
-  auto arrRef = arr.array();
+  JSpan<const jbyte> arr{env, data};
   int32_t status = 0;
   HAL_WriteCANPacketRepeating(halHandle,
-                              reinterpret_cast<const uint8_t*>(arrRef.data()),
-                              arrRef.size(), apiId, timeoutMs, &status);
+                              reinterpret_cast<const uint8_t*>(arr.data()),
+                              arr.size(), apiId, timeoutMs, &status);
   CheckStatus(env, status);
 }
 
@@ -124,11 +122,10 @@ Java_edu_wpi_first_hal_CANAPIJNI_writeCANPacketNoThrow
   (JNIEnv* env, jclass, jint handle, jbyteArray data, jint apiId)
 {
   auto halHandle = static_cast<HAL_CANHandle>(handle);
-  JByteArrayRef arr{env, data};
-  auto arrRef = arr.array();
+  JSpan<const jbyte> arr{env, data};
   int32_t status = 0;
-  HAL_WriteCANPacket(halHandle, reinterpret_cast<const uint8_t*>(arrRef.data()),
-                     arrRef.size(), apiId, &status);
+  HAL_WriteCANPacket(halHandle, reinterpret_cast<const uint8_t*>(arr.data()),
+                     arr.size(), apiId, &status);
   return status;
 }
 
@@ -143,12 +140,11 @@ Java_edu_wpi_first_hal_CANAPIJNI_writeCANPacketRepeatingNoThrow
    jint timeoutMs)
 {
   auto halHandle = static_cast<HAL_CANHandle>(handle);
-  JByteArrayRef arr{env, data};
-  auto arrRef = arr.array();
+  JSpan<const jbyte> arr{env, data};
   int32_t status = 0;
   HAL_WriteCANPacketRepeating(halHandle,
-                              reinterpret_cast<const uint8_t*>(arrRef.data()),
-                              arrRef.size(), apiId, timeoutMs, &status);
+                              reinterpret_cast<const uint8_t*>(arr.data()),
+                              arr.size(), apiId, timeoutMs, &status);
   return status;
 }
 

diff --git a/hal/src/main/native/cpp/jni/CANJNI.cpp b/hal/src/main/native/cpp/jni/CANJNI.cpp
@@ -26,11 +26,11 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_can_CANJNI_FRCNetCommCANSessionMuxSendMessage
   (JNIEnv* env, jclass, jint messageID, jbyteArray data, jint periodMs)
 {
-  JByteArrayRef dataArray{env, data};
+  JSpan<const jbyte> dataArray{env, data};
 
   const uint8_t* dataBuffer =
-      reinterpret_cast<const uint8_t*>(dataArray.array().data());
-  uint8_t dataSize = dataArray.array().size();
+      reinterpret_cast<const uint8_t*>(dataArray.data());
+  uint8_t dataSize = dataArray.size();
 
   int32_t status = 0;
   HAL_CAN_SendMessage(messageID, dataBuffer, dataSize, periodMs, &status);

diff --git a/hal/src/main/native/cpp/jni/DMAJNI.cpp b/hal/src/main/native/cpp/jni/DMAJNI.cpp
@@ -5,12 +5,15 @@
 #include <algorithm>
 #include <cstring>
 
+#include <wpi/jni_util.h>
+
 #include "HALUtil.h"
 #include "edu_wpi_first_hal_DMAJNI.h"
 #include "hal/DMA.h"
 #include "hal/handles/HandlesInternal.h"
 
 using namespace hal;
+using namespace wpi::java;
 
 namespace hal {
 bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
@@ -312,20 +315,17 @@ Java_edu_wpi_first_hal_DMAJNI_readDMA
   env->SetIntArrayRegion(buf, 0, dmaSample.captureSize,
                          reinterpret_cast<jint*>(dmaSample.readBuffer));
 
-  int32_t* nativeArr =
-      static_cast<int32_t*>(env->GetPrimitiveArrayCritical(store, nullptr));
+  CriticalJSpan<jint> nativeArr{env, store};
 
   std::copy_n(
       dmaSample.channelOffsets,
       sizeof(dmaSample.channelOffsets) / sizeof(dmaSample.channelOffsets[0]),
-      nativeArr);
+      nativeArr.data());
   nativeArr[22] = static_cast<int32_t>(dmaSample.captureSize);
   nativeArr[23] = static_cast<int32_t>(dmaSample.triggerChannels);
   nativeArr[24] = remaining;
   nativeArr[25] = readStatus;
 
-  env->ReleasePrimitiveArrayCritical(store, nativeArr, JNI_ABORT);
-
   return dmaSample.timeStamp;
 }
 

diff --git a/hal/src/main/native/cpp/jni/DriverStationJNI.cpp b/hal/src/main/native/cpp/jni/DriverStationJNI.cpp
@@ -251,10 +251,10 @@ Java_edu_wpi_first_hal_DriverStationJNI_getAllJoystickData
 
   HAL_GetAllJoystickData(axes, povs, buttons);
 
-  CriticalJFloatArrayRef jAxes(env, axesArray);
-  CriticalJByteArrayRef jRawAxes(env, rawAxesArray);
-  CriticalJShortArrayRef jPovs(env, povsArray);
-  CriticalJLongArrayRef jButtons(env, buttonsAndMetadataArray);
+  CriticalJSpan<jfloat> jAxes(env, axesArray);
+  CriticalJSpan<jbyte> jRawAxes(env, rawAxesArray);
+  CriticalJSpan<jshort> jPovs(env, povsArray);
+  CriticalJSpan<jlong> jButtons(env, buttonsAndMetadataArray);
 
   static_assert(sizeof(jAxes[0]) == sizeof(axes[0].axes[0]));
   static_assert(sizeof(jRawAxes[0]) == sizeof(axes[0].raw[0]));

diff --git a/hal/src/main/native/cpp/jni/I2CJNI.cpp b/hal/src/main/native/cpp/jni/I2CJNI.cpp
@@ -79,7 +79,7 @@ Java_edu_wpi_first_hal_I2CJNI_i2CTransactionB
   jint returnValue =
       HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address,
                          reinterpret_cast<const uint8_t*>(
-                             JByteArrayRef(env, dataToSend).array().data()),
+                             JSpan<const jbyte>(env, dataToSend).data()),
                          sendSize, recvBuf.data(), receiveSize);
   env->SetByteArrayRegion(dataReceived, 0, receiveSize,
                           reinterpret_cast<const jbyte*>(recvBuf.data()));
@@ -120,7 +120,7 @@ Java_edu_wpi_first_hal_I2CJNI_i2CWriteB
   jint returnValue =
       HAL_WriteI2C(static_cast<HAL_I2CPort>(port), address,
                    reinterpret_cast<const uint8_t*>(
-                       JByteArrayRef(env, dataToSend).array().data()),
+                       JSpan<const jbyte>(env, dataToSend).data()),
                    sendSize);
   return returnValue;
 }

diff --git a/hal/src/main/native/cpp/jni/SPIJNI.cpp b/hal/src/main/native/cpp/jni/SPIJNI.cpp
@@ -94,7 +94,7 @@ Java_edu_wpi_first_hal_SPIJNI_spiTransactionB
   jint retVal =
       HAL_TransactionSPI(static_cast<HAL_SPIPort>(port),
                          reinterpret_cast<const uint8_t*>(
-                             JByteArrayRef(env, dataToSend).array().data()),
+                             JSpan<const jbyte>(env, dataToSend).data()),
                          recvBuf.data(), size);
   env->SetByteArrayRegion(dataReceived, 0, size,
                           reinterpret_cast<const jbyte*>(recvBuf.data()));
@@ -131,7 +131,7 @@ Java_edu_wpi_first_hal_SPIJNI_spiWriteB
 {
   jint retVal = HAL_WriteSPI(static_cast<HAL_SPIPort>(port),
                              reinterpret_cast<const uint8_t*>(
-                                 JByteArrayRef(env, dataToSend).array().data()),
+                                 JSpan<const jbyte>(env, dataToSend).data()),
                              size);
   return retVal;
 }
@@ -356,12 +356,11 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_SPIJNI_spiSetAutoTransmitData
   (JNIEnv* env, jclass, jint port, jbyteArray dataToSend, jint zeroSize)
 {
-  JByteArrayRef jarr(env, dataToSend);
+  JSpan<const jbyte> jarr(env, dataToSend);
   int32_t status = 0;
-  HAL_SetSPIAutoTransmitData(
-      static_cast<HAL_SPIPort>(port),
-      reinterpret_cast<const uint8_t*>(jarr.array().data()),
-      jarr.array().size(), zeroSize, &status);
+  HAL_SetSPIAutoTransmitData(static_cast<HAL_SPIPort>(port),
+                             reinterpret_cast<const uint8_t*>(jarr.data()),
+                             jarr.size(), zeroSize, &status);
   CheckStatus(env, status);
 }
 

diff --git a/hal/src/main/native/cpp/jni/SerialPortJNI.cpp b/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
@@ -261,11 +261,10 @@ Java_edu_wpi_first_hal_SerialPortJNI_serialWrite
   (JNIEnv* env, jclass, jint handle, jbyteArray dataToSend, jint size)
 {
   int32_t status = 0;
-  jint retVal =
-      HAL_WriteSerial(static_cast<HAL_SerialPortHandle>(handle),
-                      reinterpret_cast<const char*>(
-                          JByteArrayRef(env, dataToSend).array().data()),
-                      size, &status);
+  jint retVal = HAL_WriteSerial(
+      static_cast<HAL_SerialPortHandle>(handle),
+      reinterpret_cast<const char*>(JSpan<const jbyte>(env, dataToSend).data()),
+      size, &status);
   CheckStatus(env, status);
   return retVal;
 }

diff --git a/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp b/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
@@ -150,7 +150,7 @@ Java_edu_wpi_first_hal_SimDeviceJNI_createSimValueEnumDouble
   }
   return HAL_CreateSimValueEnumDouble(
       device, JStringRef{env, name}.c_str(), direction, len, carr.data(),
-      JDoubleArrayRef{env, optionValues}.array().data(), initialValue);
+      JSpan<const jdouble>{env, optionValues}.data(), initialValue);
 }
 
 /*

diff --git a/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
@@ -269,7 +269,7 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_setData
   (JNIEnv* env, jclass, jint index, jbyteArray arr)
 {
-  JByteArrayRef jArrRef{env, arr};
+  JSpan<const jbyte> jArrRef{env, arr};
   auto arrRef = jArrRef.array();
   HALSIM_SetAddressableLEDData(
       index, reinterpret_cast<const HAL_AddressableLEDData*>(arrRef.data()),

diff --git a/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
@@ -436,7 +436,7 @@ Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickAxes
 {
   HAL_JoystickAxes axes;
   {
-    wpi::java::JFloatArrayRef jArrayRef(env, axesArray);
+    JSpan<const jfloat> jArrayRef(env, axesArray);
     auto arrayRef = jArrayRef.array();
     auto arraySize = arrayRef.size();
     int maxCount =
@@ -461,7 +461,7 @@ Java_edu_wpi_first_hal_simulation_DriverStationDataJNI_setJoystickPOVs
 {
   HAL_JoystickPOVs povs;
   {
-    wpi::java::JShortArrayRef jArrayRef(env, povsArray);
+    JSpan<const jshort> jArrayRef(env, povsArray);
     auto arrayRef = jArrayRef.array();
     auto arraySize = arrayRef.size();
     int maxCount =

diff --git a/ntcore/src/generate/cpp/jni/types_jni.cpp.jinja b/ntcore/src/generate/cpp/jni/types_jni.cpp.jinja
@@ -77,7 +77,7 @@ void JNI_UnloadTypes(JNIEnv* env) {
 }  // namespace nt
 
 static std::vector<int> FromJavaBooleanArray(JNIEnv* env, jbooleanArray jarr) {
-  CriticalJBooleanArrayRef ref{env, jarr};
+  CriticalJSpan<const jboolean> ref{env, jarr};
   if (!ref) {
     return {};
   }
@@ -214,7 +214,7 @@ Java_edu_wpi_first_networktables_NetworkTablesJNI_setRaw
     indexOobEx.Throw(env, "len must be >= 0");
     return false;
   }
-  CriticalJByteArrayRef cvalue{env, value};
+  CriticalJSpan<const jbyte> cvalue{env, value};
   if (static_cast<unsigned int>(start + len) > cvalue.size()) {
     indexOobEx.Throw(env, "start + len must be smaller than array length");
     return false;
@@ -243,7 +243,7 @@ Java_edu_wpi_first_networktables_NetworkTablesJNI_setRawBuffer
     indexOobEx.Throw(env, "len must be >= 0");
     return false;
   }
-  JByteArrayRef cvalue{env, value, start + len};
+  JSpan<const jbyte> cvalue{env, value, static_cast<size_t>(start + len)};
   if (!cvalue) {
     illegalArgEx.Throw(env, "value must be a native ByteBuffer");
     return false;
@@ -310,7 +310,7 @@ Java_edu_wpi_first_networktables_NetworkTablesJNI_setDefaultRaw
     indexOobEx.Throw(env, "len must be >= 0");
     return false;
   }
-  CriticalJByteArrayRef cvalue{env, defaultValue};
+  CriticalJSpan<const jbyte> cvalue{env, defaultValue};
   if (static_cast<unsigned int>(start + len) > cvalue.size()) {
     indexOobEx.Throw(env, "start + len must be smaller than array length");
     return false;
@@ -339,7 +339,7 @@ Java_edu_wpi_first_networktables_NetworkTablesJNI_setDefaultRawBuffer
     indexOobEx.Throw(env, "len must be >= 0");
     return false;
   }
-  JByteArrayRef cvalue{env, defaultValue, start + len};
+  JSpan<const jbyte> cvalue{env, defaultValue, static_cast<size_t>(start + len)};
   if (!cvalue) {
     illegalArgEx.Throw(env, "value must be a native ByteBuffer");
     return false;