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allwpilib/wpilibj/src/athena/cpp/lib/JNIWrapper.cpp

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JNI implementation for Java Normal vs
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#include <jni.h>
#include <assert.h>
Reverting back to static .a files for C++ and fixing lots of other assorted items
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#include "Log.hpp"
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#include "edu_wpi_first_wpilibj_hal_JNIWrapper.h"
Reverting back to static .a files for C++ and fixing lots of other assorted items
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#include "HAL/HAL.hpp"
JNI implementation for Java Normal vs
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Simplify JNI interfaces. These changes both simplify the Java code and improve performance across the JNI boundary. This also fixes the AnalogCrossConnectTest by adding delays to setInterruptHigh() and setInterruptLow() to ensure the change in voltage has time to propagate and extends the timeouts in AbstractInterruptTest. Detailed changes: Hoisted status checks to C. This avoids the need to create direct byte buffers (expensive) and significantly simplifies the Java code. The C code now directly generates the exception or reports the error to the DS. The JVM pointer is now a global across the JNI, initialized by the OnLoad function, avoiding the need for some of the class-specific initializers to get this pointer for callbacks. Opaque pointers (such as ports) are now passed as long values rather than with a ByteBuffer wrapper. Added extern "C" to source files. This allows earlier detection of JNI definition mismatches to the Java source headers. Changed JNI signatures to more closely match HAL signatures (in particular, boolean is now universally used instead of byte for HAL bool, which cleans up mapping back and forth to 1/0 from true/false). Change-Id: I4ea0032cabb0871cd74106a3a70d947258c29d2d
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extern "C" {
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/*
* Class: edu_wpi_first_wpilibj_hal_JNIWrapper
* Method: getPortWithModule
Simplify JNI interfaces. These changes both simplify the Java code and improve performance across the JNI boundary. This also fixes the AnalogCrossConnectTest by adding delays to setInterruptHigh() and setInterruptLow() to ensure the change in voltage has time to propagate and extends the timeouts in AbstractInterruptTest. Detailed changes: Hoisted status checks to C. This avoids the need to create direct byte buffers (expensive) and significantly simplifies the Java code. The C code now directly generates the exception or reports the error to the DS. The JVM pointer is now a global across the JNI, initialized by the OnLoad function, avoiding the need for some of the class-specific initializers to get this pointer for callbacks. Opaque pointers (such as ports) are now passed as long values rather than with a ByteBuffer wrapper. Added extern "C" to source files. This allows earlier detection of JNI definition mismatches to the Java source headers. Changed JNI signatures to more closely match HAL signatures (in particular, boolean is now universally used instead of byte for HAL bool, which cleans up mapping back and forth to 1/0 from true/false). Change-Id: I4ea0032cabb0871cd74106a3a70d947258c29d2d
2015-11-01 09:11:52 -08:00
* Signature: (BB)J
JNI implementation for Java Normal vs
2014-01-06 09:27:51 -05:00
*/
Simplify JNI interfaces. These changes both simplify the Java code and improve performance across the JNI boundary. This also fixes the AnalogCrossConnectTest by adding delays to setInterruptHigh() and setInterruptLow() to ensure the change in voltage has time to propagate and extends the timeouts in AbstractInterruptTest. Detailed changes: Hoisted status checks to C. This avoids the need to create direct byte buffers (expensive) and significantly simplifies the Java code. The C code now directly generates the exception or reports the error to the DS. The JVM pointer is now a global across the JNI, initialized by the OnLoad function, avoiding the need for some of the class-specific initializers to get this pointer for callbacks. Opaque pointers (such as ports) are now passed as long values rather than with a ByteBuffer wrapper. Added extern "C" to source files. This allows earlier detection of JNI definition mismatches to the Java source headers. Changed JNI signatures to more closely match HAL signatures (in particular, boolean is now universally used instead of byte for HAL bool, which cleans up mapping back and forth to 1/0 from true/false). Change-Id: I4ea0032cabb0871cd74106a3a70d947258c29d2d
2015-11-01 09:11:52 -08:00
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_JNIWrapper_getPortWithModule
JNI implementation for Java Normal vs
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(JNIEnv * env, jclass, jbyte module, jbyte pin)
{
//FILE_LOG(logDEBUG) << "Calling JNIWrapper getPortWithModlue";
//FILE_LOG(logDEBUG) << "Module = " << (jint)module;
//FILE_LOG(logDEBUG) << "Pin = " << (jint)pin;
Simplify JNI interfaces. These changes both simplify the Java code and improve performance across the JNI boundary. This also fixes the AnalogCrossConnectTest by adding delays to setInterruptHigh() and setInterruptLow() to ensure the change in voltage has time to propagate and extends the timeouts in AbstractInterruptTest. Detailed changes: Hoisted status checks to C. This avoids the need to create direct byte buffers (expensive) and significantly simplifies the Java code. The C code now directly generates the exception or reports the error to the DS. The JVM pointer is now a global across the JNI, initialized by the OnLoad function, avoiding the need for some of the class-specific initializers to get this pointer for callbacks. Opaque pointers (such as ports) are now passed as long values rather than with a ByteBuffer wrapper. Added extern "C" to source files. This allows earlier detection of JNI definition mismatches to the Java source headers. Changed JNI signatures to more closely match HAL signatures (in particular, boolean is now universally used instead of byte for HAL bool, which cleans up mapping back and forth to 1/0 from true/false). Change-Id: I4ea0032cabb0871cd74106a3a70d947258c29d2d
2015-11-01 09:11:52 -08:00
void* port = getPortWithModule(module, pin);
//FILE_LOG(logDEBUG) << "Port Ptr = " << port;
return (jlong)port;
JNI implementation for Java Normal vs
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}
Removed AnalogModule, DigitalModule, and Module from Java Change-Id: I42c58237f1e14d0ebae1c7266aecda00d51eeae1
2014-07-22 13:31:36 -04:00
/*
* Class: edu_wpi_first_wpilibj_hal_JNIWrapper
* Method: getPort
Simplify JNI interfaces. These changes both simplify the Java code and improve performance across the JNI boundary. This also fixes the AnalogCrossConnectTest by adding delays to setInterruptHigh() and setInterruptLow() to ensure the change in voltage has time to propagate and extends the timeouts in AbstractInterruptTest. Detailed changes: Hoisted status checks to C. This avoids the need to create direct byte buffers (expensive) and significantly simplifies the Java code. The C code now directly generates the exception or reports the error to the DS. The JVM pointer is now a global across the JNI, initialized by the OnLoad function, avoiding the need for some of the class-specific initializers to get this pointer for callbacks. Opaque pointers (such as ports) are now passed as long values rather than with a ByteBuffer wrapper. Added extern "C" to source files. This allows earlier detection of JNI definition mismatches to the Java source headers. Changed JNI signatures to more closely match HAL signatures (in particular, boolean is now universally used instead of byte for HAL bool, which cleans up mapping back and forth to 1/0 from true/false). Change-Id: I4ea0032cabb0871cd74106a3a70d947258c29d2d
2015-11-01 09:11:52 -08:00
* Signature: (BB)J
Removed AnalogModule, DigitalModule, and Module from Java Change-Id: I42c58237f1e14d0ebae1c7266aecda00d51eeae1
2014-07-22 13:31:36 -04:00
*/
Simplify JNI interfaces. These changes both simplify the Java code and improve performance across the JNI boundary. This also fixes the AnalogCrossConnectTest by adding delays to setInterruptHigh() and setInterruptLow() to ensure the change in voltage has time to propagate and extends the timeouts in AbstractInterruptTest. Detailed changes: Hoisted status checks to C. This avoids the need to create direct byte buffers (expensive) and significantly simplifies the Java code. The C code now directly generates the exception or reports the error to the DS. The JVM pointer is now a global across the JNI, initialized by the OnLoad function, avoiding the need for some of the class-specific initializers to get this pointer for callbacks. Opaque pointers (such as ports) are now passed as long values rather than with a ByteBuffer wrapper. Added extern "C" to source files. This allows earlier detection of JNI definition mismatches to the Java source headers. Changed JNI signatures to more closely match HAL signatures (in particular, boolean is now universally used instead of byte for HAL bool, which cleans up mapping back and forth to 1/0 from true/false). Change-Id: I4ea0032cabb0871cd74106a3a70d947258c29d2d
2015-11-01 09:11:52 -08:00
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_JNIWrapper_getPort
Removed AnalogModule, DigitalModule, and Module from Java Change-Id: I42c58237f1e14d0ebae1c7266aecda00d51eeae1
2014-07-22 13:31:36 -04:00
(JNIEnv * env, jclass, jbyte pin)
{
//FILE_LOG(logDEBUG) << "Calling JNIWrapper getPortWithModlue";
//FILE_LOG(logDEBUG) << "Module = " << (jint)module;
//FILE_LOG(logDEBUG) << "Pin = " << (jint)pin;
Simplify JNI interfaces. These changes both simplify the Java code and improve performance across the JNI boundary. This also fixes the AnalogCrossConnectTest by adding delays to setInterruptHigh() and setInterruptLow() to ensure the change in voltage has time to propagate and extends the timeouts in AbstractInterruptTest. Detailed changes: Hoisted status checks to C. This avoids the need to create direct byte buffers (expensive) and significantly simplifies the Java code. The C code now directly generates the exception or reports the error to the DS. The JVM pointer is now a global across the JNI, initialized by the OnLoad function, avoiding the need for some of the class-specific initializers to get this pointer for callbacks. Opaque pointers (such as ports) are now passed as long values rather than with a ByteBuffer wrapper. Added extern "C" to source files. This allows earlier detection of JNI definition mismatches to the Java source headers. Changed JNI signatures to more closely match HAL signatures (in particular, boolean is now universally used instead of byte for HAL bool, which cleans up mapping back and forth to 1/0 from true/false). Change-Id: I4ea0032cabb0871cd74106a3a70d947258c29d2d
2015-11-01 09:11:52 -08:00
void* port = getPort(pin);
//FILE_LOG(logDEBUG) << "Port Ptr = " << port;
return (jlong)port;
Removed AnalogModule, DigitalModule, and Module from Java Change-Id: I42c58237f1e14d0ebae1c7266aecda00d51eeae1
2014-07-22 13:31:36 -04:00
}
Simplify JNI interfaces. These changes both simplify the Java code and improve performance across the JNI boundary. This also fixes the AnalogCrossConnectTest by adding delays to setInterruptHigh() and setInterruptLow() to ensure the change in voltage has time to propagate and extends the timeouts in AbstractInterruptTest. Detailed changes: Hoisted status checks to C. This avoids the need to create direct byte buffers (expensive) and significantly simplifies the Java code. The C code now directly generates the exception or reports the error to the DS. The JVM pointer is now a global across the JNI, initialized by the OnLoad function, avoiding the need for some of the class-specific initializers to get this pointer for callbacks. Opaque pointers (such as ports) are now passed as long values rather than with a ByteBuffer wrapper. Added extern "C" to source files. This allows earlier detection of JNI definition mismatches to the Java source headers. Changed JNI signatures to more closely match HAL signatures (in particular, boolean is now universally used instead of byte for HAL bool, which cleans up mapping back and forth to 1/0 from true/false). Change-Id: I4ea0032cabb0871cd74106a3a70d947258c29d2d
2015-11-01 09:11:52 -08:00
artf4153 Adds HAL structure memory management In the current HAL, once the port structures were created, there was no way to free the structures. The way the C++ libraries were written this wasn't a problem, since it grabbed a copy of each and stored them in an array on bootup. However java does not do this, and grabs new ports every time an object is created. This causes memory leaks if an object is ever disposed in java. The same thing looks to be happening in python, and C# does it too currently, but that would change if this gets merged. Adds java memory management fixes Adds memory management to AnalogInput and Analog Output C++ SolenoidPorts and Digital Ports are all hold static arrays with their port pointers (although solenoid overwrites them if a new solenoid on the same module is created), however analog always grabbed new pointers. I would fix the solenoid one, but I don't know what the ideal way to do it would be. Silently ignores free(null) calls by checking passed parameter is non-null. Change-Id: Id32993b57b53f896e46e55c97541d3bd90b52648
2015-10-20 10:37:04 -07:00
/*
* Class: edu_wpi_first_wpilibj_hal_JNIWrapper
* Method: freePort
* Signature: (J)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_JNIWrapper_freePort
(JNIEnv * env, jclass, jlong id)
{
//FILE_LOG(logDEBUG) << "Calling JNIWrapper getPortWithModlue";
//FILE_LOG(logDEBUG) << "Module = " << (jint)module;
//FILE_LOG(logDEBUG) << "Pin = " << (jint)pin;
freePort((void*)id);
//FILE_LOG(logDEBUG) << "Port Ptr = " << port;
}
Simplify JNI interfaces. These changes both simplify the Java code and improve performance across the JNI boundary. This also fixes the AnalogCrossConnectTest by adding delays to setInterruptHigh() and setInterruptLow() to ensure the change in voltage has time to propagate and extends the timeouts in AbstractInterruptTest. Detailed changes: Hoisted status checks to C. This avoids the need to create direct byte buffers (expensive) and significantly simplifies the Java code. The C code now directly generates the exception or reports the error to the DS. The JVM pointer is now a global across the JNI, initialized by the OnLoad function, avoiding the need for some of the class-specific initializers to get this pointer for callbacks. Opaque pointers (such as ports) are now passed as long values rather than with a ByteBuffer wrapper. Added extern "C" to source files. This allows earlier detection of JNI definition mismatches to the Java source headers. Changed JNI signatures to more closely match HAL signatures (in particular, boolean is now universally used instead of byte for HAL bool, which cleans up mapping back and forth to 1/0 from true/false). Change-Id: I4ea0032cabb0871cd74106a3a70d947258c29d2d
2015-11-01 09:11:52 -08:00
} // extern "C"
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