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Moves Interrupts over to Handles instead of pointers (#99)

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This commit is contained in:
Thad House
2016-06-20 23:22:49 -07:00
committed by Peter Johnson
parent 74fc10999b
commit 046e043c4e
10 changed files with 180 additions and 148 deletions
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69
wpilibj/src/athena/cpp/lib/InterruptJNI.cpp
View File

@@ -119,23 +119,22 @@ extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: initializeInterrupts
* Signature: (IZ)J
* Signature: (Z)I
*/
JNIEXPORT jlong JNICALL
JNIEXPORT jint JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterrupts(
JNIEnv* env, jclass, jint interruptIndex, jboolean watcher) {
JNIEnv* env, jclass, jboolean watcher) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI initializeInterrupts";
INTERRUPTJNI_LOG(logDEBUG) << "interruptIndex = " << interruptIndex;
INTERRUPTJNI_LOG(logDEBUG) << "watcher = " << (bool)watcher;
int32_t status = 0;
void* interrupt = initializeInterrupts(interruptIndex, watcher, &status);
HalInterruptHandle interrupt = initializeInterrupts(watcher, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << interrupt;
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << interrupt;
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
return (jlong)interrupt;
return (jint)interrupt;
}
/*
@@ -145,16 +144,16 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterrupts(
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrupts(
JNIEnv* env, jclass, jlong interrupt_pointer) {
JNIEnv* env, jclass, jint interrupt_handle) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI cleanInterrupts";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle;
int32_t status = 0;
cleanInterrupts((void*)interrupt_pointer, &status);
cleanInterrupts((HalInterruptHandle)interrupt_handle, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
// ignore status, as an invalid handle just needs to be ignored.
}
/*
@@ -164,13 +163,13 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrupts(
*/
JNIEXPORT int JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt(
JNIEnv* env, jclass, jlong interrupt_pointer, jdouble timeout,
JNIEnv* env, jclass, jint interrupt_handle, jdouble timeout,
jboolean ignorePrevious) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI waitForInterrupt";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle;
int32_t status = 0;
int result = waitForInterrupt((void*)interrupt_pointer, timeout,
int result = waitForInterrupt((HalInterruptHandle)interrupt_handle, timeout,
ignorePrevious, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
@@ -186,12 +185,12 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt(
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterrupts(
JNIEnv* env, jclass, jlong interrupt_pointer) {
JNIEnv* env, jclass, jint interrupt_handle) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI enableInterrupts";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle;
int32_t status = 0;
enableInterrupts((void*)interrupt_pointer, &status);
enableInterrupts((HalInterruptHandle)interrupt_handle, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
@@ -205,12 +204,12 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterrupts(
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts(
JNIEnv* env, jclass, jlong interrupt_pointer) {
JNIEnv* env, jclass, jint interrupt_handle) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI disableInterrupts";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle;
int32_t status = 0;
disableInterrupts((void*)interrupt_pointer, &status);
disableInterrupts((HalInterruptHandle)interrupt_handle, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
@@ -224,12 +223,12 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts(
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readRisingTimestamp(
JNIEnv* env, jclass, jlong interrupt_pointer) {
JNIEnv* env, jclass, jint interrupt_handle) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readRisingTimestamp";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle;
int32_t status = 0;
jdouble timeStamp = readRisingTimestamp((void*)interrupt_pointer, &status);
jdouble timeStamp = readRisingTimestamp((HalInterruptHandle)interrupt_handle, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
@@ -243,12 +242,12 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readRisingTimestamp(
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readFallingTimestamp(
JNIEnv* env, jclass, jlong interrupt_pointer) {
JNIEnv* env, jclass, jint interrupt_handle) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readFallingTimestamp";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle;
int32_t status = 0;
jdouble timeStamp = readFallingTimestamp((void*)interrupt_pointer, &status);
jdouble timeStamp = readFallingTimestamp((HalInterruptHandle)interrupt_handle, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
@@ -262,17 +261,17 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readFallingTimestamp(
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts(
JNIEnv* env, jclass, jlong interrupt_pointer, jbyte routing_module,
JNIEnv* env, jclass, jint interrupt_handle, jbyte routing_module,
jint routing_pin, jboolean routing_analog_trigger) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI requestInterrupts";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle;
INTERRUPTJNI_LOG(logDEBUG) << "routing module = " << (jint)routing_module;
INTERRUPTJNI_LOG(logDEBUG) << "routing pin = " << routing_pin;
INTERRUPTJNI_LOG(logDEBUG) << "routing analog trigger = "
<< (jint)routing_analog_trigger;
int32_t status = 0;
requestInterrupts((void*)interrupt_pointer, (uint8_t)routing_module,
requestInterrupts((HalInterruptHandle)interrupt_handle, (uint8_t)routing_module,
(uint32_t)routing_pin, routing_analog_trigger, &status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
@@ -287,10 +286,10 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts(
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler(
JNIEnv* env, jclass, jlong interrupt_pointer, jobject handler,
JNIEnv* env, jclass, jint interrupt_handle, jobject handler,
jobject param) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI attachInterruptHandler";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle;
jclass cls = env->GetObjectClass(handler);
INTERRUPTJNI_LOG(logDEBUG) << "class = " << cls;
@@ -314,7 +313,7 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler(
INTERRUPTJNI_LOG(logDEBUG) << "InterruptThreadJNI Ptr = " << intr;
int32_t status = 0;
attachInterruptHandler((void*)interrupt_pointer, interruptHandler, intr,
attachInterruptHandler((HalInterruptHandle)interrupt_handle, interruptHandler, intr,
&status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
@@ -328,15 +327,15 @@ Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler(
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_InterruptJNI_setInterruptUpSourceEdge(
JNIEnv* env, jclass, jlong interrupt_pointer, jboolean risingEdge,
JNIEnv* env, jclass, jint interrupt_handle, jboolean risingEdge,
jboolean fallingEdge) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI setInterruptUpSourceEdge";
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << (HalInterruptHandle)interrupt_handle;
INTERRUPTJNI_LOG(logDEBUG) << "Rising Edge = " << (bool)risingEdge;
INTERRUPTJNI_LOG(logDEBUG) << "Falling Edge = " << (bool)fallingEdge;
int32_t status = 0;
setInterruptUpSourceEdge((void*)interrupt_pointer, risingEdge, fallingEdge,
setInterruptUpSourceEdge((HalInterruptHandle)interrupt_handle, risingEdge, fallingEdge,
&status);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;

24
wpilibj/src/athena/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
View File

@@ -9,7 +9,7 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.hal.InterruptJNI;
import edu.wpi.first.wpilibj.util.AllocationException;
import edu.wpi.first.wpilibj.util.CheckedAllocationException;
/**
* Base for sensors to be used with interrupts.
@@ -42,22 +42,13 @@ public abstract class InterruptableSensorBase extends SensorBase {
/**
* The interrupt resource.
*/
protected long m_interrupt = 0;
protected int m_interrupt = InterruptJNI.HalInvalidHandle;
/**
* Flags if the interrupt being allocated is synchronous.
*/
protected boolean m_isSynchronousInterrupt = false;
/**
* The index of the interrupt.
*/
protected int m_interruptIndex;
/**
* Resource manager.
*/
protected static Resource m_interrupts = new Resource(8);
/**
* Create a new InterrupatableSensorBase.
*/
@@ -138,15 +129,9 @@ public abstract class InterruptableSensorBase extends SensorBase {
* have to explicitly wait for the interrupt to occur.
*/
protected void allocateInterrupts(boolean watcher) {
try {
m_interruptIndex = m_interrupts.allocate();
} catch (CheckedAllocationException ex) {
throw new AllocationException("No interrupts are left to be allocated");
}
m_isSynchronousInterrupt = watcher;
m_interrupt =
InterruptJNI.initializeInterrupts(m_interruptIndex, watcher);
m_interrupt = InterruptJNI.initializeInterrupts(watcher);
}
/**
@@ -159,7 +144,6 @@ public abstract class InterruptableSensorBase extends SensorBase {
}
InterruptJNI.cleanInterrupts(m_interrupt);
m_interrupt = 0;
m_interrupts.free(m_interruptIndex);
}
/**

22
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/InterruptJNI.java
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@@ -8,32 +8,34 @@
package edu.wpi.first.wpilibj.hal;
public class InterruptJNI extends JNIWrapper {
public static final int HalInvalidHandle = 0;
public interface InterruptJNIHandlerFunction {
void apply(int interruptAssertedMask, Object param);
}
public static native long initializeInterrupts(int interruptIndex, boolean watcher);
public static native int initializeInterrupts(boolean watcher);
public static native void cleanInterrupts(long interruptPointer);
public static native void cleanInterrupts(int interruptHandle);
public static native int waitForInterrupt(long interruptPointer, double timeout,
public static native int waitForInterrupt(int interruptHandle, double timeout,
boolean ignorePrevious);
public static native void enableInterrupts(long interruptPointer);
public static native void enableInterrupts(int interruptHandle);
public static native void disableInterrupts(long interruptPointer);
public static native void disableInterrupts(int interruptHandle);
public static native double readRisingTimestamp(long interruptPointer);
public static native double readRisingTimestamp(int interruptHandle);
public static native double readFallingTimestamp(long interruptPointer);
public static native double readFallingTimestamp(int interruptHandle);
public static native void requestInterrupts(long interruptPointer, byte routingModule,
public static native void requestInterrupts(int interruptHandle, byte routingModule,
int routingPin, boolean routingAnalogTrigger);
public static native void attachInterruptHandler(long interruptPointer,
public static native void attachInterruptHandler(int interruptHandle,
InterruptJNIHandlerFunction handler,
Object param);
public static native void setInterruptUpSourceEdge(long interruptPointer, boolean risingEdge,
public static native void setInterruptUpSourceEdge(int interruptHandle, boolean risingEdge,
boolean fallingEdge);
}