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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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24
wpilibj/src/athena/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
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@@ -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);
}