mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
Rewrite Java Notifier and update Interrupt JNI.
Notifier takes advantage of the multi-notifier support now in HAL. Each Notifier is now handled by a separate thread at the JNI level, so one notifier taking longer to process (or being breakpointed) does not stop the other notifiers from running. These threads are configured as daemon threads. In both Notifier and Interrupt JNI, the JNI thread attachment no longer repeatedly calls AttachCurrentThread(). This improves performance but more importantly avoids impacting the Eclipse debugger, which attempts to track each call to AttachCurrentThread() as a separate Java thread. Note: There is currently no way to free an interrupt handler. Repeatedly calling attachInterruptHandler() will result in leaking previous handlers. Change-Id: Ib12e3df88943c03e0269d3906e5b153767139391
This commit is contained in:
Peter Johnson
@@ -1,10 +1,15 @@
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#include <jni.h>
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#include <assert.h>
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#include <atomic>
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#include <condition_variable>
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#include <mutex>
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#include <thread>
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#include "Log.hpp"
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#include "edu_wpi_first_wpilibj_hal_InterruptJNI.h"
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#include "HAL/Interrupts.hpp"
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#include "HALUtil.h"
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#include "SafeThread.h"
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TLogLevel interruptJNILogLevel = logERROR;
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@@ -12,6 +17,94 @@ TLogLevel interruptJNILogLevel = logERROR;
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if (level > interruptJNILogLevel) ; \
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else Log().Get(level)
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// Thread where callbacks are actually performed.
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//
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// JNI's AttachCurrentThread() creates a Java Thread object on every
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// invocation, which is both time inefficient and causes issues with Eclipse
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// (which tries to keep a thread list up-to-date and thus gets swamped).
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//
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// Instead, this class attaches just once. When a hardware notification
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// occurs, a condition variable wakes up this thread and this thread actually
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// makes the call into Java.
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//
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// We don't want to use a FIFO here. If the user code takes too long to
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// process, we will just ignore the redundant wakeup.
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class InterruptThreadJNI : public SafeThread {
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public:
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void Main();
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bool m_notify = false;
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uint32_t m_mask = 0;
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jobject m_func = nullptr;
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jmethodID m_mid;
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jobject m_param = nullptr;
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};
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class InterruptJNI : public SafeThreadOwner<InterruptThreadJNI> {
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public:
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void SetFunc(JNIEnv* env, jobject func, jmethodID mid, jobject param);
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void Notify(uint32_t mask) {
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auto thr = GetThread();
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if (!thr) return;
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thr->m_notify = true;
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thr->m_mask = mask;
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thr->m_cond.notify_one();
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}
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};
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void InterruptJNI::SetFunc(JNIEnv* env, jobject func, jmethodID mid,
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jobject param) {
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auto thr = GetThread();
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if (!thr) return;
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// free global references
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if (thr->m_func) env->DeleteGlobalRef(thr->m_func);
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if (thr->m_param) env->DeleteGlobalRef(thr->m_param);
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// create global references
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thr->m_func = env->NewGlobalRef(func);
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thr->m_param = param ? env->NewGlobalRef(param) : nullptr;
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thr->m_mid = mid;
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}
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void InterruptThreadJNI::Main() {
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JNIEnv *env;
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JavaVMAttachArgs args;
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args.version = JNI_VERSION_1_2;
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args.name = const_cast<char*>("Interrupt");
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args.group = nullptr;
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jint rs = jvm->AttachCurrentThreadAsDaemon((void**)&env, &args);
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if (rs != JNI_OK) return;
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std::unique_lock<std::mutex> lock(m_mutex);
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while (m_active) {
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m_cond.wait(lock, [&] { return !m_active || m_notify; });
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if (!m_active) break;
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m_notify = false;
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if (!m_func) continue;
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jobject func = m_func;
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jmethodID mid = m_mid;
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uint32_t mask = m_mask;
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jobject param = m_param;
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lock.unlock(); // don't hold mutex during callback execution
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env->CallVoidMethod(func, mid, (jint)mask, param);
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if (env->ExceptionCheck()) {
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env->ExceptionDescribe();
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env->ExceptionClear();
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}
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lock.lock();
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}
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// free global references
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if (m_func) env->DeleteGlobalRef(m_func);
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if (m_param) env->DeleteGlobalRef(m_param);
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jvm->DetachCurrentThread();
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}
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void interruptHandler(uint32_t mask, void* param) {
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((InterruptJNI*)param)->Notify(mask);
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}
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extern "C" {
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/*
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@@ -22,18 +115,18 @@ extern "C" {
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JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterrupts
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(JNIEnv * env, jclass, jint interruptIndex, jboolean watcher)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI initializeInterrupts";
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INTERRUPTJNI_LOG(logDEBUG) << "interruptIndex = " << interruptIndex;
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INTERRUPTJNI_LOG(logDEBUG) << "watcher = " << (bool) watcher;
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI initializeInterrupts";
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INTERRUPTJNI_LOG(logDEBUG) << "interruptIndex = " << interruptIndex;
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INTERRUPTJNI_LOG(logDEBUG) << "watcher = " << (bool)watcher;
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int32_t status = 0;
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void* interrupt = initializeInterrupts(interruptIndex, watcher, &status);
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int32_t status = 0;
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void* interrupt = initializeInterrupts(interruptIndex, watcher, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << interrupt;
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << interrupt;
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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return (jlong)interrupt;
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CheckStatus(env, status);
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return (jlong)interrupt;
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}
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@@ -45,15 +138,15 @@ JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeIn
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrupts
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(JNIEnv * env, jclass, jlong interrupt_pointer)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI cleanInterrupts";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI cleanInterrupts";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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int32_t status = 0;
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cleanInterrupts((void*)interrupt_pointer, &status);
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int32_t status = 0;
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cleanInterrupts((void*)interrupt_pointer, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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CheckStatus(env, status);
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}
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/*
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@@ -64,16 +157,17 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrup
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JNIEXPORT int JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt
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(JNIEnv * env, jclass, jlong interrupt_pointer, jdouble timeout, jboolean ignorePrevious)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI waitForInterrupt";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI waitForInterrupt";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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int32_t status = 0;
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int result = waitForInterrupt((void*)interrupt_pointer, timeout, ignorePrevious, &status);
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int32_t status = 0;
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int result = waitForInterrupt((void*)interrupt_pointer, timeout,
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ignorePrevious, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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return result;
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CheckStatus(env, status);
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return result;
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}
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/*
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@@ -84,15 +178,15 @@ JNIEXPORT int JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterru
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterrupts
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(JNIEnv * env, jclass, jlong interrupt_pointer)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI enableInterrupts";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI enableInterrupts";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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int32_t status = 0;
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enableInterrupts((void*)interrupt_pointer, &status);
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int32_t status = 0;
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enableInterrupts((void*)interrupt_pointer, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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CheckStatus(env, status);
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}
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/*
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@@ -103,15 +197,15 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterru
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts
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(JNIEnv * env, jclass, jlong interrupt_pointer)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI disableInterrupts";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI disableInterrupts";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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int32_t status = 0;
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disableInterrupts((void*)interrupt_pointer, &status);
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int32_t status = 0;
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disableInterrupts((void*)interrupt_pointer, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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CheckStatus(env, status);
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}
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/*
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@@ -122,15 +216,15 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterr
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readRisingTimestamp
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(JNIEnv * env, jclass, jlong interrupt_pointer)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readRisingTimestamp";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readRisingTimestamp";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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int32_t status = 0;
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jdouble timeStamp = readRisingTimestamp((void*)interrupt_pointer, &status);
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int32_t status = 0;
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jdouble timeStamp = readRisingTimestamp((void*)interrupt_pointer, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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return timeStamp;
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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return timeStamp;
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}
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/*
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@@ -141,15 +235,15 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readRising
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readFallingTimestamp
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(JNIEnv * env, jclass, jlong interrupt_pointer)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readFallingTimestamp";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readFallingTimestamp";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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int32_t status = 0;
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jdouble timeStamp = readFallingTimestamp((void*)interrupt_pointer, &status);
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int32_t status = 0;
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jdouble timeStamp = readFallingTimestamp((void*)interrupt_pointer, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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return timeStamp;
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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return timeStamp;
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}
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/*
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@@ -160,70 +254,18 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readFallin
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts
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(JNIEnv * env, jclass, jlong interrupt_pointer, jbyte routing_module, jint routing_pin, jboolean routing_analog_trigger)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI requestInterrupts";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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INTERRUPTJNI_LOG(logDEBUG) << "routing module = " << (jint) routing_module;
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INTERRUPTJNI_LOG(logDEBUG) << "routing pin = " << routing_pin;
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INTERRUPTJNI_LOG(logDEBUG) << "routing analog trigger = " << (jint) routing_analog_trigger;
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI requestInterrupts";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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INTERRUPTJNI_LOG(logDEBUG) << "routing module = " << (jint)routing_module;
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INTERRUPTJNI_LOG(logDEBUG) << "routing pin = " << routing_pin;
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INTERRUPTJNI_LOG(logDEBUG) << "routing analog trigger = " << (jint)routing_analog_trigger;
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int32_t status = 0;
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requestInterrupts((void*)interrupt_pointer, (uint8_t) routing_module, (uint32_t) routing_pin, routing_analog_trigger, &status);
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int32_t status = 0;
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requestInterrupts((void*)interrupt_pointer, (uint8_t)routing_module,
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(uint32_t)routing_pin, routing_analog_trigger, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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struct InterruptHandlerParam {
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/*
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* The object edu/wpi/first/wpilibj/hal/InterruptJNI/InterruptHandlerFunction
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* that contains the callback method [code]mid[/code].
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*/
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jobject handler_obj;
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//The method id for the callback method
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jmethodID mid;
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//The params passed to the function
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jobject param;
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~InterruptHandlerParam(){
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI InterruptHandlerParam Destructor";
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JNIEnv *env;
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jint rs = jvm->AttachCurrentThread((void**)&env, NULL);
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assert (rs == JNI_OK);
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env->DeleteGlobalRef(handler_obj);
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env->DeleteGlobalRef(param);
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rs = jvm->DetachCurrentThread();
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assert (rs == JNI_OK);
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INTERRUPTJNI_LOG(logDEBUG) << "Leaving INTERRUPTJNI InterruptHandlerParam Destructor";
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}
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};
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void interruptHandler(uint32_t mask, void *data) {
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI interruptHandler";
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InterruptHandlerParam *param = static_cast<InterruptHandlerParam *>(data);
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INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam Ptr = " << param;
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INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->obj = " << param->handler_obj;
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INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->param = " << param->param;
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//Because this is a callback in a new thread we must attach it to the JVM
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JNIEnv *env;
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jint rs = jvm->AttachCurrentThread((void**)&env, NULL);
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assert (rs == JNI_OK);
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INTERRUPTJNI_LOG(logDEBUG) << "Attached to thread";
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env->CallVoidMethod(param->handler_obj, param->mid, mask, param->param);
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if (env->ExceptionCheck()) {
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env->ExceptionDescribe();
|
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}
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rs = jvm->DetachCurrentThread();
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assert (rs == JNI_OK);
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INTERRUPTJNI_LOG(logDEBUG) << "Leaving INTERRUPTJNI interruptHandler";
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
|
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}
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||||
/*
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@@ -234,43 +276,36 @@ void interruptHandler(uint32_t mask, void *data) {
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler
|
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(JNIEnv * env, jclass, jlong interrupt_pointer, jobject handler, jobject param)
|
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI attachInterruptHandler";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI attachInterruptHandler";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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//Store the interrupt callback paramaters
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InterruptHandlerParam *interruptHandlerParam = new InterruptHandlerParam();
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//Stores the object that contains the callback
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interruptHandlerParam->handler_obj = env->NewGlobalRef(handler);
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//The parameter that will be passed back to the JVM when the method is called
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interruptHandlerParam->param = env->NewGlobalRef(param);
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jclass cls = env->GetObjectClass(handler);
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INTERRUPTJNI_LOG(logDEBUG) << "class = " << cls;
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if (cls == 0) {
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INTERRUPTJNI_LOG(logERROR) << "Error getting java class";
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assert(false);
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return;
|
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}
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jmethodID mid = env->GetMethodID(cls, "apply", "(ILjava/lang/Object;)V");
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INTERRUPTJNI_LOG(logDEBUG) << "method = " << mid;
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if (mid == 0) {
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INTERRUPTJNI_LOG(logERROR) << "Error getting java method ID";
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assert(false);
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return;
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}
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jclass cls = env->GetObjectClass(handler);
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INTERRUPTJNI_LOG(logDEBUG) << "class = " << cls;
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if (cls == 0) {
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INTERRUPTJNI_LOG(logERROR) << "Error getting java class";
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assert (false);
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return;
|
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}
|
||||
InterruptJNI* intr = new InterruptJNI;
|
||||
intr->Start();
|
||||
intr->SetFunc(env, handler, mid, param);
|
||||
|
||||
jmethodID mid = env->GetMethodID(cls, "apply", "(ILjava/lang/Object;)V");
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "method = " << mid;
|
||||
if (mid == 0) {
|
||||
INTERRUPTJNI_LOG(logERROR) << "Error getting java method ID";
|
||||
assert (false);
|
||||
return;
|
||||
}
|
||||
interruptHandlerParam->mid = mid;
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "InterruptThreadJNI Ptr = " << intr;
|
||||
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam Ptr = " << interruptHandlerParam;
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->obj (handler) = " << interruptHandlerParam->handler_obj;
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->mid = " << interruptHandlerParam->mid;
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->param = " << interruptHandlerParam->param;
|
||||
int32_t status = 0;
|
||||
attachInterruptHandler((void*)interrupt_pointer, interruptHandler, intr,
|
||||
&status);
|
||||
|
||||
int32_t status = 0;
|
||||
attachInterruptHandler((void*)interrupt_pointer, interruptHandler, interruptHandlerParam, &status);
|
||||
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
|
||||
CheckStatus(env, status);
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
|
||||
CheckStatus(env, status);
|
||||
}
|
||||
|
||||
/*
|
||||
@@ -281,16 +316,17 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterru
|
||||
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_setInterruptUpSourceEdge
|
||||
(JNIEnv * env, jclass, jlong interrupt_pointer, jboolean risingEdge, jboolean fallingEdge)
|
||||
{
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI setInterruptUpSourceEdge";
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "Rising Edge = " << (bool) risingEdge;
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "Falling Edge = " << (bool) fallingEdge;
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI setInterruptUpSourceEdge";
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "Rising Edge = " << (bool)risingEdge;
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "Falling Edge = " << (bool)fallingEdge;
|
||||
|
||||
int32_t status = 0;
|
||||
setInterruptUpSourceEdge((void*)interrupt_pointer, risingEdge, fallingEdge, &status);
|
||||
int32_t status = 0;
|
||||
setInterruptUpSourceEdge((void*)interrupt_pointer, risingEdge, fallingEdge,
|
||||
&status);
|
||||
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
|
||||
CheckStatus(env, status);
|
||||
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
|
||||
CheckStatus(env, status);
|
||||
}
|
||||
|
||||
} // extern "C"
|
||||
|
||||
Reference in New Issue
Block a user