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WPILib Reorganization
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
This commit is contained in:
Fredric Silberberg
296
wpilibj/src/athena/cpp/lib/InterruptJNI.cpp
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296
wpilibj/src/athena/cpp/lib/InterruptJNI.cpp
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#include <jni.h>
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#include <assert.h>
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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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TLogLevel interruptJNILogLevel = logERROR;
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#define INTERRUPTJNI_LOG(level) \
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if (level > interruptJNILogLevel) ; \
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else Log().Get(level)
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extern "C" {
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: initializeInterrupts
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* Signature: (IZ)J
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*/
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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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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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CheckStatus(env, status);
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return (jlong)interrupt;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: cleanInterrupts
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* Signature: (J)V
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*/
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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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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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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: waitForInterrupt
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* Signature: (JD)V
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*/
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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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int32_t status = 0;
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int result = waitForInterrupt((void*)interrupt_pointer, timeout, ignorePrevious, &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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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: enableInterrupts
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* Signature: (J)V
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*/
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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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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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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: disableInterrupts
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* Signature: (J)V
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*/
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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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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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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: readRisingTimestamp
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* Signature: (J)D
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*/
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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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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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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: readFallingTimestamp
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* Signature: (J)D
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*/
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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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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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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: requestInterrupts
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* Signature: (JBIZ)V
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*/
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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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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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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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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: attachInterruptHandler
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* Signature: (JLedu/wpi/first/wpilibj/hal/InterruptJNI/InterruptHandlerFunction;Ljava/nio/ByteBuffer;)V
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*/
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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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//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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interruptHandlerParam->mid = mid;
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INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam Ptr = " << interruptHandlerParam;
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INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->obj (handler) = " << interruptHandlerParam->handler_obj;
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INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->mid = " << interruptHandlerParam->mid;
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INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->param = " << interruptHandlerParam->param;
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int32_t status = 0;
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attachInterruptHandler((void*)interrupt_pointer, interruptHandler, interruptHandlerParam, &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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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: setInterruptUpSourceEdge
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* Signature: (JZZ)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_setInterruptUpSourceEdge
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(JNIEnv * env, jclass, jlong interrupt_pointer, jboolean risingEdge, jboolean fallingEdge)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI setInterruptUpSourceEdge";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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INTERRUPTJNI_LOG(logDEBUG) << "Rising Edge = " << (bool) risingEdge;
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INTERRUPTJNI_LOG(logDEBUG) << "Falling Edge = " << (bool) fallingEdge;
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int32_t status = 0;
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setInterruptUpSourceEdge((void*)interrupt_pointer, risingEdge, fallingEdge, &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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} // extern "C"
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