mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
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
This commit is contained in:
Peter Johnson
committed by
Brad Miller (WPI)
Brad Miller (WPI)
parent
927400a43c
commit
7023013c4b
@@ -4,6 +4,7 @@
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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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@@ -11,197 +12,165 @@ TLogLevel interruptJNILogLevel = logERROR;
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if (level > interruptJNILogLevel) ; \
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else Log().Get(level)
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//Used for callback when an interrupt is fired.
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static JavaVM *jvm;
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: initializeInterruptJVM
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* Signature: (Ljava/nio/IntBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterruptJVM
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(JNIEnv * env, jclass, jobject status)
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{
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//This method should be called once to setup the JVM
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI initializeInterruptJVM";
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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*statusPtr = 0;
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jint rs = env->GetJavaVM(&jvm);
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assert (rs == JNI_OK);
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}
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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: (IBLjava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
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* Signature: (IZ)J
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*/
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JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterrupts
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(JNIEnv * env, jclass, jint interruptIndex, jbyte watcher, jobject status)
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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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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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void** interruptPtr = (void**)new unsigned char[4];
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*statusPtr = 0;
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*interruptPtr = (void**) initializeInterrupts(interruptIndex, watcher, statusPtr);
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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 = " << *interruptPtr;
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << interrupt;
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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return env->NewDirectByteBuffer(interruptPtr, 4);
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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: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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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, jobject interrupt_pointer, jobject status)
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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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void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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*statusPtr = 0;
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cleanInterrupts(*javaId, statusPtr);
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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 = " << *statusPtr;
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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: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
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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, jobject interrupt_pointer, jdouble timeout, jboolean ignorePrevious, jobject status)
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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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void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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*statusPtr = 0;
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int result = waitForInterrupt(*javaId, timeout, ignorePrevious, statusPtr);
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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 = " << *statusPtr;
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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: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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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, jobject interrupt_pointer, jobject status)
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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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void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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*statusPtr = 0;
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enableInterrupts(*javaId, statusPtr);
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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 = " << *statusPtr;
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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: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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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, jobject interrupt_pointer, jobject status)
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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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void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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*statusPtr = 0;
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disableInterrupts(*javaId, statusPtr);
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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 = " << *statusPtr;
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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: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
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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, jobject interrupt_pointer, jobject status)
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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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void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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*statusPtr = 0;
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jdouble timeStamp = readRisingTimestamp(*javaId, statusPtr);
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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 = " << *statusPtr;
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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: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
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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, jobject interrupt_pointer, jobject status)
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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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void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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*statusPtr = 0;
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jdouble timeStamp = readFallingTimestamp(*javaId, statusPtr);
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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 = " << *statusPtr;
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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: (Ljava/nio/ByteBuffer;BIBLjava/nio/IntBuffer;)V
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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, jobject interrupt_pointer, jbyte routing_module, jint routing_pin, jbyte routing_analog_trigger, jobject status)
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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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void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
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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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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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*statusPtr = 0;
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requestInterrupts(*javaId, (uint8_t) routing_module, (uint32_t) routing_pin, routing_analog_trigger, statusPtr);
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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 = " << *statusPtr;
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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@@ -260,17 +229,13 @@ void interruptHandler(uint32_t mask, void *data) {
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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: (Ljava/nio/ByteBuffer;Ledu/wpi/first/wpilibj/hal/InterruptJNI/InterruptHandlerFunction;Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
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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, jobject interrupt_pointer, jobject handler, jobject param, jobject status)
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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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void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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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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@@ -301,31 +266,31 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterru
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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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*statusPtr = 0;
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attachInterruptHandler(*javaId, interruptHandler, interruptHandlerParam, statusPtr);
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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 = " << *statusPtr;
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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: (Ljava/nio/ByteBuffer;BBLjava/nio/IntBuffer;)V
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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, jobject interrupt_pointer, jbyte risingEdge, jbyte fallingEdge, jobject status)
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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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void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
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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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jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
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int32_t status = 0;
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setInterruptUpSourceEdge((void*)interrupt_pointer, risingEdge, fallingEdge, &status);
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*statusPtr = 0;
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setInterruptUpSourceEdge(*javaId, risingEdge, fallingEdge, statusPtr);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
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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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