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Simplify JNI interfaces.

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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
2015-11-01 09:11:52 -08:00
committed by Brad Miller (WPI)
parent 927400a43c
commit 7023013c4b
69 changed files with 2232 additions and 3118 deletions
Download Patch File Download Diff File Expand all files Collapse all files

105
wpilibj/wpilibJavaJNI/lib/NotifierJNI.cpp
View File

@@ -5,6 +5,7 @@
#include "Log.hpp"
#include "edu_wpi_first_wpilibj_hal_NotifierJNI.h"
#include "HAL/Notifier.hpp"
#include "HALUtil.h"
// set the logging level
TLogLevel notifierJNILogLevel = logWARNING;
@@ -13,29 +14,6 @@ TLogLevel notifierJNILogLevel = logWARNING;
if (level > notifierJNILogLevel) ; \
else Log().Get(level)
// The jvm object is necessary in order to attach new threads (ie,
// notifierHandler), to the JVM.
static JavaVM *jvm;
static const int kPtrSize = sizeof(void*);
// Utility functions which convert back and forth between pointers and Java
// ByteBuffers.
jint* GetStatusPtr(JNIEnv *env, jobject status) {
return (jint*)env->GetDirectBufferAddress(status);
}
jobject PtrToByteBuf(JNIEnv *env, void *ptr) {
// Stores a pointer into a byte buffer of the appropriate length.
return env->NewDirectByteBuffer(ptr, kPtrSize);
}
void *ByteBufToPtr(JNIEnv *env, jobject bytebuf) {
void * ptr = (void*)env->GetDirectBufferAddress(bytebuf);
return ptr;
}
// These two are used to pass information to the notifierHandler without using
// up function parameters.
// See below for more information.
@@ -48,7 +26,7 @@ void notifierHandler(uint32_t mask, void* param) {
jobject handler_obj = func_global;
jmethodID mid = mid_global;
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI interruptHandler";
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI notifierHandler";
//Because this is a callback in a new thread we must attach it to the JVM.
JNIEnv *env;
@@ -73,37 +51,20 @@ void notifierHandler(uint32_t mask, void* param) {
rs = jvm->DetachCurrentThread();
assert (rs == JNI_OK);
}
NOTIFIERJNI_LOG(logDEBUG) << "Leaving NOTIFIERJNI interruptHandler";
NOTIFIERJNI_LOG(logDEBUG) << "Leaving NOTIFIERJNI notifierHandler";
}
/*
* Class: edu_wpi_first_wpilibj_hal_NotifierJNI
* Method: initializeNotifierJVM
* Signature: (Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_initializeNotifierJVM
(JNIEnv *env, jclass, jobject status)
{
//This method should be called once to setup the JVM
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI initializeNotifierJVM";
jint * statusPtr = GetStatusPtr(env, status);
NOTIFIERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
jint rs = env->GetJavaVM(&jvm);
assert (rs == JNI_OK);
}
extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_NotifierJNI
* Method: initializeNotifier
* Signature: (Ljava/lang/Runnable;Ljava/nio/IntBuffer;)Ljava/lang/ByteBuffer;
* Signature: (Ljava/lang/Runnable;)J
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_initializeNotifier
(JNIEnv *env, jclass, jobject func, jobject status)
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_initializeNotifier
(JNIEnv *env, jclass, jobject func)
{
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI initializeNotifier";
jint * statusPtr = GetStatusPtr(env, status);
NOTIFIERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jclass cls = env->GetObjectClass(func);
jmethodID mid = env->GetMethodID(cls, "run", "()V");
@@ -120,54 +81,52 @@ JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_initializeN
func_global = env->NewGlobalRef(func);
mid_global = mid;
*statusPtr = 0;
void *notifierPtr = initializeNotifier(notifierHandler, statusPtr);
int32_t status = 0;
void *notifierPtr = initializeNotifier(notifierHandler, &status);
NOTIFIERJNI_LOG(logDEBUG) << "Notifier Ptr = " << notifierPtr;
NOTIFIERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
return PtrToByteBuf(env, notifierPtr);
CheckStatus(env, status);
return (jlong)notifierPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_NotifierJNI
* Method: cleanNotifier
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
* Signature: (J)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_NotifierJNI_cleanNotifier(JNIEnv *env, jclass, jobject notifierPtr, jobject status) {
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_cleanNotifier
(JNIEnv *env, jclass, jlong notifierPtr)
{
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI cleanNotifier";
void *ptr = ByteBufToPtr(env, notifierPtr);
NOTIFIERJNI_LOG(logDEBUG) << "Notifier Ptr = " << ptr;
NOTIFIERJNI_LOG(logDEBUG) << "Notifier Ptr = " << (void*)notifierPtr;
jint *statusPtr = GetStatusPtr(env, status);
NOTIFIERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
cleanNotifier(ptr, statusPtr);
NOTIFIERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
int32_t status = 0;
cleanNotifier((void*)notifierPtr, &status);
NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_NotifierJNI
* Method: updateNotifierAlarm
* Signature: (Ljava/nio/ByteBuffer;ILjava/nio/IntBuffer;)V
* Signature: (JI)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_NotifierJNI_updateNotifierAlarm(
JNIEnv *env, jclass cls, jobject notifierPtr, jint triggerTime,
jobject status) {
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_updateNotifierAlarm
(JNIEnv *env, jclass cls, jlong notifierPtr, jint triggerTime)
{
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI updateNotifierAlarm";
void *ptr = ByteBufToPtr(env, notifierPtr);
NOTIFIERJNI_LOG(logDEBUG) << "Notifier Ptr = " << ptr;
NOTIFIERJNI_LOG(logDEBUG) << "Notifier Ptr = " << (void*)notifierPtr;
jint *statusPtr = GetStatusPtr(env, status);
NOTIFIERJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
NOTIFIERJNI_LOG(logDEBUG) << "triggerTime Ptr = " << &triggerTime;
*statusPtr = 0;
updateNotifierAlarm(ptr, (uint32_t)triggerTime, statusPtr);
NOTIFIERJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
int32_t status = 0;
updateNotifierAlarm((void*)notifierPtr, (uint32_t)triggerTime, &status);
NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
} // extern "C"