Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-26 01:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Simplify JNI interfaces.

Browse Source 
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

130
wpilibj/wpilibJavaJNI/lib/SolenoidJNI.cpp
View File

@@ -4,149 +4,137 @@
#include "edu_wpi_first_wpilibj_hal_SolenoidJNI.h"
#include "HALUtil.h"
TLogLevel solenoidJNILogLevel = logERROR;
#define SOLENOIDJNI_LOG(level) \
if (level > solenoidJNILogLevel) ; \
else Log().Get(level)
typedef void *VoidPointer;
extern "C" {
/*
* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
* Method: initializeSolenoidPort
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
* Signature: (J)J
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_initializeSolenoidPort
(JNIEnv *env, jclass, jobject port_pointer, jobject status)
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_initializeSolenoidPort
(JNIEnv *env, jclass, jlong port_pointer)
{
SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI initializeSolenoidPort";
VoidPointer *port_pointer_pointer = (VoidPointer *)env->GetDirectBufferAddress(port_pointer);
SOLENOIDJNI_LOG(logDEBUG) << "Port Ptr = " << *port_pointer_pointer;
char *aschars = (char *)(*port_pointer_pointer);
SOLENOIDJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)port_pointer;
char *aschars = (char *)port_pointer;
SOLENOIDJNI_LOG(logDEBUG) << '\t' << (int)aschars[0] << '\t' << (int)aschars[1] << std::endl;
jint *status_pointer = (jint*)env->GetDirectBufferAddress(status);
SOLENOIDJNI_LOG(logDEBUG) << "Status Ptr = " << status_pointer;
int32_t status = 0;
void* solenoid_port_pointer = initializeSolenoidPort((void*)port_pointer, &status);
VoidPointer *solenoid_port_pointer = new VoidPointer;
*status_pointer = 0;
*solenoid_port_pointer = initializeSolenoidPort(*port_pointer_pointer, status_pointer);
SOLENOIDJNI_LOG(logDEBUG) << "Status = " << status;
SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Pointer = " << solenoid_port_pointer;
SOLENOIDJNI_LOG(logDEBUG) << "Status = " << *status_pointer;
SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Pointer = " << *solenoid_port_pointer;
int *asints = (int *)(*solenoid_port_pointer);
int *asints = (int *)solenoid_port_pointer;
SOLENOIDJNI_LOG(logDEBUG) << '\t' << asints[0] << '\t' << asints[1] << std::endl;
return env->NewDirectByteBuffer(solenoid_port_pointer, 4);
CheckStatus(env, status);
return (jlong)solenoid_port_pointer;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
* Method: getPortWithModule
* Signature: (BB)Ljava/nio/ByteBuffer;
* Signature: (BB)J
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPortWithModule
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPortWithModule
(JNIEnv *env, jclass, jbyte module, jbyte channel)
{
VoidPointer *port_pointer = new VoidPointer;
*port_pointer = getPortWithModule(module, channel);
void* port_pointer = getPortWithModule(module, channel);
return env->NewDirectByteBuffer(port_pointer, 4);
return (jlong)port_pointer;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
* Method: setSolenoid
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)V
* Signature: (JZ)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_setSolenoid
(JNIEnv *env, jclass, jobject solenoid_port, jbyte value, jobject status)
(JNIEnv *env, jclass, jlong solenoid_port, jboolean value)
{
SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI SetSolenoid";
VoidPointer *solenoid_port_pointer = (VoidPointer *)env->GetDirectBufferAddress(solenoid_port);
SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Pointer = " << *solenoid_port_pointer;
SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Pointer = " << (void*)solenoid_port;
jint *status_pointer = (jint*)env->GetDirectBufferAddress(status);
SOLENOIDJNI_LOG(logDEBUG) << "Status Ptr = " << status_pointer;
*status_pointer = 0;
setSolenoid(*solenoid_port_pointer, value, status_pointer);
int32_t status = 0;
setSolenoid((void*)solenoid_port, value, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
* Method: getSolenoid
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
* Signature: (J)Z
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getSolenoid
(JNIEnv *env, jclass, jobject solenoid_port, jobject status)
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getSolenoid
(JNIEnv *env, jclass, jlong solenoid_port)
{
VoidPointer *solenoid_port_pointer = (VoidPointer *)env->GetDirectBufferAddress(solenoid_port);
jint *status_pointer = (jint*)env->GetDirectBufferAddress(status);
*status_pointer = 0;
return getSolenoid(*solenoid_port_pointer, status_pointer);
int32_t status = 0;
jboolean val = getSolenoid((void*)solenoid_port, &status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
* Method: getPCMSolenoidBlackList
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
* Signature: (J)I
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidBlackList
(JNIEnv *env, jclass, jobject solenoid_port, jobject status)
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidBlackList
(JNIEnv *env, jclass, jlong solenoid_port)
{
VoidPointer *solenoid_port_pointer = (VoidPointer *)env->GetDirectBufferAddress(solenoid_port);
jint *status_pointer = (jint*)env->GetDirectBufferAddress(status);
*status_pointer = 0;
return getPCMSolenoidBlackList(*solenoid_port_pointer, status_pointer);
int32_t status = 0;
jint val = getPCMSolenoidBlackList((void*)solenoid_port, &status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
* Method: getPCMSolenoidVoltageStickyFault
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Z
* Signature: (J)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidVoltageStickyFault
(JNIEnv *env, jclass, jobject solenoid_port, jobject status)
(JNIEnv *env, jclass, jlong solenoid_port)
{
VoidPointer *solenoid_port_pointer = (VoidPointer *)env->GetDirectBufferAddress(solenoid_port);
jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
*status_pointer = 0;
return getPCMSolenoidVoltageStickyFault(*solenoid_port_pointer, status_pointer);
int32_t status = 0;
bool val = getPCMSolenoidVoltageStickyFault((void*)solenoid_port, &status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
* Method: getPCMSolenoidVoltageFault
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Z
* Signature: (J)Z
*/
JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_getPCMSolenoidVoltageFault
(JNIEnv *env, jclass, jobject solenoid_port, jobject status)
(JNIEnv *env, jclass, jlong solenoid_port)
{
VoidPointer *solenoid_port_pointer = (VoidPointer *)env->GetDirectBufferAddress(solenoid_port);
jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
*status_pointer = 0;
return getPCMSolenoidVoltageFault(*solenoid_port_pointer, status_pointer);
int32_t status = 0;
bool val = getPCMSolenoidVoltageFault((void*)solenoid_port, &status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_first_wpilibj_hal_SolenoidJNI
* Method: clearAllPCMStickyFaults
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
* Signature: (J)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SolenoidJNI_clearAllPCMStickyFaults
(JNIEnv *env, jclass, jobject solenoid_port, jobject status)
(JNIEnv *env, jclass, jlong solenoid_port)
{
VoidPointer *solenoid_port_pointer = (VoidPointer *)env->GetDirectBufferAddress(solenoid_port);
jint *status_pointer = (jint *)env->GetDirectBufferAddress(status);
*status_pointer = 0;
clearAllPCMStickyFaults_sol(*solenoid_port_pointer, status_pointer);
int32_t status = 0;
clearAllPCMStickyFaults_sol((void*)solenoid_port, &status);
CheckStatus(env, status);
}
} // extern "C"