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Adds interrupts to Java

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Implements the JNI bindings for java
Adds integration tests for Digital Inputs and AnalogTriggers.
Adds the ability to get the value and message from errno in java using the HALUtil JNI class.

Change-Id: I853529fdab9744ce95ee15d4cc73dc3953265552
This commit is contained in:
Jonathan Leitschuh
2014-08-04 14:19:01 -04:00
parent 23b6a980c2
commit 8ba0eada17
18 changed files with 834 additions and 213 deletions
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221
wpilibj/wpilibJavaJNI/lib/InterruptJNI.cpp
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@@ -3,6 +3,33 @@
#include "Log.hpp"
#include "edu_wpi_first_wpilibj_hal_InterruptJNI.h"
#include "HAL/Interrupts.hpp"
TLogLevel interruptJNILogLevel = logERROR;
#define INTERRUPTJNI_LOG(level) \
if (level > interruptJNILogLevel) ; \
else Log().Get(level)
//Used for callback when an interrupt is fired.
static JavaVM *jvm;
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: initializeInterruptJVM
* Signature: (Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterruptJVM
(JNIEnv * env, jclass, jobject status)
{
//This method should be called once to setup the JVM
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI initializeInterruptJVM";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jint rs = env->GetJavaVM(&jvm);
assert (rs == JNI_OK);
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
@@ -10,22 +37,41 @@
* Signature: (IBLjava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterrupts
(JNIEnv *, jclass, jint, jbyte, jobject)
(JNIEnv * env, jclass, jint interruptIndex, jbyte watcher, jobject status)
{
assert(false);
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI initializeInterrupts";
INTERRUPTJNI_LOG(logDEBUG) << "interruptIndex = " << interruptIndex;
INTERRUPTJNI_LOG(logDEBUG) << "watcher = " << (bool) watcher;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** interruptPtr = (void**)new unsigned char[4];
*interruptPtr = (void**) initializeInterrupts(interruptIndex, watcher, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *interruptPtr;
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
return env->NewDirectByteBuffer(interruptPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: cleanInterrupts
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrupts
(JNIEnv *, jclass, jobject, jobject)
(JNIEnv * env, jclass, jobject interrupt_pointer, jobject status)
{
assert(false);
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI cleanInterrupts";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
cleanInterrupts(*javaId, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
@@ -34,10 +80,17 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrup
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt
(JNIEnv *, jclass, jobject, jdouble, jobject)
(JNIEnv * env, jclass, jobject interrupt_pointer, jdouble timeout, jobject status)
{
assert(false);
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI waitForInterrupt";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
waitForInterrupt(*javaId, timeout, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
@@ -46,10 +99,17 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterr
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterrupts
(JNIEnv *, jclass, jobject, jobject)
(JNIEnv * env, jclass, jobject interrupt_pointer, jobject status)
{
assert(false);
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI enableInterrupts";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
enableInterrupts(*javaId, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
@@ -58,10 +118,17 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterru
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts
(JNIEnv *, jclass, jobject, jobject)
(JNIEnv * env, jclass, jobject interrupt_pointer, jobject status)
{
assert(false);
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI disableInterrupts";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
disableInterrupts(*javaId, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
@@ -70,10 +137,18 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterr
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterruptTimestamp
(JNIEnv *, jclass, jobject, jobject)
(JNIEnv * env, jclass, jobject interrupt_pointer, jobject status)
{
assert(false);
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readInterruptTimestamp";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
jdouble timeStamp = readInterruptTimestamp(*javaId, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
return timeStamp;
}
/*
@@ -82,10 +157,73 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readInterr
* Signature: (Ljava/nio/ByteBuffer;BIBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts
(JNIEnv *, jclass, jobject, jbyte, jint, jbyte, jobject)
(JNIEnv * env, jclass, jobject interrupt_pointer, jbyte routing_module, jint routing_pin, jbyte routing_analog_trigger, jobject status)
{
assert(false);
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI requestInterrupts";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
INTERRUPTJNI_LOG(logDEBUG) << "routing module = " << (jint) routing_module;
INTERRUPTJNI_LOG(logDEBUG) << "routing pin = " << routing_pin;
INTERRUPTJNI_LOG(logDEBUG) << "routing analog trigger = " << (jint) routing_analog_trigger;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
requestInterrupts(*javaId, (uint8_t) routing_module, (uint32_t) routing_pin, routing_analog_trigger, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
struct InterruptHandlerParam {
/*
* The object edu/wpi/first/wpilibj/hal/InterruptJNI/InterruptHandlerFunction
* that contains the callback method [code]mid[/code].
*/
jobject handler_obj;
//The method id for the callback method
jmethodID mid;
//The params passed to the function
jobject param;
~InterruptHandlerParam(){
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI InterruptHandlerParam Destructor";
JNIEnv *env;
jint rs = jvm->AttachCurrentThread((void**)&env, NULL);
assert (rs == JNI_OK);
env->DeleteGlobalRef(handler_obj);
env->DeleteGlobalRef(param);
rs = jvm->DetachCurrentThread();
assert (rs == JNI_OK);
INTERRUPTJNI_LOG(logDEBUG) << "Leaving INTERRUPTJNI InterruptHandlerParam Destructor";
}
};
void interruptHandler(uint32_t mask, void *data) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI interruptHandler";
InterruptHandlerParam *param = static_cast<InterruptHandlerParam *>(data);
INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam Ptr = " << param;
INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->obj = " << param->handler_obj;
INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->param = " << param->param;
//Because this is a callback in a new thread we must attach it to the JVM
JNIEnv *env;
jint rs = jvm->AttachCurrentThread((void**)&env, NULL);
assert (rs == JNI_OK);
INTERRUPTJNI_LOG(logDEBUG) << "Attached to thread";
env->CallVoidMethod(param->handler_obj, param->mid, mask, param->param);
if (env->ExceptionCheck()) {
env->ExceptionDescribe();
}
rs = jvm->DetachCurrentThread();
assert (rs == JNI_OK);
INTERRUPTJNI_LOG(logDEBUG) << "Leaving INTERRUPTJNI interruptHandler";
}
/*
@@ -94,10 +232,47 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterr
* Signature: (Ljava/nio/ByteBuffer;Ledu/wpi/first/wpilibj/hal/InterruptJNI/InterruptHandlerFunction;Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler
(JNIEnv *, jclass, jobject, jobject, jobject, jobject)
(JNIEnv * env, jclass, jobject interrupt_pointer, jobject handler, jobject param, jobject status)
{
assert(false);
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI attachInterruptHandler";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
//Store the interrupt callback paramaters
InterruptHandlerParam *interruptHandlerParam = new InterruptHandlerParam();
//Stores the object that contains the callback
interruptHandlerParam->handler_obj = env->NewGlobalRef(handler);
//The parameter that will be passed back to the JVM when the method is called
interruptHandlerParam->param = env->NewGlobalRef(param);
jclass cls = env->GetObjectClass(handler);
INTERRUPTJNI_LOG(logDEBUG) << "class = " << cls;
if (cls == 0) {
INTERRUPTJNI_LOG(logERROR) << "Error getting java class";
assert (false);
return;
}
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) << "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;
attachInterruptHandler(*javaId, interruptHandler, interruptHandlerParam, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
@@ -106,8 +281,18 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterru
* Signature: (Ljava/nio/ByteBuffer;BBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_setInterruptUpSourceEdge
(JNIEnv *, jclass, jobject, jbyte, jbyte, jobject)
(JNIEnv * env, jclass, jobject interrupt_pointer, jbyte risingEdge, jbyte fallingEdge, jobject status)
{
assert(false);
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI setInterruptUpSourceEdge";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
INTERRUPTJNI_LOG(logDEBUG) << "Rising Edge = " << (bool) risingEdge;
INTERRUPTJNI_LOG(logDEBUG) << "Falling Edge = " << (bool) fallingEdge;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
setInterruptUpSourceEdge(*javaId, risingEdge, fallingEdge, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}