Update to 2018_v4 image and new build system. (#598)

* Revert "Force OpenCV to 3.1.0 (#602)" This reverts commit 50ed55e8e2. * Removes Simulation * Removes old build system * Removes old gtest * Adds new gmock and gtest * Updates to new ni-libraries * removes MyRobot (to be replaced) * moves files to new location * Adds new sim backend and new test executables * updates .styleguide and .gitignore * Changes cpp WPILibVersion to a function MSVC throws an AV with the old version. * Disables USBCamera on all systems except for linux * 2018 NI Libraries * New build system
2026-06-20 00:51:42 +00:00 · 2017-08-18 21:35:53 -07:00
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
--- a/wpilibj/src/main/native/cpp/NotifierJNI.cpp
+++ b/wpilibj/src/main/native/cpp/NotifierJNI.cpp
@@ -0,0 +1,223 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/Notifier.h"
+#include <assert.h>
+#include <jni.h>
+#include <stdio.h>
+#include <atomic>
+#include <condition_variable>
+#include <functional>
+#include <mutex>
+#include <thread>
+#include "HALUtil.h"
+#include "HAL/cpp/Log.h"
+#include "edu_wpi_first_wpilibj_hal_NotifierJNI.h"
+#include "support/SafeThread.h"
+#include "HAL/cpp/NotifierInternal.h"
+
+using namespace frc;
+
+// set the logging level
+TLogLevel notifierJNILogLevel = logWARNING;
+
+#define NOTIFIERJNI_LOG(level)     \
+  if (level > notifierJNILogLevel) \
+    ;                              \
+  else                             \
+  Log().Get(level)
+
+// Thread where callbacks are actually performed.
+//
+// JNI's AttachCurrentThread() creates a Java Thread object on every
+// invocation, which is both time inefficient and causes issues with Eclipse
+// (which tries to keep a thread list up-to-date and thus gets swamped).
+//
+// Instead, this class attaches just once.  When a hardware notification
+// occurs, a condition variable wakes up this thread and this thread actually
+// makes the call into Java.
+//
+// We don't want to use a FIFO here. If the user code takes too long to
+// process, we will just ignore the redundant wakeup.
+class NotifierThreadJNI : public wpi::SafeThread {
+ public:
+  void Main();
+
+  bool m_notify = false;
+  jobject m_func = nullptr;
+  jmethodID m_mid;
+  uint64_t m_currentTime;
+};
+
+class NotifierJNI : public wpi::SafeThreadOwner<NotifierThreadJNI> {
+ public:
+  void SetFunc(JNIEnv *env, jobject func, jmethodID mid);
+
+  void Notify(uint64_t currentTime) {
+    auto thr = GetThread();
+    if (!thr) return;
+    thr->m_currentTime = currentTime;
+    thr->m_notify = true;
+    thr->m_cond.notify_one();
+  }
+};
+
+void NotifierJNI::SetFunc(JNIEnv *env, jobject func, jmethodID mid) {
+  auto thr = GetThread();
+  if (!thr) return;
+  // free global reference
+  if (thr->m_func) env->DeleteGlobalRef(thr->m_func);
+  // create global reference
+  thr->m_func = env->NewGlobalRef(func);
+  thr->m_mid = mid;
+}
+
+void NotifierThreadJNI::Main() {
+  JNIEnv *env;
+  JavaVMAttachArgs args;
+  args.version = JNI_VERSION_1_2;
+  args.name = const_cast<char *>("Notifier");
+  args.group = nullptr;
+  jint rs =
+      jvm->AttachCurrentThreadAsDaemon(reinterpret_cast<void **>(&env), &args);
+  if (rs != JNI_OK) return;
+
+  std::unique_lock<std::mutex> lock(m_mutex);
+  while (m_active) {
+    m_cond.wait(lock, [&] { return !m_active || m_notify; });
+    if (!m_active) break;
+    m_notify = false;
+    if (!m_func) continue;
+    jobject func = m_func;
+    jmethodID mid = m_mid;
+    uint64_t currentTime = m_currentTime;
+    lock.unlock();  // don't hold mutex during callback execution
+    env->CallVoidMethod(func, mid, static_cast<jlong>(currentTime));
+    if (env->ExceptionCheck()) {
+      env->ExceptionDescribe();
+      env->ExceptionClear();
+    }
+    lock.lock();
+  }
+
+  // free global reference
+  if (m_func) env->DeleteGlobalRef(m_func);
+
+  jvm->DetachCurrentThread();
+}
+
+void notifierHandler(uint64_t currentTimeInt, HAL_NotifierHandle handle) {
+  int32_t status = 0;
+  auto param = HAL_GetNotifierParam(handle, &status);
+  if (param == nullptr) return;
+  (static_cast<NotifierJNI*>(param))->Notify(currentTimeInt);
+}
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_NotifierJNI
+ * Method:    initializeNotifier
+ * Signature: (Ljava/lang/Runnable;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_NotifierJNI_initializeNotifier(
+    JNIEnv *env, jclass, jobject func) {
+  NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI initializeNotifier";
+
+  jclass cls = env->GetObjectClass(func);
+  if (cls == 0) {
+    NOTIFIERJNI_LOG(logERROR) << "Error getting java class";
+    assert(false);
+    return 0;
+  }
+  jmethodID mid = env->GetMethodID(cls, "apply", "(J)V");
+  if (mid == 0) {
+    NOTIFIERJNI_LOG(logERROR) << "Error getting java method ID";
+    assert(false);
+    return 0;
+  }
+
+  // each notifier runs in its own thread; this is so if one takes too long
+  // to execute, it doesn't keep the others from running
+  NotifierJNI *notify = new NotifierJNI;
+  notify->Start();
+  notify->SetFunc(env, func, mid);
+  int32_t status = 0;
+  HAL_NotifierHandle notifierHandle = 
+      HAL_InitializeNotifierNonThreadedUnsafe(notifierHandler, notify, &status);
+
+  NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
+  NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
+
+  if (notifierHandle <= 0 || !CheckStatusForceThrow(env, status)) {
+    // something went wrong in HAL, clean up
+    delete notify;
+  }
+
+  return (jint)notifierHandle;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_NotifierJNI
+ * Method:    cleanNotifier
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_cleanNotifier(
+    JNIEnv *env, jclass, jint notifierHandle) {
+  NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI cleanNotifier";
+
+  NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
+
+  int32_t status = 0;
+  NotifierJNI *notify =
+      (NotifierJNI *)HAL_GetNotifierParam((HAL_NotifierHandle)notifierHandle, &status);
+  HAL_CleanNotifier((HAL_NotifierHandle)notifierHandle, &status);
+  NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+  delete notify;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_NotifierJNI
+ * Method:    updateNotifierAlarm
+ * Signature: (IJ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_NotifierJNI_updateNotifierAlarm(
+    JNIEnv *env, jclass cls, jint notifierHandle, jlong triggerTime) {
+  NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI updateNotifierAlarm";
+
+  NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
+
+  NOTIFIERJNI_LOG(logDEBUG) << "triggerTime = " << triggerTime;
+
+  int32_t status = 0;
+  HAL_UpdateNotifierAlarm((HAL_NotifierHandle)notifierHandle, (uint64_t)triggerTime, &status);
+  NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_NotifierJNI
+ * Method:    stopNotifierAlarm
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_NotifierJNI_stopNotifierAlarm(
+    JNIEnv *env, jclass cls, jint notifierHandle) {
+  NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI stopNotifierAlarm";
+
+  NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
+
+  int32_t status = 0;
+  HAL_StopNotifierAlarm((HAL_NotifierHandle)notifierHandle, &status);
+  NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
+  CheckStatus(env, status);
+}
+
+}  // extern "C"