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Keep track of FPGA time rollovers with 64-bit time.

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This allows both greater than 72 minute (2^32 * 1 us) timeouts and also
gracefully handles notifiers across the FPGA time counter rollover.

Change-Id: Ibde0b903155f60b618b0ca4d5f8f6dd49f90b020
This commit is contained in:
Peter Johnson
2015-12-30 19:06:47 -08:00
committed by Brad Miller (WPI)
parent 063925e737
commit e2ec34090a
13 changed files with 71 additions and 43 deletions
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18
wpilibj/src/athena/cpp/lib/NotifierJNI.cpp
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@@ -38,14 +38,14 @@ class NotifierThreadJNI : public SafeThread {
bool m_notify = false;
jobject m_func = nullptr;
jmethodID m_mid;
uint32_t m_currentTime;
uint64_t m_currentTime;
};
class NotifierJNI : public SafeThreadOwner<NotifierThreadJNI> {
public:
void SetFunc(JNIEnv* env, jobject func, jmethodID mid);
void Notify(uint32_t currentTime) {
void Notify(uint64_t currentTime) {
auto thr = GetThread();
if (!thr) return;
thr->m_currentTime = currentTime;
@@ -81,9 +81,9 @@ void NotifierThreadJNI::Main() {
if (!m_func) continue;
jobject func = m_func;
jmethodID mid = m_mid;
uint32_t currentTime = m_currentTime;
uint64_t currentTime = m_currentTime;
lock.unlock(); // don't hold mutex during callback execution
env->CallVoidMethod(func, mid, (jint)currentTime);
env->CallVoidMethod(func, mid, (jlong)currentTime);
if (env->ExceptionCheck()) {
env->ExceptionDescribe();
env->ExceptionClear();
@@ -97,7 +97,7 @@ void NotifierThreadJNI::Main() {
jvm->DetachCurrentThread();
}
void notifierHandler(uint32_t currentTimeInt, void* param) {
void notifierHandler(uint64_t currentTimeInt, void* param) {
((NotifierJNI*)param)->Notify(currentTimeInt);
}
@@ -119,7 +119,7 @@ JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_initializeNot
assert(false);
return 0;
}
jmethodID mid = env->GetMethodID(cls, "apply", "(I)V");
jmethodID mid = env->GetMethodID(cls, "apply", "(J)V");
if (mid == 0) {
NOTIFIERJNI_LOG(logERROR) << "Error getting java method ID";
assert(false);
@@ -169,10 +169,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_cleanNotifier
/*
* Class: edu_wpi_first_wpilibj_hal_NotifierJNI
* Method: updateNotifierAlarm
* Signature: (JI)V
* Signature: (JJ)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_updateNotifierAlarm
(JNIEnv *env, jclass cls, jlong notifierPtr, jint triggerTime)
(JNIEnv *env, jclass cls, jlong notifierPtr, jlong triggerTime)
{
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI updateNotifierAlarm";
@@ -181,7 +181,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_updateNotifier
NOTIFIERJNI_LOG(logDEBUG) << "triggerTime = " << triggerTime;
int32_t status = 0;
updateNotifierAlarm((void*)notifierPtr, (uint32_t)triggerTime, &status);
updateNotifierAlarm((void*)notifierPtr, (uint64_t)triggerTime, &status);
NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}