mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
7023013c4b
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
175 lines
5.4 KiB
C++
175 lines
5.4 KiB
C++
#include <jni.h>
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#include <assert.h>
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#include "Log.hpp"
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#include "edu_wpi_first_wpilibj_hal_SPIJNI.h"
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#include "HAL/Digital.hpp"
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#include "HALUtil.h"
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// set the logging level
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TLogLevel spiJNILogLevel = logWARNING;
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#define SPIJNI_LOG(level) \
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if (level > spiJNILogLevel) ; \
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else Log().Get(level)
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extern "C" {
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiInitialize
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* Signature: (B)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiInitialize
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(JNIEnv * env, jclass, jbyte port)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitialize";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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int32_t status = 0;
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spiInitialize(port, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiTransaction
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* Signature: (BLjava/nio/ByteBuffer;Ljava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiTransaction
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(JNIEnv * env, jclass, jbyte port, jobject dataToSend, jobject dataReceived, jbyte size)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiTransaction";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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uint8_t* dataToSendPtr = nullptr;
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if (dataToSend != 0) {
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dataToSendPtr = (uint8_t*)env->GetDirectBufferAddress(dataToSend);
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}
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uint8_t* dataReceivedPtr = (uint8_t*)env->GetDirectBufferAddress(dataReceived);
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
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SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
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jint retVal = spiTransaction(port, dataToSendPtr, dataReceivedPtr, size);
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiWrite
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* Signature: (BLjava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiWrite
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(JNIEnv * env, jclass, jbyte port, jobject dataToSend, jbyte size)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiWrite";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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uint8_t* dataToSendPtr = nullptr;
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if (dataToSend != 0) {
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dataToSendPtr = (uint8_t*)env->GetDirectBufferAddress(dataToSend);
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}
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
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jint retVal = spiWrite(port, dataToSendPtr, size);
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiRead
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* Signature: (BLjava/nio/ByteBuffer;B)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiRead
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(JNIEnv * env, jclass, jbyte port, jobject dataReceived, jbyte size)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiRead";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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uint8_t* dataReceivedPtr = (uint8_t*)env->GetDirectBufferAddress(dataReceived);
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SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
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SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
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jint retVal = spiRead(port, (uint8_t*)dataReceivedPtr, size);
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SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
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return retVal;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiClose
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* Signature: (B)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiClose
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(JNIEnv *, jclass, jbyte port)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiClose";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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spiClose(port);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetSpeed
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* Signature: (BI)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetSpeed
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(JNIEnv *, jclass, jbyte port, jint speed)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetSpeed";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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SPIJNI_LOG(logDEBUG) << "Speed = " << (jint) speed;
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spiSetSpeed(port, speed);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetOpts
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* Signature: (BIII)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetOpts
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(JNIEnv *, jclass, jbyte port, jint msb_first, jint sample_on_trailing, jint clk_idle_high)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetOpts";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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SPIJNI_LOG(logDEBUG) << "msb_first = " << msb_first;
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SPIJNI_LOG(logDEBUG) << "sample_on_trailing = " << sample_on_trailing;
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SPIJNI_LOG(logDEBUG) << "clk_idle_high = " << clk_idle_high;
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spiSetOpts(port, msb_first, sample_on_trailing, clk_idle_high);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetChipSelectActiveHigh
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* Signature: (B)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveHigh
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(JNIEnv * env, jclass, jbyte port)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveHigh";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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int32_t status = 0;
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spiSetChipSelectActiveHigh(port, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_SPIJNI
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* Method: spiSetChipSelectActiveLow
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* Signature: (B)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_SPIJNI_spiSetChipSelectActiveLow
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(JNIEnv * env, jclass, jbyte port)
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{
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SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveLow";
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SPIJNI_LOG(logDEBUG) << "Port = " << (jint) port;
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int32_t status = 0;
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spiSetChipSelectActiveLow(port, &status);
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SPIJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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} // extern "C"
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