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
245 lines
8.5 KiB
C++
245 lines
8.5 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_EncoderJNI.h"
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#include "HAL/Digital.hpp"
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#include "HAL/Errors.hpp"
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#include "HALUtil.h"
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// set the logging level
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TLogLevel encoderJNILogLevel = logWARNING;
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#define ENCODERJNI_LOG(level) \
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if (level > encoderJNILogLevel) ; \
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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_EncoderJNI
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* Method: initializeEncoder
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* Signature: (BIZBIZZLjava/nio/IntBuffer;)J
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*/
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JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_initializeEncoder
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(JNIEnv * env, jclass, jbyte port_a_module, jint port_a_pin, jboolean port_a_analog_trigger, jbyte port_b_module, jint port_b_pin, jboolean port_b_analog_trigger, jboolean reverseDirection, jobject index)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
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ENCODERJNI_LOG(logDEBUG) << "Module A = " << (jint)port_a_module;
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ENCODERJNI_LOG(logDEBUG) << "Pin A = " << port_a_pin;
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ENCODERJNI_LOG(logDEBUG) << "Analog Trigger A = " << (jint)port_a_analog_trigger;
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ENCODERJNI_LOG(logDEBUG) << "Module B = " << (jint)port_b_module;
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ENCODERJNI_LOG(logDEBUG) << "Pin B = " << port_b_pin;
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ENCODERJNI_LOG(logDEBUG) << "Analog Trigger B = " << (jint)port_b_analog_trigger;
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ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection;
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jint * indexPtr = (jint*)env->GetDirectBufferAddress(index);
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ENCODERJNI_LOG(logDEBUG) << "Index Ptr = " << indexPtr;
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int32_t status = 0;
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void* encoder = initializeEncoder(port_a_module, port_a_pin, port_a_analog_trigger,
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port_b_module, port_b_pin, port_b_analog_trigger,
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reverseDirection, indexPtr, &status);
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ENCODERJNI_LOG(logDEBUG) << "Index = " << *indexPtr;
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "ENCODER Ptr = " << encoder;
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CheckStatus(env, status);
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return (jlong)encoder;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: freeEncoder
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_freeEncoder
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(JNIEnv * env, jclass, jlong id)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI freeEncoder";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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freeEncoder((void*)id, &status);
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ENCODERJNI_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_EncoderJNI
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* Method: resetEncoder
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_resetEncoder
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(JNIEnv * env, jclass, jlong id)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI resetEncoder";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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resetEncoder((void*)id, &status);
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ENCODERJNI_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_EncoderJNI
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* Method: getEncoder
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* Signature: (J)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoder
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(JNIEnv * env, jclass, jlong id)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoder";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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jint returnValue = getEncoder((void*)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getEncoderResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncoderPeriod
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* Signature: (J)D
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*/
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderPeriod
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(JNIEnv * env, jclass, jlong id)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderPeriod";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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double returnValue = getEncoderPeriod((void*)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getEncoderPeriodResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: setEncoderMaxPeriod
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* Signature: (JD)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderMaxPeriod
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(JNIEnv * env, jclass, jlong id, jdouble value)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMaxPeriod";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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setEncoderMaxPeriod((void*)id, value, &status);
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ENCODERJNI_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_EncoderJNI
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* Method: getEncoderStopped
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* Signature: (J)Z
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderStopped
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(JNIEnv * env, jclass, jlong id)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderStopped";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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jboolean returnValue = getEncoderStopped((void*)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getEncoderStoppedResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: getEncoderDirection
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* Signature: (J)Z
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderDirection
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(JNIEnv * env, jclass, jlong id)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDirection";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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jboolean returnValue = getEncoderDirection((void*)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getEncoderDirectionResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: setEncoderReverseDirection
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* Signature: (JZ)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderReverseDirection
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(JNIEnv * env, jclass, jlong id, jboolean value)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderReverseDirection";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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setEncoderReverseDirection((void*)id, value, &status);
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ENCODERJNI_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_EncoderJNI
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* Method: setEncoderSamplesToAverage
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* Signature: (JI)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderSamplesToAverage
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(JNIEnv * env, jclass, jlong id, jint value)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderSamplesToAverage";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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setEncoderSamplesToAverage((void*)id, value, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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if (status == PARAMETER_OUT_OF_RANGE) {
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ThrowBoundaryException(env, value, 1, 127);
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return;
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}
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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_EncoderJNI
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* Method: getEncoderSamplesToAverage
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* Signature: (J)I
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*/
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JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_getEncoderSamplesToAverage
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(JNIEnv * env, jclass, jlong id)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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int32_t status = 0;
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jint returnValue = getEncoderSamplesToAverage((void*)id, &status);
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ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
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ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = " << returnValue;
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CheckStatus(env, status);
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return returnValue;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_EncoderJNI
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* Method: setEncoderIndexSource
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* Signature: (JIZZZ)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_EncoderJNI_setEncoderIndexSource
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(JNIEnv * env, jclass, jlong id, jint pin, jboolean analogTrigger, jboolean activeHigh, jboolean edgeSensitive)
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{
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ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource";
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ENCODERJNI_LOG(logDEBUG) << "Encoder Ptr = " << (void*)id;
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ENCODERJNI_LOG(logDEBUG) << "Pin = " << pin;
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ENCODERJNI_LOG(logDEBUG) << "Analog Trigger = " << (analogTrigger?"true":"false");
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ENCODERJNI_LOG(logDEBUG) << "Active High = " << (activeHigh?"true":"false");
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ENCODERJNI_LOG(logDEBUG) << "Edge Sensitive = " << (edgeSensitive?"true":"false");
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int32_t status = 0;
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setEncoderIndexSource((void*)id, pin, analogTrigger, activeHigh, edgeSensitive, &status);
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ENCODERJNI_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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