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
201 lines
5.5 KiB
C++
201 lines
5.5 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_PWMJNI.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 pwmJNILogLevel = logWARNING;
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#define PWMJNI_LOG(level) \
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if (level > pwmJNILogLevel) ; \
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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_PWMJNI
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* Method: allocatePWMChannel
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* Signature: (J)Z
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*/
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JNIEXPORT jboolean JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWMChannel
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(JNIEnv * env, jclass, jlong id)
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{
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PWMJNI_LOG(logDEBUG) << "Calling DIOJNI allocatePWMChannel";
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PWMJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
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int32_t status = 0;
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jboolean returnValue = allocatePWMChannel((void*)id, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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PWMJNI_LOG(logDEBUG) << "allocatePWMChannelResult = " << (jint)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_PWMJNI
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* Method: freePWMChannel
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWMChannel
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(JNIEnv * env, jclass, jlong id)
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{
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PWMJNI_LOG(logDEBUG) << "Calling DIOJNI freePWMChannel";
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PWMJNI_LOG(logDEBUG) << "Port Ptr = " << (void*)id;
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int32_t status = 0;
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freePWMChannel((void*)id, &status);
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PWMJNI_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_PWMJNI
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* Method: setPWM
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* Signature: (JS)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWM
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(JNIEnv * env, jclass, jlong id, jshort value)
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{
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PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << (void*)id;
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PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
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int32_t status = 0;
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setPWM((void*)id, value, &status);
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PWMJNI_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_PWMJNI
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* Method: getPWM
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* Signature: (J)S
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*/
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JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWM
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(JNIEnv * env, jclass, jlong id)
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{
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << (void*)id;
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int32_t status = 0;
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jshort returnValue = getPWM((void*)id, &status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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PWMJNI_LOG(logDEBUG) << "Value = " << 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_PWMJNI
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* Method: latchPWMZero
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_latchPWMZero
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(JNIEnv * env, jclass, jlong id)
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{
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << (void*)id;
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int32_t status = 0;
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latchPWMZero((void*)id, &status);
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PWMJNI_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_PWMJNI
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* Method: setPWMPeriodScale
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* Signature: (JI)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPeriodScale
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(JNIEnv * env, jclass, jlong id, jint value)
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{
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PWMJNI_LOG(logDEBUG) << "DigitalPort Ptr = " << (void*)id;
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PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value;
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int32_t status = 0;
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setPWMPeriodScale((void*)id, value, &status);
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PWMJNI_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_PWMJNI
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* Method: allocatePWM
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* Signature: ()J
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*/
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JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_allocatePWM
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(JNIEnv * env, jclass)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI allocatePWM";
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int32_t status = 0;
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void* pwm = allocatePWM(&status);
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PWMJNI_LOG(logDEBUG) << "Status = " << status;
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << pwm;
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CheckStatus(env, status);
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return (jlong)pwm;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_PWMJNI
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* Method: freePWM
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_freePWM
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(JNIEnv * env, jclass, jlong id)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWM";
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << (void*)id;
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int32_t status = 0;
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freePWM((void*)id, &status);
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PWMJNI_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_PWMJNI
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* Method: setPWMRate
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* Signature: (D)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRate
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(JNIEnv * env, jclass, jdouble value)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMRate";
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PWMJNI_LOG(logDEBUG) << "Rate= " << value;
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int32_t status = 0;
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setPWMRate(value, &status);
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PWMJNI_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_PWMJNI
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* Method: setPWMDutyCycle
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* Signature: (JD)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMDutyCycle
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(JNIEnv * env, jclass, jlong id, jdouble value)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMDutyCycle";
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << (void*)id;
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PWMJNI_LOG(logDEBUG) << "DutyCycle= " << value;
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int32_t status = 0;
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setPWMDutyCycle((void*)id, value, &status);
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PWMJNI_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_PWMJNI
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* Method: setPWMOutputChannel
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* Signature: (JI)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMOutputChannel
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(JNIEnv * env, jclass, jlong id, jint value)
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{
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PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMOutputChannel";
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PWMJNI_LOG(logDEBUG) << "PWM Ptr = " << (void*)id;
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PWMJNI_LOG(logDEBUG) << "Pin= " << value;
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int32_t status = 0;
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setPWMOutputChannel((void*)id, (uint32_t) value, &status);
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PWMJNI_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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