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https://github.com/wpilibsuite/allwpilib
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58b6484dbe
* Switch away from NI interrupt manager to custom implementation * Formatting * Fix tidy * Formatting * Fix loading * Make interrupt api public * Add multiple wait api * Formatting * Fix build * Fix review comments * wpiformat Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
172 lines
4.3 KiB
C++
172 lines
4.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <jni.h>
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#include <atomic>
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#include <cassert>
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#include <thread>
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#include <wpi/SafeThread.h>
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#include <wpi/mutex.h>
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#include "HALUtil.h"
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#include "edu_wpi_first_hal_InterruptJNI.h"
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#include "hal/Interrupts.h"
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using namespace hal;
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extern "C" {
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/*
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* Class: edu_wpi_first_hal_InterruptJNI
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* Method: initializeInterrupts
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_InterruptJNI_initializeInterrupts
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(JNIEnv* env, jclass)
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{
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int32_t status = 0;
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HAL_InterruptHandle interrupt = HAL_InitializeInterrupts(&status);
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CheckStatusForceThrow(env, status);
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return (jint)interrupt;
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}
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/*
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* Class: edu_wpi_first_hal_InterruptJNI
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* Method: cleanInterrupts
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_InterruptJNI_cleanInterrupts
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(JNIEnv* env, jclass, jint interruptHandle)
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{
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HAL_CleanInterrupts((HAL_InterruptHandle)interruptHandle);
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}
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/*
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* Class: edu_wpi_first_hal_InterruptJNI
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* Method: waitForInterrupt
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* Signature: (IDZ)J
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*/
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JNIEXPORT jlong JNICALL
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Java_edu_wpi_first_hal_InterruptJNI_waitForInterrupt
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(JNIEnv* env, jclass, jint interruptHandle, jdouble timeout,
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jboolean ignorePrevious)
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{
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int32_t status = 0;
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int64_t result = HAL_WaitForInterrupt((HAL_InterruptHandle)interruptHandle,
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timeout, ignorePrevious, &status);
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CheckStatus(env, status);
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return result;
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}
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/*
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* Class: edu_wpi_first_hal_InterruptJNI
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* Method: waitForMultipleInterrupts
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* Signature: (IJDZ)J
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*/
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JNIEXPORT jlong JNICALL
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Java_edu_wpi_first_hal_InterruptJNI_waitForMultipleInterrupts
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(JNIEnv* env, jclass, jint interruptHandle, jlong mask, jdouble timeout,
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jboolean ignorePrevious)
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{
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int32_t status = 0;
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int64_t result =
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HAL_WaitForMultipleInterrupts((HAL_InterruptHandle)interruptHandle, mask,
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timeout, ignorePrevious, &status);
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CheckStatus(env, status);
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return result;
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}
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/*
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* Class: edu_wpi_first_hal_InterruptJNI
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* Method: readInterruptRisingTimestamp
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* Signature: (I)J
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*/
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JNIEXPORT jlong JNICALL
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Java_edu_wpi_first_hal_InterruptJNI_readInterruptRisingTimestamp
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(JNIEnv* env, jclass, jint interruptHandle)
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{
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int32_t status = 0;
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jlong timeStamp = HAL_ReadInterruptRisingTimestamp(
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(HAL_InterruptHandle)interruptHandle, &status);
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CheckStatus(env, status);
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return timeStamp;
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}
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/*
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* Class: edu_wpi_first_hal_InterruptJNI
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* Method: readInterruptFallingTimestamp
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* Signature: (I)J
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*/
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JNIEXPORT jlong JNICALL
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Java_edu_wpi_first_hal_InterruptJNI_readInterruptFallingTimestamp
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(JNIEnv* env, jclass, jint interruptHandle)
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{
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int32_t status = 0;
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jlong timeStamp = HAL_ReadInterruptFallingTimestamp(
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(HAL_InterruptHandle)interruptHandle, &status);
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CheckStatus(env, status);
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return timeStamp;
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}
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/*
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* Class: edu_wpi_first_hal_InterruptJNI
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* Method: requestInterrupts
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* Signature: (III)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_InterruptJNI_requestInterrupts
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(JNIEnv* env, jclass, jint interruptHandle, jint digitalSourceHandle,
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jint analogTriggerType)
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{
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int32_t status = 0;
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HAL_RequestInterrupts((HAL_InterruptHandle)interruptHandle,
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(HAL_Handle)digitalSourceHandle,
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(HAL_AnalogTriggerType)analogTriggerType, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_InterruptJNI
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* Method: setInterruptUpSourceEdge
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* Signature: (IZZ)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_InterruptJNI_setInterruptUpSourceEdge
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(JNIEnv* env, jclass, jint interruptHandle, jboolean risingEdge,
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jboolean fallingEdge)
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{
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int32_t status = 0;
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HAL_SetInterruptUpSourceEdge((HAL_InterruptHandle)interruptHandle, risingEdge,
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fallingEdge, &status);
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_hal_InterruptJNI
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* Method: releaseWaitingInterrupt
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* Signature: (I)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_hal_InterruptJNI_releaseWaitingInterrupt
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(JNIEnv* env, jclass, jint interruptHandle)
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{
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int32_t status = 0;
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HAL_ReleaseWaitingInterrupt((HAL_InterruptHandle)interruptHandle, &status);
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CheckStatus(env, status);
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}
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} // extern "C"
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