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allwpilib/wpilibj/wpilibJavaJNI/lib/DIOJNI.cpp
Peter Johnson 049be6870c Always initialize status to 0 when calling HAL from JNI. 
The HAL functions often call NI functions that may expect status to be
initialized on entry.  Java does not guarantee direct pointer allocation
memory to be initialized, although that may have been occurring by accident.

Change-Id: I5e3a553f3a7be8de3716ccfc13e6ca1cb4f2a552
2015-09-30 19:20:02 -07:00

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#include <jni.h>
#include <assert.h>
#include "Log.hpp"
#include "edu_wpi_first_wpilibj_hal_DIOJNI.h"
#include "HAL/Digital.hpp"
// set the logging level
TLogLevel dioJNILogLevel = logWARNING;
#define DIOJNI_LOG(level) \
if (level > dioJNILogLevel) ; \
else Log().Get(level)
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: initializeDigitalPort
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_initializeDigitalPort
(JNIEnv * env, jclass, jobject id, jobject status)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI initializeDigitalPort";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** dioPtr = (void**)new unsigned char[4];
*statusPtr = 0;
*dioPtr = initializeDigitalPort(*javaId, statusPtr);
DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
DIOJNI_LOG(logDEBUG) << "DIO Ptr = " << *dioPtr;
return env->NewDirectByteBuffer( dioPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: allocateDIO
* Signature: (Ljava/nio/ByteBuffer;BLjava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_allocateDIO
(JNIEnv * env, jclass, jobject id, jbyte value, jobject status)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI allocateDIO";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
jbyte returnValue = allocateDIO(*javaId, value, statusPtr);
DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
DIOJNI_LOG(logDEBUG) << "allocateDIOResult = " << (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: freeDIO
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_freeDIO
(JNIEnv * env, jclass, jobject id, jobject status)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDIO";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
freeDIO(*javaId, statusPtr);
DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: setDIO
* Signature: (Ljava/nio/ByteBuffer;SLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_setDIO
(JNIEnv *env, jclass, jobject id, jshort value, jobject status)
{
//DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
//DIOJNI_LOG(logDEBUG) << "Value = " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
//DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
setDIO(*javaId, value, statusPtr);
//DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: getDIO
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIO
(JNIEnv * env, jclass, jobject id, jobject status)
{
//DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIO";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
//DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
jbyte returnValue = getDIO(*javaId, statusPtr);
//DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
//DIOJNI_LOG(logDEBUG) << "getDIOResult = " << (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: getDIODirection
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getDIODirection
(JNIEnv *env, jclass, jobject id, jobject status)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIODirection (RR upd)";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
//DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
jbyte returnValue = getDIODirection(*javaId, statusPtr);
//DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
DIOJNI_LOG(logDEBUG) << "getDIODirectionResult = " << (jbyte)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: pulse
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_pulse
(JNIEnv *env, jclass, jobject id, jdouble value, jobject status)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI pulse (RR upd)";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
//DIOJNI_LOG(logDEBUG) << "Value = " << value;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
//DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
pulse(*javaId, value, statusPtr);
DIOJNI_LOG(logDEBUG) << "Did it work? Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: isPulsing
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isPulsing
(JNIEnv *env, jclass, jobject id, jobject status)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI isPulsing (RR upd)";
void ** javaId = (void**)env->GetDirectBufferAddress(id);
//DIOJNI_LOG(logDEBUG) << "Port Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
//DIOJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
jbyte returnValue = isPulsing(*javaId, statusPtr);
//DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
DIOJNI_LOG(logDEBUG) << "isPulsingResult = " << (jbyte)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: isAnyPulsing
* Signature: (Ljava/nio/IntBuffer;)B
*/
JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_isAnyPulsing
(JNIEnv *env, jclass, jobject status)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI isAnyPulsing (RR upd)";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
*statusPtr = 0;
jbyte returnValue = isAnyPulsing( statusPtr );
//DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
DIOJNI_LOG(logDEBUG) << "isAnyPulsingResult = " << (jbyte)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: getLoopTiming
* Signature: (Ljava/nio/IntBuffer;)S
*/
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTiming
(JNIEnv * env, jclass, jobject status)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getLoopTimeing";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
*statusPtr = 0;
jshort returnValue = getLoopTiming( statusPtr );
DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
DIOJNI_LOG(logDEBUG) << "LoopTiming = " << returnValue;
return returnValue;
}
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