mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
03c43a46d7
This is a poor man's version of the multi-instance Notifier support in the higher level languages. It's intended primarily so that notifiers can be created internal to the HAL. One benefit of this change is that the current FPGA timestamp is passed as the first parameter to the ProcessQueue function (rather than the useless interrupt mask). Caution for other languages wrapping the HAL: this adds a parameter to initializeNotifier(). An atexit hook is used for safe cleanup at program termination. Change-Id: I782b3a74c10215588ae9b7191906fb4186a81028
133 lines
4.3 KiB
C++
133 lines
4.3 KiB
C++
#include <jni.h>
|
|
#include <assert.h>
|
|
#include <functional>
|
|
#include <stdio.h>
|
|
#include "Log.hpp"
|
|
#include "edu_wpi_first_wpilibj_hal_NotifierJNI.h"
|
|
#include "HAL/Notifier.hpp"
|
|
#include "HALUtil.h"
|
|
|
|
// set the logging level
|
|
TLogLevel notifierJNILogLevel = logWARNING;
|
|
|
|
#define NOTIFIERJNI_LOG(level) \
|
|
if (level > notifierJNILogLevel) ; \
|
|
else Log().Get(level)
|
|
|
|
// These two are used to pass information to the notifierHandler without using
|
|
// up function parameters.
|
|
// See below for more information.
|
|
static jobject func_global;
|
|
static jmethodID mid_global;
|
|
|
|
// The arguments are unused by the HAL Notifier; they just satisfy a particular
|
|
// function signature.
|
|
void notifierHandler(uint32_t currentTimeInt, void* param) {
|
|
jobject handler_obj = func_global;
|
|
jmethodID mid = mid_global;
|
|
|
|
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI notifierHandler";
|
|
|
|
//Because this is a callback in a new thread we must attach it to the JVM.
|
|
JNIEnv *env;
|
|
jint rs;
|
|
// Check to see if we are already part of a JVM thread or if we need to attach
|
|
// ourselves.
|
|
int getEnvStat = jvm->GetEnv((void **)&env, JNI_VERSION_1_8);
|
|
if (getEnvStat == JNI_EDETACHED) {
|
|
rs = jvm->AttachCurrentThread((void**)&env, NULL);
|
|
assert (rs == JNI_OK);
|
|
}
|
|
NOTIFIERJNI_LOG(logDEBUG) << "Attached to thread. Object is: " << handler_obj;
|
|
|
|
// Actuall call the user function.
|
|
env->CallVoidMethod(handler_obj, mid);
|
|
if (env->ExceptionCheck()) {
|
|
env->ExceptionDescribe();
|
|
}
|
|
|
|
// Only detach if we needed to attach oursleves in the first place.
|
|
if (getEnvStat == JNI_EDETACHED) {
|
|
rs = jvm->DetachCurrentThread();
|
|
assert (rs == JNI_OK);
|
|
}
|
|
NOTIFIERJNI_LOG(logDEBUG) << "Leaving NOTIFIERJNI notifierHandler";
|
|
}
|
|
|
|
extern "C" {
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_NotifierJNI
|
|
* Method: initializeNotifier
|
|
* Signature: (Ljava/lang/Runnable;)J
|
|
*/
|
|
JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_initializeNotifier
|
|
(JNIEnv *env, jclass, jobject func)
|
|
{
|
|
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI initializeNotifier";
|
|
|
|
jclass cls = env->GetObjectClass(func);
|
|
jmethodID mid = env->GetMethodID(cls, "run", "()V");
|
|
|
|
// In order to pass the user's Runnable to the notifierHandler, we have to use
|
|
// something other than the function arguments (because the function arguments
|
|
// are dictated by the callback format). As such, we instead use a couple of
|
|
// global variables to pass around the object reference.
|
|
// This is not ideal, but the only other option that came to mind was to use
|
|
// lambda function captures, but, unfortunately, it turns out that using
|
|
// captures in a lambda changes the function signature such that it can no
|
|
// long be used as a standared C-style function pointer.
|
|
// Need to set as global ref to avoid seg faults when referring to it later.
|
|
func_global = env->NewGlobalRef(func);
|
|
mid_global = mid;
|
|
|
|
int32_t status = 0;
|
|
void *notifierPtr = initializeNotifier(notifierHandler, nullptr, &status);
|
|
|
|
NOTIFIERJNI_LOG(logDEBUG) << "Notifier Ptr = " << notifierPtr;
|
|
NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
|
|
|
|
CheckStatus(env, status);
|
|
return (jlong)notifierPtr;
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_NotifierJNI
|
|
* Method: cleanNotifier
|
|
* Signature: (J)V
|
|
*/
|
|
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_cleanNotifier
|
|
(JNIEnv *env, jclass, jlong notifierPtr)
|
|
{
|
|
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI cleanNotifier";
|
|
|
|
NOTIFIERJNI_LOG(logDEBUG) << "Notifier Ptr = " << (void*)notifierPtr;
|
|
|
|
int32_t status = 0;
|
|
cleanNotifier((void*)notifierPtr, &status);
|
|
NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
/*
|
|
* Class: edu_wpi_first_wpilibj_hal_NotifierJNI
|
|
* Method: updateNotifierAlarm
|
|
* Signature: (JI)V
|
|
*/
|
|
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_NotifierJNI_updateNotifierAlarm
|
|
(JNIEnv *env, jclass cls, jlong notifierPtr, jint triggerTime)
|
|
{
|
|
NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI updateNotifierAlarm";
|
|
|
|
NOTIFIERJNI_LOG(logDEBUG) << "Notifier Ptr = " << (void*)notifierPtr;
|
|
|
|
NOTIFIERJNI_LOG(logDEBUG) << "triggerTime Ptr = " << &triggerTime;
|
|
|
|
int32_t status = 0;
|
|
updateNotifierAlarm((void*)notifierPtr, (uint32_t)triggerTime, &status);
|
|
NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
|
|
CheckStatus(env, status);
|
|
}
|
|
|
|
} // extern "C"
|