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allwpilib/wpilibj/wpilibJavaJNI/lib/InterruptJNI.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_InterruptJNI.h"
#include "HAL/Interrupts.hpp"
TLogLevel interruptJNILogLevel = logERROR;
#define INTERRUPTJNI_LOG(level) \
if (level > interruptJNILogLevel) ; \
else Log().Get(level)
//Used for callback when an interrupt is fired.
static JavaVM *jvm;
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: initializeInterruptJVM
* Signature: (Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterruptJVM
(JNIEnv * env, jclass, jobject status)
{
//This method should be called once to setup the JVM
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI initializeInterruptJVM";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
jint rs = env->GetJavaVM(&jvm);
assert (rs == JNI_OK);
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: initializeInterrupts
* Signature: (IBLjava/nio/IntBuffer;)Ljava/nio/ByteBuffer;
*/
JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterrupts
(JNIEnv * env, jclass, jint interruptIndex, jbyte watcher, jobject status)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI initializeInterrupts";
INTERRUPTJNI_LOG(logDEBUG) << "interruptIndex = " << interruptIndex;
INTERRUPTJNI_LOG(logDEBUG) << "watcher = " << (bool) watcher;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
void** interruptPtr = (void**)new unsigned char[4];
*statusPtr = 0;
*interruptPtr = (void**) initializeInterrupts(interruptIndex, watcher, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *interruptPtr;
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
return env->NewDirectByteBuffer(interruptPtr, 4);
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: cleanInterrupts
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrupts
(JNIEnv * env, jclass, jobject interrupt_pointer, jobject status)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI cleanInterrupts";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
cleanInterrupts(*javaId, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: waitForInterrupt
* Signature: (Ljava/nio/ByteBuffer;DLjava/nio/IntBuffer;)V
*/
JNIEXPORT int JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt
(JNIEnv * env, jclass, jobject interrupt_pointer, jdouble timeout, jboolean ignorePrevious, jobject status)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI waitForInterrupt";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
int result = waitForInterrupt(*javaId, timeout, ignorePrevious, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
return result;
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: enableInterrupts
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterrupts
(JNIEnv * env, jclass, jobject interrupt_pointer, jobject status)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI enableInterrupts";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
enableInterrupts(*javaId, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: disableInterrupts
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts
(JNIEnv * env, jclass, jobject interrupt_pointer, jobject status)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI disableInterrupts";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
disableInterrupts(*javaId, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: readRisingTimestamp
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readRisingTimestamp
(JNIEnv * env, jclass, jobject interrupt_pointer, jobject status)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readRisingTimestamp";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
jdouble timeStamp = readRisingTimestamp(*javaId, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
return timeStamp;
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: readFallingTimestamp
* Signature: (Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)D
*/
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readFallingTimestamp
(JNIEnv * env, jclass, jobject interrupt_pointer, jobject status)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readFallingTimestamp";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
jdouble timeStamp = readFallingTimestamp(*javaId, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
return timeStamp;
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: requestInterrupts
* Signature: (Ljava/nio/ByteBuffer;BIBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts
(JNIEnv * env, jclass, jobject interrupt_pointer, jbyte routing_module, jint routing_pin, jbyte routing_analog_trigger, jobject status)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI requestInterrupts";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
INTERRUPTJNI_LOG(logDEBUG) << "routing module = " << (jint) routing_module;
INTERRUPTJNI_LOG(logDEBUG) << "routing pin = " << routing_pin;
INTERRUPTJNI_LOG(logDEBUG) << "routing analog trigger = " << (jint) routing_analog_trigger;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
requestInterrupts(*javaId, (uint8_t) routing_module, (uint32_t) routing_pin, routing_analog_trigger, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
struct InterruptHandlerParam {
/*
* The object edu/wpi/first/wpilibj/hal/InterruptJNI/InterruptHandlerFunction
* that contains the callback method [code]mid[/code].
*/
jobject handler_obj;
//The method id for the callback method
jmethodID mid;
//The params passed to the function
jobject param;
~InterruptHandlerParam(){
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI InterruptHandlerParam Destructor";
JNIEnv *env;
jint rs = jvm->AttachCurrentThread((void**)&env, NULL);
assert (rs == JNI_OK);
env->DeleteGlobalRef(handler_obj);
env->DeleteGlobalRef(param);
rs = jvm->DetachCurrentThread();
assert (rs == JNI_OK);
INTERRUPTJNI_LOG(logDEBUG) << "Leaving INTERRUPTJNI InterruptHandlerParam Destructor";
}
};
void interruptHandler(uint32_t mask, void *data) {
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI interruptHandler";
InterruptHandlerParam *param = static_cast<InterruptHandlerParam *>(data);
INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam Ptr = " << param;
INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->obj = " << param->handler_obj;
INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->param = " << param->param;
//Because this is a callback in a new thread we must attach it to the JVM
JNIEnv *env;
jint rs = jvm->AttachCurrentThread((void**)&env, NULL);
assert (rs == JNI_OK);
INTERRUPTJNI_LOG(logDEBUG) << "Attached to thread";
env->CallVoidMethod(param->handler_obj, param->mid, mask, param->param);
if (env->ExceptionCheck()) {
env->ExceptionDescribe();
}
rs = jvm->DetachCurrentThread();
assert (rs == JNI_OK);
INTERRUPTJNI_LOG(logDEBUG) << "Leaving INTERRUPTJNI interruptHandler";
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: attachInterruptHandler
* Signature: (Ljava/nio/ByteBuffer;Ledu/wpi/first/wpilibj/hal/InterruptJNI/InterruptHandlerFunction;Ljava/nio/ByteBuffer;Ljava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler
(JNIEnv * env, jclass, jobject interrupt_pointer, jobject handler, jobject param, jobject status)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI attachInterruptHandler";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
//Store the interrupt callback paramaters
InterruptHandlerParam *interruptHandlerParam = new InterruptHandlerParam();
//Stores the object that contains the callback
interruptHandlerParam->handler_obj = env->NewGlobalRef(handler);
//The parameter that will be passed back to the JVM when the method is called
interruptHandlerParam->param = env->NewGlobalRef(param);
jclass cls = env->GetObjectClass(handler);
INTERRUPTJNI_LOG(logDEBUG) << "class = " << cls;
if (cls == 0) {
INTERRUPTJNI_LOG(logERROR) << "Error getting java class";
assert (false);
return;
}
jmethodID mid = env->GetMethodID(cls, "apply", "(ILjava/lang/Object;)V");
INTERRUPTJNI_LOG(logDEBUG) << "method = " << mid;
if (mid == 0) {
INTERRUPTJNI_LOG(logERROR) << "Error getting java method ID";
assert (false);
return;
}
interruptHandlerParam->mid = mid;
INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam Ptr = " << interruptHandlerParam;
INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->obj (handler) = " << interruptHandlerParam->handler_obj;
INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->mid = " << interruptHandlerParam->mid;
INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->param = " << interruptHandlerParam->param;
*statusPtr = 0;
attachInterruptHandler(*javaId, interruptHandler, interruptHandlerParam, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
/*
* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
* Method: setInterruptUpSourceEdge
* Signature: (Ljava/nio/ByteBuffer;BBLjava/nio/IntBuffer;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_setInterruptUpSourceEdge
(JNIEnv * env, jclass, jobject interrupt_pointer, jbyte risingEdge, jbyte fallingEdge, jobject status)
{
INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI setInterruptUpSourceEdge";
void ** javaId = (void**)env->GetDirectBufferAddress(interrupt_pointer);
INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << *javaId;
INTERRUPTJNI_LOG(logDEBUG) << "Rising Edge = " << (bool) risingEdge;
INTERRUPTJNI_LOG(logDEBUG) << "Falling Edge = " << (bool) fallingEdge;
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
INTERRUPTJNI_LOG(logDEBUG) << "Status Ptr = " << statusPtr;
*statusPtr = 0;
setInterruptUpSourceEdge(*javaId, risingEdge, fallingEdge, statusPtr);
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
}
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