mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
321 lines
12 KiB
C++
321 lines
12 KiB
C++
#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;
|
|
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];
|
|
*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;
|
|
|
|
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;
|
|
|
|
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;
|
|
|
|
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;
|
|
|
|
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;
|
|
|
|
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;
|
|
|
|
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;
|
|
|
|
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;
|
|
|
|
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;
|
|
|
|
setInterruptUpSourceEdge(*javaId, risingEdge, fallingEdge, statusPtr);
|
|
|
|
INTERRUPTJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
|
|
}
|