mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
7023013c4b
These changes both simplify the Java code and improve performance across the JNI boundary. This also fixes the AnalogCrossConnectTest by adding delays to setInterruptHigh() and setInterruptLow() to ensure the change in voltage has time to propagate and extends the timeouts in AbstractInterruptTest. Detailed changes: Hoisted status checks to C. This avoids the need to create direct byte buffers (expensive) and significantly simplifies the Java code. The C code now directly generates the exception or reports the error to the DS. The JVM pointer is now a global across the JNI, initialized by the OnLoad function, avoiding the need for some of the class-specific initializers to get this pointer for callbacks. Opaque pointers (such as ports) are now passed as long values rather than with a ByteBuffer wrapper. Added extern "C" to source files. This allows earlier detection of JNI definition mismatches to the Java source headers. Changed JNI signatures to more closely match HAL signatures (in particular, boolean is now universally used instead of byte for HAL bool, which cleans up mapping back and forth to 1/0 from true/false). Change-Id: I4ea0032cabb0871cd74106a3a70d947258c29d2d
297 lines
9.8 KiB
C++
297 lines
9.8 KiB
C++
#include <jni.h>
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#include <assert.h>
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#include "Log.hpp"
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#include "edu_wpi_first_wpilibj_hal_InterruptJNI.h"
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#include "HAL/Interrupts.hpp"
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#include "HALUtil.h"
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TLogLevel interruptJNILogLevel = logERROR;
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#define INTERRUPTJNI_LOG(level) \
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if (level > interruptJNILogLevel) ; \
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else Log().Get(level)
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extern "C" {
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: initializeInterrupts
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* Signature: (IZ)J
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*/
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JNIEXPORT jlong JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_initializeInterrupts
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(JNIEnv * env, jclass, jint interruptIndex, jboolean watcher)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI initializeInterrupts";
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INTERRUPTJNI_LOG(logDEBUG) << "interruptIndex = " << interruptIndex;
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INTERRUPTJNI_LOG(logDEBUG) << "watcher = " << (bool) watcher;
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int32_t status = 0;
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void* interrupt = initializeInterrupts(interruptIndex, watcher, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << interrupt;
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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return (jlong)interrupt;
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: cleanInterrupts
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_cleanInterrupts
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(JNIEnv * env, jclass, jlong interrupt_pointer)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI cleanInterrupts";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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int32_t status = 0;
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cleanInterrupts((void*)interrupt_pointer, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: waitForInterrupt
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* Signature: (JD)V
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*/
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JNIEXPORT int JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_waitForInterrupt
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(JNIEnv * env, jclass, jlong interrupt_pointer, jdouble timeout, jboolean ignorePrevious)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI waitForInterrupt";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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int32_t status = 0;
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int result = waitForInterrupt((void*)interrupt_pointer, timeout, ignorePrevious, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << 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_wpilibj_hal_InterruptJNI
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* Method: enableInterrupts
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_enableInterrupts
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(JNIEnv * env, jclass, jlong interrupt_pointer)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI enableInterrupts";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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int32_t status = 0;
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enableInterrupts((void*)interrupt_pointer, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: disableInterrupts
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* Signature: (J)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_disableInterrupts
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(JNIEnv * env, jclass, jlong interrupt_pointer)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI disableInterrupts";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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int32_t status = 0;
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disableInterrupts((void*)interrupt_pointer, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: readRisingTimestamp
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* Signature: (J)D
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*/
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readRisingTimestamp
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(JNIEnv * env, jclass, jlong interrupt_pointer)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readRisingTimestamp";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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int32_t status = 0;
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jdouble timeStamp = readRisingTimestamp((void*)interrupt_pointer, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << 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_wpilibj_hal_InterruptJNI
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* Method: readFallingTimestamp
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* Signature: (J)D
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*/
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JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_readFallingTimestamp
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(JNIEnv * env, jclass, jlong interrupt_pointer)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI readFallingTimestamp";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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int32_t status = 0;
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jdouble timeStamp = readFallingTimestamp((void*)interrupt_pointer, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << 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_wpilibj_hal_InterruptJNI
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* Method: requestInterrupts
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* Signature: (JBIZ)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_requestInterrupts
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(JNIEnv * env, jclass, jlong interrupt_pointer, jbyte routing_module, jint routing_pin, jboolean routing_analog_trigger)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI requestInterrupts";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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INTERRUPTJNI_LOG(logDEBUG) << "routing module = " << (jint) routing_module;
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INTERRUPTJNI_LOG(logDEBUG) << "routing pin = " << routing_pin;
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INTERRUPTJNI_LOG(logDEBUG) << "routing analog trigger = " << (jint) routing_analog_trigger;
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int32_t status = 0;
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requestInterrupts((void*)interrupt_pointer, (uint8_t) routing_module, (uint32_t) routing_pin, routing_analog_trigger, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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struct InterruptHandlerParam {
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/*
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* The object edu/wpi/first/wpilibj/hal/InterruptJNI/InterruptHandlerFunction
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* that contains the callback method [code]mid[/code].
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*/
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jobject handler_obj;
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//The method id for the callback method
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jmethodID mid;
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//The params passed to the function
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jobject param;
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~InterruptHandlerParam(){
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI InterruptHandlerParam Destructor";
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JNIEnv *env;
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jint rs = jvm->AttachCurrentThread((void**)&env, NULL);
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assert (rs == JNI_OK);
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env->DeleteGlobalRef(handler_obj);
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env->DeleteGlobalRef(param);
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rs = jvm->DetachCurrentThread();
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assert (rs == JNI_OK);
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INTERRUPTJNI_LOG(logDEBUG) << "Leaving INTERRUPTJNI InterruptHandlerParam Destructor";
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}
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};
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void interruptHandler(uint32_t mask, void *data) {
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI interruptHandler";
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InterruptHandlerParam *param = static_cast<InterruptHandlerParam *>(data);
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INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam Ptr = " << param;
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INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->obj = " << param->handler_obj;
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INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->param = " << param->param;
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//Because this is a callback in a new thread we must attach it to the JVM
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JNIEnv *env;
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jint rs = jvm->AttachCurrentThread((void**)&env, NULL);
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assert (rs == JNI_OK);
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INTERRUPTJNI_LOG(logDEBUG) << "Attached to thread";
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env->CallVoidMethod(param->handler_obj, param->mid, mask, param->param);
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if (env->ExceptionCheck()) {
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env->ExceptionDescribe();
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}
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rs = jvm->DetachCurrentThread();
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assert (rs == JNI_OK);
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INTERRUPTJNI_LOG(logDEBUG) << "Leaving INTERRUPTJNI interruptHandler";
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: attachInterruptHandler
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* Signature: (JLedu/wpi/first/wpilibj/hal/InterruptJNI/InterruptHandlerFunction;Ljava/nio/ByteBuffer;)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_attachInterruptHandler
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(JNIEnv * env, jclass, jlong interrupt_pointer, jobject handler, jobject param)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI attachInterruptHandler";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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//Store the interrupt callback paramaters
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InterruptHandlerParam *interruptHandlerParam = new InterruptHandlerParam();
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//Stores the object that contains the callback
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interruptHandlerParam->handler_obj = env->NewGlobalRef(handler);
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//The parameter that will be passed back to the JVM when the method is called
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interruptHandlerParam->param = env->NewGlobalRef(param);
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jclass cls = env->GetObjectClass(handler);
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INTERRUPTJNI_LOG(logDEBUG) << "class = " << cls;
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if (cls == 0) {
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INTERRUPTJNI_LOG(logERROR) << "Error getting java class";
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assert (false);
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return;
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}
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jmethodID mid = env->GetMethodID(cls, "apply", "(ILjava/lang/Object;)V");
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INTERRUPTJNI_LOG(logDEBUG) << "method = " << mid;
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if (mid == 0) {
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INTERRUPTJNI_LOG(logERROR) << "Error getting java method ID";
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assert (false);
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return;
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}
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interruptHandlerParam->mid = mid;
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INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam Ptr = " << interruptHandlerParam;
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INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->obj (handler) = " << interruptHandlerParam->handler_obj;
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INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->mid = " << interruptHandlerParam->mid;
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INTERRUPTJNI_LOG(logDEBUG) << "InterruptHandlerParam->param = " << interruptHandlerParam->param;
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int32_t status = 0;
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attachInterruptHandler((void*)interrupt_pointer, interruptHandler, interruptHandlerParam, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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/*
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* Class: edu_wpi_first_wpilibj_hal_InterruptJNI
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* Method: setInterruptUpSourceEdge
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* Signature: (JZZ)V
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*/
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JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_InterruptJNI_setInterruptUpSourceEdge
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(JNIEnv * env, jclass, jlong interrupt_pointer, jboolean risingEdge, jboolean fallingEdge)
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{
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INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI setInterruptUpSourceEdge";
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INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Ptr = " << (void*)interrupt_pointer;
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INTERRUPTJNI_LOG(logDEBUG) << "Rising Edge = " << (bool) risingEdge;
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INTERRUPTJNI_LOG(logDEBUG) << "Falling Edge = " << (bool) fallingEdge;
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int32_t status = 0;
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setInterruptUpSourceEdge((void*)interrupt_pointer, risingEdge, fallingEdge, &status);
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INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
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CheckStatus(env, status);
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}
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} // extern "C"
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