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I2C: Provide byte[] JNI interfaces.

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This avoids a direct byte buffer allocation on every read/write/transaction
on the byte[] variants.

Changes HAL I2C interfaces to use const for dataToSend.
This commit is contained in:
Peter Johnson
2017-11-15 21:41:58 -08:00
parent 6307d41002
commit 9021b37fd2
8 changed files with 161 additions and 58 deletions
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70
wpilibj/src/main/native/cpp/I2CJNI.cpp
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@@ -13,8 +13,10 @@
#include "HAL/I2C.h"
#include "HALUtil.h"
#include "support/jni_util.h"
using namespace frc;
using namespace wpi::java;
// set the logging level
TLogLevel i2cJNILogLevel = logWARNING;
@@ -69,6 +71,32 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransaction(
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CTransactionB
* Signature: (IB[BB[BB)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CTransactionB(
JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataToSend,
jbyte sendSize, jbyteArray dataReceived, jbyte receiveSize) {
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CTransactionB";
I2CJNI_LOG(logDEBUG) << "Port = " << port;
I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
llvm::SmallVector<uint8_t, 128> recvBuf;
recvBuf.resize(receiveSize);
I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize;
jint returnValue =
HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address,
reinterpret_cast<const uint8_t *>(
JByteArrayRef(env, dataToSend).array().data()),
sendSize, recvBuf.data(), receiveSize);
env->SetByteArrayRegion(dataReceived, 0, receiveSize,
reinterpret_cast<const jbyte *>(recvBuf.data()));
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CWrite
@@ -92,6 +120,27 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWrite(
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CWriteB
* Signature: (IB[BB)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CWriteB(
JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataToSend,
jbyte sendSize) {
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CWrite";
I2CJNI_LOG(logDEBUG) << "Port = " << port;
I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
jint returnValue =
HAL_WriteI2C(static_cast<HAL_I2CPort>(port), address,
reinterpret_cast<const uint8_t *>(
JByteArrayRef(env, dataToSend).array().data()),
sendSize);
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CRead
@@ -112,6 +161,27 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CRead(
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CReadB
* Signature: (IB[BB)I
*/
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_I2CJNI_i2CReadB(
JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataReceived,
jbyte receiveSize) {
I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CRead";
I2CJNI_LOG(logDEBUG) << "Port = " << port;
I2CJNI_LOG(logDEBUG) << "Address = " << address;
I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize;
llvm::SmallVector<uint8_t, 128> recvBuf;
recvBuf.resize(receiveSize);
jint returnValue = HAL_ReadI2C(static_cast<HAL_I2CPort>(port), address, recvBuf.data(), receiveSize);
env->SetByteArrayRegion(dataReceived, 0, receiveSize,
reinterpret_cast<const jbyte *>(recvBuf.data()));
I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_I2CJNI
* Method: i2CClose