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AnalogInput: Remove byte buffer usage.

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This commit is contained in:
Peter Johnson
2017-11-15 22:09:59 -08:00
parent 9021b37fd2
commit b93aa176d6
3 changed files with 12 additions and 26 deletions
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14
wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
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@@ -7,9 +7,6 @@
package edu.wpi.first.wpilibj;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.wpilibj.hal.AnalogJNI;
@@ -289,15 +286,8 @@ public class AnalogInput extends SensorBase implements PIDSource, LiveWindowSend
throw new IllegalArgumentException(
"Channel " + m_channel + " is not an accumulator channel.");
}
ByteBuffer value = ByteBuffer.allocateDirect(8);
// set the byte order
value.order(ByteOrder.LITTLE_ENDIAN);
ByteBuffer count = ByteBuffer.allocateDirect(8);
// set the byte order
count.order(ByteOrder.LITTLE_ENDIAN);
AnalogJNI.getAccumulatorOutput(m_port, value.asLongBuffer(), count.asLongBuffer());
result.value = value.asLongBuffer().get(0) + m_accumulatorOffset;
result.count = count.asLongBuffer().get(0);
AnalogJNI.getAccumulatorOutput(m_port, result);
result.value += m_accumulatorOffset;
}
/**

5
wpilibj/src/main/java/edu/wpi/first/wpilibj/hal/AnalogJNI.java
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@@ -7,8 +7,8 @@
package edu.wpi.first.wpilibj.hal;
import edu.wpi.first.wpilibj.AccumulatorResult;
import java.nio.IntBuffer;
import java.nio.LongBuffer;
public class AnalogJNI extends JNIWrapper {
/**
@@ -91,8 +91,7 @@ public class AnalogJNI extends JNIWrapper {
public static native int getAccumulatorCount(int analogPortHandle);
public static native void getAccumulatorOutput(int analogPortHandle, LongBuffer value,
LongBuffer count);
public static native void getAccumulatorOutput(int analogPortHandle, AccumulatorResult result);
public static native int initializeAnalogTrigger(int analogInputHandle, IntBuffer index);

19
wpilibj/src/main/native/cpp/AnalogJNI.cpp
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@@ -500,22 +500,19 @@ Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorCount(
/*
* Class: edu_wpi_first_wpilibj_hal_AnalogJNI
* Method: getAccumulatorOutput
* Signature: (ILjava/nio/LongBuffer;Ljava/nio/LongBuffer;)V
* Signature: (ILedu/wpi/first/wpilibj/AccumulatorResult;)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAccumulatorOutput(
JNIEnv *env, jclass, jint id, jobject value, jobject count) {
JNIEnv *env, jclass, jint id, jobject accumulatorResult) {
ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jlong *valuePtr = (jlong *)env->GetDirectBufferAddress(value);
jlong *countPtr = (jlong *)env->GetDirectBufferAddress(count);
int64_t valueInt64;
int64_t countInt64;
HAL_GetAccumulatorOutput((HAL_AnalogInputHandle)id, &valueInt64, &countInt64, &status);
*valuePtr = valueInt64;
*countPtr = countInt64;
ANALOGJNI_LOG(logDEBUG) << "Value = " << *valuePtr;
ANALOGJNI_LOG(logDEBUG) << "Count = " << *countPtr;
int64_t value = 0;
int64_t count = 0;
HAL_GetAccumulatorOutput((HAL_AnalogInputHandle)id, &value, &count, &status);
SetAccumulatorResultObject(env, accumulatorResult, value, count);
ANALOGJNI_LOG(logDEBUG) << "Value = " << value;
ANALOGJNI_LOG(logDEBUG) << "Count = " << count;
ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}