diff options
Diffstat (limited to 'Java/com_phidgets_SpatialPhidget.c')
| -rw-r--r-- | Java/com_phidgets_SpatialPhidget.c | 166 |
1 files changed, 166 insertions, 0 deletions
diff --git a/Java/com_phidgets_SpatialPhidget.c b/Java/com_phidgets_SpatialPhidget.c new file mode 100644 index 0000000..361b989 --- /dev/null +++ b/Java/com_phidgets_SpatialPhidget.c @@ -0,0 +1,166 @@ +#include "../stdafx.h"
+#include "phidget_jni.h"
+#include "com_phidgets_SpatialPhidget.h"
+#include "../cphidgetspatial.h"
+
+EVENT_VARS(spatialData, SpatialData)
+
+static jclass spatialEventData_class; //class
+static jmethodID spatialEventData_cons; //constructor
+
+JNI_LOAD(spatial, Spatial)
+ EVENT_VAR_SETUP(spatial, spatialData, SpatialData, [Lcom/phidgets/SpatialEventData;, V)
+
+ if (!(spatialEventData_class = (*env)->FindClass(env,"com/phidgets/SpatialEventData")))
+ JNI_ABORT_STDERR("Couldn't FindClass com/phidgets/SpatialEventData");
+ if (!(spatialEventData_class = (jclass)(*env)->NewGlobalRef(env, spatialEventData_class)))
+ JNI_ABORT_STDERR("Couldn't create global ref spatialEventData_class");
+ if (!(spatialEventData_cons = (*env)->GetMethodID(env, spatialEventData_class, "<init>", "([D[D[DII)V")))
+ JNI_ABORT_STDERR("Couldn't get method ID <init> from spatialEventData_class");
+}
+
+//SpatialData event
+static int CCONV spatialData_handler(CPhidgetSpatialHandle h, void *arg, CPhidgetSpatial_SpatialEventDataHandle *, int);
+JNIEXPORT void JNICALL
+Java_com_phidgets_SpatialPhidget_enableSpatialDataEvents(JNIEnv *env, jobject obj, jboolean b)
+{
+ jlong gr = updateGlobalRef(env, obj, nativeSpatialDataHandler_fid, b);
+ CPhidgetSpatialHandle h = (CPhidgetSpatialHandle)(uintptr_t)(*env)->GetLongField(env, obj, handle_fid);
+ CPhidgetSpatial_set_OnSpatialData_Handler(h, b ? spatialData_handler : 0, (void *)(uintptr_t)gr);
+}
+static int CCONV
+spatialData_handler(CPhidgetSpatialHandle h, void *arg, CPhidgetSpatial_SpatialEventDataHandle *data, int dataLength)
+{
+ JNIEnv *env;
+ jobject obj;
+ jobject spatialDataEv;
+ jobjectArray jo;
+ int i, j;
+
+ if ((*ph_vm)->AttachCurrentThread(ph_vm, (JNIEnvPtr)&env, NULL))
+ JNI_ABORT_STDERR("Couldn't AttachCurrentThread");
+
+ obj = (jobject)arg;
+
+ //create and fill in short array
+ jo = (*env)->NewObjectArray(env, dataLength, spatialEventData_class, NULL);
+ if (!jo)
+ return -1;
+
+ for (i=0; i<dataLength; i++)
+ {
+ jdoubleArray accel, gyro, mag;
+ jdouble *datas;
+
+ //create and fill in data arrays
+ accel = (*env)->NewDoubleArray(env, h->phid.attr.spatial.numAccelAxes);
+ gyro = (*env)->NewDoubleArray(env, h->phid.attr.spatial.numGyroAxes);
+ mag = (*env)->NewDoubleArray(env, data[i]->magneticField[0]==PUNK_DBL?0:h->phid.attr.spatial.numCompassAxes);
+ if (!accel || !gyro || !mag)
+ {
+ PH_THROW(EPHIDGET_UNEXPECTED);
+ return -1;
+ }
+ if(h->phid.attr.spatial.numAccelAxes)
+ {
+ datas = (*env)->GetDoubleArrayElements(env, accel, 0);
+ if (!datas)
+ {
+ PH_THROW(EPHIDGET_UNEXPECTED);
+ return -1;
+ }
+ for (j=0; j<h->phid.attr.spatial.numAccelAxes; j++)
+ datas[j] = (jdouble)data[i]->acceleration[j];
+ (*env)->ReleaseDoubleArrayElements(env, accel, datas, 0);
+ }
+ if(h->phid.attr.spatial.numGyroAxes)
+ {
+ datas = (*env)->GetDoubleArrayElements(env, gyro, 0);
+ if (!datas)
+ {
+ PH_THROW(EPHIDGET_UNEXPECTED);
+ return -1;
+ }
+ for (j=0; j<h->phid.attr.spatial.numGyroAxes; j++)
+ datas[j] = (jdouble)data[i]->angularRate[j];
+ (*env)->ReleaseDoubleArrayElements(env, gyro, datas, 0);
+ }
+ if(data[i]->magneticField[0]==PUNK_DBL?0:h->phid.attr.spatial.numCompassAxes)
+ {
+ datas = (*env)->GetDoubleArrayElements(env, mag, 0);
+ if (!datas)
+ {
+ PH_THROW(EPHIDGET_UNEXPECTED);
+ return -1;
+ }
+ for (j=0; j<h->phid.attr.spatial.numCompassAxes; j++)
+ datas[j] = (jdouble)data[i]->magneticField[j];
+ (*env)->ReleaseDoubleArrayElements(env, mag, datas, 0);
+ }
+
+ //create and add the SpatialEventData object to its array
+ (*env)->SetObjectArrayElement(env,jo,i,(*env)->NewObject(env, spatialEventData_class, spatialEventData_cons, accel, gyro, mag, data[i]->timestamp.seconds, data[i]->timestamp.microseconds));
+ }
+
+ if (!(spatialDataEv = (*env)->NewObject(env, spatialDataEvent_class, spatialDataEvent_cons, obj, jo)))
+ {
+ return -1;
+ }
+
+ (*env)->CallVoidMethod(env, obj, fireSpatialData_mid, spatialDataEv);
+
+ (*env)->DeleteLocalRef(env, spatialDataEv);
+ (*ph_vm)->DetachCurrentThread(ph_vm);
+
+ return 0;
+}
+
+JNI_CREATE(Spatial)
+
+JNI_INDEXED_GETFUNC(Spatial, AccelerationMax, AccelerationMax, jdouble)
+JNI_INDEXED_GETFUNC(Spatial, AccelerationMin, AccelerationMin, jdouble)
+JNI_INDEXED_GETFUNC(Spatial, Acceleration, Acceleration, jdouble)
+JNI_GETFUNC(Spatial, AccelerationAxisCount, AccelerationAxisCount, jint)
+
+JNI_INDEXED_GETFUNC(Spatial, AngularRateMax, AngularRateMax, jdouble)
+JNI_INDEXED_GETFUNC(Spatial, AngularRateMin, AngularRateMin, jdouble)
+JNI_INDEXED_GETFUNC(Spatial, AngularRate, AngularRate, jdouble)
+JNI_GETFUNC(Spatial, GyroAxisCount, GyroAxisCount, jint)
+
+JNI_INDEXED_GETFUNC(Spatial, MagneticFieldMax, MagneticFieldMax, jdouble)
+JNI_INDEXED_GETFUNC(Spatial, MagneticFieldMin, MagneticFieldMin, jdouble)
+JNI_INDEXED_GETFUNC(Spatial, MagneticField, MagneticField, jdouble)
+JNI_GETFUNC(Spatial, CompassAxisCount, CompassAxisCount, jint)
+
+JNI_GETFUNC(Spatial, DataRateMin, DataRateMin, jint)
+JNI_GETFUNC(Spatial, DataRateMax, DataRateMax, jint)
+JNI_GETFUNC(Spatial, DataRate, DataRate, jint)
+JNI_SETFUNC(Spatial, DataRate, DataRate, jint)
+
+JNIEXPORT void JNICALL Java_com_phidgets_SpatialPhidget_zeroGyro (JNIEnv *env, jobject obj)
+{
+ CPhidgetSpatialHandle h = (CPhidgetSpatialHandle)(uintptr_t)(*env)->GetLongField( env, obj, handle_fid);
+ int error;
+ if ((error = CPhidgetSpatial_zeroGyro(h)))
+ PH_THROW(error);
+}
+
+JNIEXPORT void JNICALL Java_com_phidgets_SpatialPhidget_setCompassCorrectionParameters (JNIEnv *env, jobject obj,
+ jdouble magField,
+ jdouble offset0, jdouble offset1, jdouble offset2,
+ jdouble gain0, jdouble gain1, jdouble gain2,
+ jdouble T0, jdouble T1, jdouble T2, jdouble T3, jdouble T4, jdouble T5)
+{
+ CPhidgetSpatialHandle h = (CPhidgetSpatialHandle)(uintptr_t)(*env)->GetLongField( env, obj, handle_fid);
+ int error;
+ if ((error = CPhidgetSpatial_setCompassCorrectionParameters(h, magField, offset0, offset1, offset2, gain0, gain1, gain2, T0, T1, T2, T3, T4, T5)))
+ PH_THROW(error);
+}
+
+JNIEXPORT void JNICALL Java_com_phidgets_SpatialPhidget_resetCompassCorrectionParameters (JNIEnv *env, jobject obj)
+{
+ CPhidgetSpatialHandle h = (CPhidgetSpatialHandle)(uintptr_t)(*env)->GetLongField( env, obj, handle_fid);
+ int error;
+ if ((error = CPhidgetSpatial_resetCompassCorrectionParameters(h)))
+ PH_THROW(error);
+}
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