134 lines
4.3 KiB
C
134 lines
4.3 KiB
C
/*
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* jnibreezyslam_components.c Java Native Interface code for BreezySLAM components
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*
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* Copyright (C) 2014 Simon D. Levy
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*
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* This code is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as
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* published by the Free Software Foundation, either version 3 of the
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* License, or (at your option) any later version.
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*
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* This code is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this code. If not, see <http:#www.gnu.org/licenses/>.
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*/
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#include "../jni_utils.h"
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#include "Map.h"
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#include "Scan.h"
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#include <jni.h>
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#include <stdlib.h>
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#define MAXSTR 100
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// Map methods -----------------------------------------------------------------------------------------
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JNIEXPORT void JNICALL Java_edu_wlu_cs_levy_breezyslam_components_Map_init (JNIEnv *env, jobject thisobject, jint size_pixels, jdouble size_meters)
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{
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map_t * map = (map_t *)malloc(sizeof(map_t));
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map_init(map, (int)size_pixels, (double)size_meters);
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ptr_to_obj(env, thisobject, map);
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}
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JNIEXPORT jstring JNICALL Java_edu_wlu_cs_levy_breezyslam_components_Map_toString (JNIEnv *env, jobject thisobject)
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{
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map_t * map = cmap_from_jmap(env, thisobject);
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char str[MAXSTR];
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map_string(*map, str);
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return (*env)->NewStringUTF(env, str);
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}
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JNIEXPORT void JNICALL Java_edu_wlu_cs_levy_breezyslam_components_Map_get (JNIEnv *env, jobject thisobject, jbyteArray bytes)
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{
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map_t * map = cmap_from_jmap(env, thisobject);
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jbyte * ptr = (*env)->GetByteArrayElements(env, bytes, NULL);
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map_get(map, ptr);
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(*env)->ReleaseByteArrayElements(env, bytes, ptr, 0);
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}
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JNIEXPORT void JNICALL Java_edu_wlu_cs_levy_breezyslam_components_Map_update (JNIEnv *env, jobject thisobject,
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jobject scanobject,
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jdouble position_x_mm,
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jdouble position_y_mm,
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jdouble position_theta_degrees,
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jint quality,
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jdouble hole_width_mm)
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{
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map_t * map = cmap_from_jmap(env, thisobject);
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scan_t * scan = cscan_from_jscan(env, scanobject);
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position_t position;
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position.x_mm = position_x_mm;
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position.y_mm = position_y_mm;
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position.theta_degrees = position_theta_degrees;
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map_update(map, scan, position, quality, hole_width_mm);
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}
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// Scan methods -----------------------------------------------------------------------------------------
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JNIEXPORT void JNICALL Java_edu_wlu_cs_levy_breezyslam_components_Scan_init (JNIEnv *env, jobject thisobject,
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jint span,
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jint scan_size,
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jdouble scan_rate_hz,
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jdouble detection_angle_degrees,
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jdouble distance_no_detection_mm,
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jint detection_margin,
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jdouble offset_mm)
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{
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scan_t * scan = (scan_t *)malloc(sizeof(scan_t));
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scan_init(scan,
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span,
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scan_size,
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scan_rate_hz,
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detection_angle_degrees,
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distance_no_detection_mm,
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detection_margin,
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offset_mm);
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ptr_to_obj(env, thisobject, scan);
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}
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JNIEXPORT jstring JNICALL Java_edu_wlu_cs_levy_breezyslam_components_Scan_toString (JNIEnv *env, jobject thisobject)
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{
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scan_t * scan = cscan_from_jscan(env, thisobject);
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char str[MAXSTR];
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scan_string(*scan, str);
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return (*env)->NewStringUTF(env, str);
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}
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JNIEXPORT void JNICALL Java_edu_wlu_cs_levy_breezyslam_components_Scan_update (JNIEnv *env, jobject thisobject,
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jintArray lidar_mm,
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jdouble hole_width_mm,
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jdouble velocities_dxy_mm,
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jdouble velocities_dtheta_degrees)
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{
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scan_t * scan = cscan_from_jscan(env, thisobject);
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jint * lidar_mm_c = (*env)->GetIntArrayElements(env, lidar_mm, 0);
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// no support for angles/interpolation yet
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scan_update(scan, NULL, lidar_mm_c, scan->size, hole_width_mm, velocities_dxy_mm, velocities_dtheta_degrees);
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(*env)->ReleaseIntArrayElements(env, lidar_mm, lidar_mm_c, 0);
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}
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