1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
|
%module javaupm_bno055
%include "../upm.i"
%include "cpointer.i"
%include "typemaps.i"
%include "arrays_java.i";
%include "../java_buffer.i"
%apply int {mraa::Edge};
%apply float *INOUT { float *x, float *y, float *z };
%apply float *INOUT { float *heading, float *roll, float *pitch };
%typemap(jni) float* "jfloatArray"
%typemap(jstype) float* "float[]"
%typemap(jtype) float* "float[]"
%typemap(javaout) float* {
return $jnicall;
}
%typemap(jni) int* "jintArray"
%typemap(jstype) int* "int[]"
%typemap(jtype) int* "int[]"
%typemap(javaout) int* {
return $jnicall;
}
%typemap(out) float *getAccelerometer {
$result = JCALL1(NewFloatArray, jenv, 3);
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
}
%typemap(out) float *getMagnetometer {
$result = JCALL1(NewFloatArray, jenv, 3);
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
}
%typemap(out) float *getGyroscope {
$result = JCALL1(NewFloatArray, jenv, 3);
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
}
%typemap(out) float *getEulerAngles {
$result = JCALL1(NewFloatArray, jenv, 3);
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
}
%typemap(out) float *getQuaternions {
$result = JCALL1(NewFloatArray, jenv, 4);
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 4, $1);
}
%typemap(out) float *getLinearAcceleration {
$result = JCALL1(NewFloatArray, jenv, 3);
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
}
%typemap(out) float *getGravityVectors {
$result = JCALL1(NewFloatArray, jenv, 3);
JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
}
%typemap(out) int *getCalibrationStatus {
$result = JCALL1(NewIntArray, jenv, 4);
JCALL4(SetIntArrayRegion, jenv, $result, 0, 4, (const int*)$1);
}
%ignore getCalibrationStatus(int *, int *, int *, int *);
%ignore getAccelerometer(float *, float *, float *);
%ignore getMagnetometer(float *, float *, float *);
%ignore getGyroscope(float *, float *, float *);
%ignore getEulerAngles(float *, float *, float *);
%ignore getQuaternions(float *, float *, float *, float *);
%ignore getLinearAcceleration(float *, float *, float *);
%ignore getGravityVectors(float *, float *, float *);
%{
#include "bno055.hpp"
%}
%include "bno055.hpp"
%pragma(java) jniclasscode=%{
static {
try {
System.loadLibrary("javaupm_bno055");
} catch (UnsatisfiedLinkError e) {
System.err.println("Native code library failed to load. \n" + e);
System.exit(1);
}
}
%}
|
