com_phidgets_SpatialPhidget.c

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#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;
        jobject spatialEventData;
        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);
                }

                if(!(spatialEventData = (*env)->NewObject(env, spatialEventData_class, spatialEventData_cons, accel, gyro, mag, data[i]->timestamp.seconds, data[i]->timestamp.microseconds)))
                {
                        PH_THROW(EPHIDGET_UNEXPECTED);
                        return -1;
                }
                        
                (*env)->DeleteLocalRef(env, accel);
                (*env)->DeleteLocalRef(env, gyro);
                (*env)->DeleteLocalRef(env, mag);

                //create and add the SpatialEventData object to its array
                (*env)->SetObjectArrayElement(env,jo,i,spatialEventData);
                
                (*env)->DeleteLocalRef(env, spatialEventData);
        }

        if (!(spatialDataEv = (*env)->NewObject(env, spatialDataEvent_class, spatialDataEvent_cons, obj, jo)))
        {
                PH_THROW(EPHIDGET_UNEXPECTED);
                return -1;
        }
        (*env)->DeleteLocalRef(env, jo);

        (*env)->CallVoidMethod(env, obj, fireSpatialData_mid, spatialDataEv);

        (*env)->DeleteLocalRef(env, spatialDataEv);

        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);
}