/* * Ndirect_interface.c * * These routines implement the Java native routines specicfied by * running javah on Ndirect.java .  Each routine here then calls * the functions provided by Nomadics in their Ndirect.c library. * * AUTHOR: Tucker Balch, tucker@cc.gatech.edu * */#include <jni.h>#include "EDU_gatech_cc_is_nomad150_Ndirect.h"#include "Nclient.h"static	int	let_me_live = 99;static	jclass	static_placeholder = 0;/* * Class:     edu_gatech_cc_is_nomad150_Ndirect * Method:    make_resident * Signature: ()I *//* * Make the code resident. */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_make_1resident(	JNIEnv *env, 	jobject obj)	{	/*	 * This code makes sure our static variables stay around.	 * Lifted from the javasoft page.	 */	if (static_placeholder == 0)		{		jclass dummy = (*env)->GetObjectClass(env, obj);		if (dummy == 0)			{			fprintf(stderr, "Ndirect_interface: error "				"trying to be static\n");			return(1);/* throw an exception */			}		static_placeholder = (*env)->NewGlobalRef(env, dummy);		if (static_placeholder == 0)			{			fprintf(stderr, "Ndirect_interface: error "				"trying to be static\n");			}		return(0);/* OK */		}	}/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    make_free * Signature: ()I *//* * Release the resources (ie become non-resident). */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_make_1free(	JNIEnv *env, 	jobject obj)	{	/*	 * This code releases the global reference so gc can get rid	 * of us.	 */	if (static_placeholder != 0)		{		(*env)->DeleteGlobalRef(env, static_placeholder);		}	fprintf(stderr, "Ndirect_interface: releasing\n");	return(0);	}/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    open_robot * Signature: (II)I *//* * Open and intialize the robot. */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_open_1robot(	JNIEnv *env, 	jobject obj, 	jint serial_port, 	jint baud)	{	int i;	/* this sonar ordering will turn them off */	int     sn_order[16] = {255, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};	/*	 * Open the serial connection.	 */	connect_robot(1);	if (open_serial((unsigned char)serial_port, (unsigned short)baud)==0)		return(1);/*error!*/	/*	 * Zero out the Smask, so we only get the data when we ask.	 */	// actually, now we want the data	for (i = 0; i<=NUM_MASK; i++) Smask[i] = 0;	for (i = SMASK_SONAR_1; i<=SMASK_SONAR_16; i++) Smask[i] = 1;	Smask[SMASK_BUMPER] = 1;	Smask[SMASK_CONF_X] = 1;	Smask[SMASK_CONF_Y] = 1;	Smask[SMASK_CONF_STEER] = 1;	Smask[SMASK_CONF_TURRET] = 1;	Smask[SMASK_VEL_TRANS] = 1;	Smask[SMASK_VEL_STEER] = 1;	Smask[SMASK_VEL_TURRET] = 1;	if (ct() == 0)		return(1);/*error!*/	/*	 * Set some default speeds, accelerations 	 * and timeout values.  The default speeds and accells are maximums.	 */        if (ac(300, 500, 500)==0)                {                fprintf(stderr,"Ndirect.open_robot: ac failed\n");                return(1);/*error!*/                }        if (sp(200, 450, 450)==0)                {                fprintf(stderr,"Ndirect.open_robot: sp failed\n");                return(1);/*error!*/                }        if (conf_sn(0, sn_order)==0) /* turns the sonars off */                {                fprintf(stderr,"Ndirect.open_robot: conf_sn failed\n");                return(1);/*error!*/                }        if (conf_tm(1)==0) /* sets robot timeout to 1 seconds */                {                fprintf(stderr,"Ndirect.open_robot: conf_tm failed\n");                return(1);/*error!*/                }        if (zr()==0) /* zeroes the robot and homes it */                {                fprintf(stderr,"Ndirect.open_robot: zr failed\n");		return(1);/*error!*/		}	return(0);/* OK */	}/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    da * Signature: (II)I *//* * Set the robot's angles. */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_da  (JNIEnv *env, jobject obj, 	jint th, 	jint tu)	{	if (da(th, tu) == 0)		return(1);/*error!*/	else		return(0);/*OK*/	} /* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    dp * Signature: (II)I *//* * Set the robot's position. */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_dp  (JNIEnv *env, jobject obj, 	jint x, 	jint y)	{	if (dp((long)x, (long)y) == 0)		return(1);/*error!*/	else		return(0);/*OK*/	} /* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    mv * Signature: (IIIIII)I *//* * Move the robot */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_mv(	JNIEnv *env, 	jobject obj, 	jint t_mode, 	jint t_mv, 	jint s_mode, 	jint s_mv, 	jint r_mode, 	jint r_mv)	{	if (mv(t_mode,t_mv,s_mode,s_mv,r_mode,r_mv) == 0)                {		fprintf(stderr,"Ndirect.mv: mv failed\n");		return(1);/*error!*/		}	return(0);/*OK*/	}/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    st * Signature: ()I *//* * Stop the robot */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_st(	JNIEnv *env, 	jobject obj)	{        if (st() == 0)                {                fprintf(stderr,"Ndirect.st: st failed\n");                return(1);/*error!*/                }        return(0);/*OK*/        }/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    sn_on * Signature: (I)I *//* * Turn on the sonars */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_sn_1on(	JNIEnv *env, 	jobject obj,	jint	delay)	{	/*	 * The default sonar firing order	 */	int     order[16] = {0,2,15,1,14,3,13,4,12,5,11,6,10,7,9,8};	delay = delay/4; /* convert to 4 millisecond increments used by				nomadics */	if (delay <= 15) delay = 15;	if (conf_sn(delay, order) == 0)		{		fprintf(stderr,"Ndirect.sn_on: conf_sn failed\n");		return(1);/*error*/		}	return(0);/*OK*/	}/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    sn_off * Signature: ()I *//* * Turn off the sonars */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_sn_1off(	JNIEnv *env, 	jobject obj)	{	int     sn_order[16] = {255, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};		if (conf_sn(0, sn_order) == 0)		{		fprintf(stderr,"Ndirect.sn_off: conf_sn failed\n");		return(1);/*error*/		}	return(0);/*OK*/	}/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    get_bp * Signature: ()I *//* * Read the bumper switches */JNIEXPORT jlong JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_get_1bp(	JNIEnv *env, 	jobject obj)	{	/*get_bp();  assume a gs() was issued */	return(State[STATE_BUMPER]);	}/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    gs * Signature: ()I *//* * Read the sensor data */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_gs  (JNIEnv *env, jobject obj)	{	gs();	return(1);	}/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    get_rc * Signature: ()I *//* * Update X,Y,turret and steering info. */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_get_1rc(	JNIEnv *env, 	jobject obj)	{	/*if (get_rc() == 0)*/	if (gs() == 0)		{		fprintf(stderr,"Ndirect.get_rc: gs failed\n");		return(1);/*error*/		}	return(0);/*OK*/	}/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    get_x * Signature: ()I *//* * Get robot X */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_get_1x(	JNIEnv *env, 	jobject obj)	{	return(State[STATE_CONF_X]);	}/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    get_y * Signature: ()I *//* * Get robot Y */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_get_1y(        JNIEnv *env,        jobject obj)        {        return(State[STATE_CONF_Y]);        }/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    get_steering * Signature: ()I */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_get_1steering(        JNIEnv *env,        jobject obj)        {        return(State[STATE_CONF_STEER]);        }/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    get_turret * Signature: ()I */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_get_1turret(        JNIEnv *env,        jobject obj)        {        return(State[STATE_CONF_TURRET]);        }/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    get_rv * Signature: ()I */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_get_1rv(        JNIEnv *env,        jobject obj)        {        /*if (get_rv() == 0)*/        if (gs() == 0)                {                fprintf(stderr,"Ndirect.get_rv: get_rv failed\n");                return(1);/*error*/                }        return(0);/*OK*/        }/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    get_vtranslation * Signature: ()I */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_get_1vtranslation(        JNIEnv *env,        jobject obj)        {	return(State[STATE_VEL_TRANS]);	}/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    get_vturret * Signature: ()I */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_get_1vturret(        JNIEnv *env,        jobject obj)        {        return(State[STATE_VEL_TURRET]);        }/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    get_vsteering * Signature: ()I */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_get_1vsteering(        JNIEnv *env,        jobject obj)        {        return(State[STATE_VEL_STEER]);        }/* * Class:     EDU_gatech_cc_is_nomad150_Ndirect * Method:    get_sn * Signature: ([I)I *//* * Read the sonars */JNIEXPORT jint JNICALL Java_EDU_gatech_cc_is_nomad150_Ndirect_get_1sn(	JNIEnv *env, 	jobject obj, 	jintArray readings)	{	int i;	jint *readings_body;	jsize len;	/*         * get ready to access the java array "readings"	 */	len = (*env)->GetArrayLength(env, readings); /* how long is it?*/	if (len<16)		{		fprintf(stderr,"Ndirect.get_sn: readings array too small (%d"			" elements), must be at least 16.\n",len);		return(1);/*error*/		}	/* get pointer to the array, and reserve it. must release it later */	readings_body = (*env)->GetIntArrayElements(env, readings, 0);	/*	 * get the sonar readings from the robot	 */	// Skip this now.  Assume the data comes from an earlier	// gs()	//fprintf(stderr,"Ndirect.get_sn: calling get_sn\n");	//if (get_sn()==0)		//{		//fprintf(stderr,"Ndirect.get_sn: get_sn failed\n");		//(*env)->ReleaseIntArrayElements(env, readings, readings_body, 0);		//return(1);/*error*/		//}	//fprintf(stderr,"Ndirect.get_sn: after get_sn\n");	/*	 * move the readings into the array	 */	for (i = 0; i<16; i++)		readings_body[i] = State[i+STATE_SONAR_0];	/*	 * release the array	 */	(*env)->ReleaseIntArrayElements(env, readings, readings_body, 0);	return(0);/*OK*/	}