From 42c59e98ab836c188c5a3f44c13bba8e0fe02557 Mon Sep 17 00:00:00 2001
From: Petre Eftime <petre.p.eftime@intel.com>
Date: Thu, 27 Aug 2015 13:11:22 +0300
Subject: [PATCH] java: fix Java return types in lsm9ds0

Signed-off-by: Petre Eftime <petre.p.eftime@intel.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
---
 src/lsm9ds0/javaupm_lsm9ds0.i | 28 ++++++++++++++++++++++++++++
 src/lsm9ds0/lsm9ds0.cxx       | 23 +++++++++++++++++++++++
 src/lsm9ds0/lsm9ds0.h         | 23 +++++++++++++++++++++++
 3 files changed, 74 insertions(+)

diff --git a/src/lsm9ds0/javaupm_lsm9ds0.i b/src/lsm9ds0/javaupm_lsm9ds0.i
index ff1312ff..67b65526 100644
--- a/src/lsm9ds0/javaupm_lsm9ds0.i
+++ b/src/lsm9ds0/javaupm_lsm9ds0.i
@@ -16,4 +16,32 @@
 %{
     #include "lsm9ds0.h"
 %}
+
+%typemap(jni) float* "jfloatArray"
+%typemap(jstype) float* "float[]"
+%typemap(jtype) float* "float[]"
+
+%typemap(javaout) float* {
+    return $jnicall;
+}
+
+%typemap(out) float *getAccelerometer {
+    $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 *getMagnetometer {
+    $result = JCALL1(NewFloatArray, jenv, 3);
+    JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
+}
+
+%ignore getAccelerometer(float *, float *, float *);
+%ignore getGyroscope(float *, float *, float *);
+%ignore getMagnetometer(float *, float *, float *);
+
 %include "lsm9ds0.h"
diff --git a/src/lsm9ds0/lsm9ds0.cxx b/src/lsm9ds0/lsm9ds0.cxx
index 3a475715..b945e1eb 100644
--- a/src/lsm9ds0/lsm9ds0.cxx
+++ b/src/lsm9ds0/lsm9ds0.cxx
@@ -602,6 +602,29 @@ void LSM9DS0::getMagnetometer(float *x, float *y, float *z)
     *z = (m_magZ * m_magScale) / 1000.0;
 }
 
+#ifdef SWIGJAVA
+float *LSM9DS0::getAccelerometer()
+{
+  float *v = new float[3];
+  getAccelerometer(&v[0], &v[1], &v[2]);
+  return v;
+}
+
+float *LSM9DS0::getGyroscope()
+{
+  float *v = new float[3];
+  getGyroscope(&v[0], &v[1], &v[2]);
+  return v;
+}
+
+float *LSM9DS0::getMagnetometer()
+{
+  float *v = new float[3];
+  getMagnetometer(&v[0], &v[1], &v[2]);
+  return v;
+}
+#endif
+
 float LSM9DS0::getTemperature()
 {
   // This might be wrong... The datasheet does not provide enough info
diff --git a/src/lsm9ds0/lsm9ds0.h b/src/lsm9ds0/lsm9ds0.h
index bcbd6823..e9d96fb7 100644
--- a/src/lsm9ds0/lsm9ds0.h
+++ b/src/lsm9ds0/lsm9ds0.h
@@ -1267,6 +1267,29 @@ namespace upm {
      */
     void getMagnetometer(float *x, float *y, float *z);
 
+#ifdef SWIGJAVA
+    /**
+     * get the accelerometer values in gravities
+     *
+     * @return Array containing X, Y, Z acceleration values
+     */
+    float *getAccelerometer();
+
+    /**
+     * get the gyroscope values in degrees per second
+     *
+     * @return Array containing X, Y, Z gyroscope values
+     */
+    float *getGyroscope();
+
+    /**
+     * get the magnetometer values in gauss
+     *
+     * @return Array containing X, Y, Z magnetometer values
+     */
+    float *getMagnetometer();
+#endif
+
     /**
      * get the temperature value.  Unfortunately the datasheet does
      * not provide a mechanism to convert the temperature value into