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Moved SWIG code from C++ files (hpp and cxx) to SWIG interface files (.i). Added getter/setter methods for classes with protected or private vars.

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This commit is contained in:
Serban Waltter
2018-01-17 14:20:32 +02:00
committed by Noel Eck
parent 2551596309
commit 63b2b33df7
39 changed files with 351 additions and 367 deletions
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17
src/mpu9150/javaupm_mpu9150.i
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@ -33,4 +33,21 @@
%include "mpu60x0.hpp"
%include "mpu9150.hpp"
%ignore installISR(int , mraa::Edge , void *, void *);
%extend upm::MPU60X0 {
void installISR(int gpio, mraa::Edge level,
jobject runnable)
{
// delete any existing ISR and GPIO context
$self->uninstallISR();
// greate gpio context
mraa::Gpio* swg_gpioIRQ = $self->get_gpioIRQ();
swg_gpioIRQ->dir(mraa::DIR_IN);
swg_gpioIRQ->isr(level, runnable);
}
}
JAVA_JNI_LOADLIBRARY(javaupm_mpu9150)

38
src/mpu9150/mpu60x0.cxx
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@ -40,11 +40,11 @@ MPU60X0::MPU60X0(int bus, uint8_t address) :
m_accelX = 0.0;
m_accelY = 0.0;
m_accelZ = 0.0;
m_gyroX = 0.0;
m_gyroY = 0.0;
m_gyroZ = 0.0;
m_temp = 0.0;
m_accelScale = 1.0;
@ -154,8 +154,8 @@ bool MPU60X0::writeReg(uint8_t reg, uint8_t val)
throw std::runtime_error(std::string(__FUNCTION__) +
": I2c.writeReg() failed");
return false;
}
}
return true;
}
@ -217,7 +217,7 @@ bool MPU60X0::setGyroscopeScale(FS_SEL_T scale)
default: // should never occur, but...
m_gyroScale = 1.0; // set a safe, though incorrect value
throw std::logic_error(string(__FUNCTION__) +
throw std::logic_error(string(__FUNCTION__) +
": internal error, unsupported scale");
break;
}
@ -239,7 +239,7 @@ bool MPU60X0::setAccelerometerScale(AFS_SEL_T scale)
}
// store scaling factor
switch (scale)
{
case AFS_2:
@ -260,7 +260,7 @@ bool MPU60X0::setAccelerometerScale(AFS_SEL_T scale)
default: // should never occur, but...
m_accelScale = 1.0; // set a safe, though incorrect value
throw std::logic_error(string(__FUNCTION__) +
throw std::logic_error(string(__FUNCTION__) +
": internal error, unsupported scale");
break;
}
@ -384,21 +384,8 @@ uint8_t MPU60X0::getInterruptPinConfig()
return readReg(REG_INT_PIN_CFG);
}
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
void MPU60X0::installISR(int gpio, mraa::Edge level,
jobject runnable)
{
// delete any existing ISR and GPIO context
uninstallISR();
// greate gpio context
m_gpioIRQ = new mraa::Gpio(gpio);
m_gpioIRQ->dir(mraa::DIR_IN);
m_gpioIRQ->isr(level, runnable);
}
#else
void MPU60X0::installISR(int gpio, mraa::Edge level,
void (*isr)(void *), void *arg)
{
// delete any existing ISR and GPIO context
@ -410,7 +397,7 @@ void MPU60X0::installISR(int gpio, mraa::Edge level,
m_gpioIRQ->dir(mraa::DIR_IN);
m_gpioIRQ->isr(level, isr, arg);
}
#endif
void MPU60X0::uninstallISR()
{
@ -418,7 +405,12 @@ void MPU60X0::uninstallISR()
{
m_gpioIRQ->isrExit();
delete m_gpioIRQ;
m_gpioIRQ = 0;
}
}
mraa::Gpio* MPU60X0::get_gpioIRQ()
{
return m_gpioIRQ;
}

9
src/mpu9150/mpu60x0.hpp
View File

@ -901,11 +901,8 @@ namespace upm {
* @param isr the interrupt handler, accepting a void * argument
* @param arg the argument to pass the the interrupt handler
*/
#if defined(SWIGJAVA) || defined(JAVACALLBACK)
void installISR(int gpio, mraa::Edge level, jobject runnable);
#else
void installISR(int gpio, mraa::Edge level, void (*isr)(void *), void *arg);
#endif
/**
* uninstall a previously installed interrupt handler
@ -913,6 +910,8 @@ namespace upm {
*/
void uninstallISR();
mraa::Gpio* get_gpioIRQ();
protected:
// uncompensated accelerometer and gyroscope values
float m_accelX;
@ -942,5 +941,3 @@ namespace upm {
mraa::Gpio *m_gpioIRQ;
};
}