From 7afd1f3fc18496dd77b3bc412ff51c83c98c7e56 Mon Sep 17 00:00:00 2001
From: Petre Eftime <petre.p.eftime@intel.com>
Date: Tue, 1 Sep 2015 18:56:04 +0300
Subject: [PATCH] java: fix return types and arrays for mpu60x0 and mpu9150

Signed-off-by: Petre Eftime <petre.p.eftime@intel.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
---
 src/mpu9150/javaupm_mpu9150.i | 43 ++++++++++++++++++++++++++++-------
 src/mpu9150/mpu60x0.h         | 17 ++++++++++++++
 src/mpu9150/mpu9150.cxx       |  9 ++++++++
 src/mpu9150/mpu9150.h         | 11 +++++++++
 4 files changed, 72 insertions(+), 8 deletions(-)

diff --git a/src/mpu9150/javaupm_mpu9150.i b/src/mpu9150/javaupm_mpu9150.i
index 1e9cb910..8fd838b4 100644
--- a/src/mpu9150/javaupm_mpu9150.i
+++ b/src/mpu9150/javaupm_mpu9150.i
@@ -9,18 +9,45 @@
 %include "../IsrCallback.h"
 
 %apply int {mraa::Edge};
-%apply float *INOUT { float *x, float *y, float *z  };
-%apply signed char[] {uint8_t *};
 
 %{
     #include "mpu60x0.h"
-%}
-
-%include "mpu60x0.h"
-
-
-%{
     #include "mpu9150.h"
 %}
 
+
+%typemap(jni) float * "jfloatArray"
+%typemap(jstype) float * "float[]"
+%typemap(jtype) float * "float[]"
+
+%typemap(javaout) float * {
+    return $jnicall;
+}
+
+%typemap(out) float * {
+    $result = JCALL1(NewFloatArray, jenv, 3);
+    JCALL4(SetFloatArrayRegion, jenv, $result, 0, 3, $1);
+    delete [] $1;
+}
+
+%ignore getAccelerometer(float *, float *, float *);
+%ignore getGyroscope(float *, float *, float *);
+%ignore getMagnetometer(float *, float *, float *);
+
+%typemap(jni) (uint8_t *buf, int len) "jbyteArray";
+%typemap(jtype) (uint8_t *buf, int len) "byte[]";
+%typemap(jstype) (uint8_t *buf, int len) "byte[]";
+
+%typemap(javain) (uint8_t *buf, int len) "$javainput";
+
+%typemap(in) (uint8_t *buf, int len) {
+        $1 = (uint8_t *) JCALL2(GetByteArrayElements, jenv, $input, NULL);
+        $2 = JCALL1(GetArrayLength, jenv, $input);
+}
+
+%typemap(freearg) (uint8_t *buf, int len) {
+        JCALL3(ReleaseByteArrayElements, jenv, $input, (jbyte *)$1, 0);
+}
+
+%include "mpu60x0.h"
 %include "mpu9150.h"
diff --git a/src/mpu9150/mpu60x0.h b/src/mpu9150/mpu60x0.h
index 693de505..fd433a40 100644
--- a/src/mpu9150/mpu60x0.h
+++ b/src/mpu9150/mpu60x0.h
@@ -808,6 +808,23 @@ namespace upm {
      */
     void getGyroscope(float *x, float *y, float *z);
 
+#ifdef SWIGJAVA
+    /**
+     * get the accelerometer values
+     *
+     * @return Array containing X, Y, Z accelerometer values
+     */
+    float *getAccelerometer();
+
+    /**
+     * get the gyroscope values
+     *
+     * @return Array containing X, Y, Z gyroscope values
+     */
+    float *getGyroscope();
+#endif
+
+
     /**
      * get the temperature value
      *
diff --git a/src/mpu9150/mpu9150.cxx b/src/mpu9150/mpu9150.cxx
index 2023963a..e8961655 100644
--- a/src/mpu9150/mpu9150.cxx
+++ b/src/mpu9150/mpu9150.cxx
@@ -100,3 +100,12 @@ void MPU9150::getMagnetometer(float *x, float *y, float *z)
   if (z)
     *z = mz;
 }
+
+#ifdef SWIGJAVA
+float *MPU9150::getMagnetometer()
+{
+    float *v = new float[3];
+    getMagnetometer(&v[0], &v[1], &v[2]);
+    return v;
+}
+#endif
diff --git a/src/mpu9150/mpu9150.h b/src/mpu9150/mpu9150.h
index a9d1a1c4..6f341fb0 100644
--- a/src/mpu9150/mpu9150.h
+++ b/src/mpu9150/mpu9150.h
@@ -106,6 +106,17 @@ namespace upm {
      */
     void getMagnetometer(float *x, float *y, float *z);
 
+#ifdef SWIGJAVA
+    /**
+     * Return the compensated values for the x, y, and z axes.  The
+     * unit of measurement is in micro-teslas (uT).
+     *
+     * @return Array containing X, Y, Z magnetometer values
+     */
+    float *getMagnetometer();
+#endif
+
+
 
   protected:
     // magnetometer instance