curieimu: modify calls to use update methodology to fix python/java/js API

Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>

src/curieimu/curieimu.cpp

@@ -155,8 +155,26 @@ CurieImu::processResponse()
     return;
 }
 
+int16_t*
+CurieImu::getAccel()
+{
+    return &accel[0];
+}
+
+int16_t*
+CurieImu::getGyro()
+{
+    return &gyro[0];
+}
+
+int16_t*
+CurieImu::getMotion()
+{
+    return &motion[0];
+}
+
 void
-CurieImu::readAccelerometer(int *xVal, int *yVal, int *zVal)
+CurieImu::updateAccel()
 {
     char message[4];
     message[0] = FIRMATA_START_SYSEX;
@@ -172,9 +190,9 @@ CurieImu::readAccelerometer(int *xVal, int *yVal, int *zVal)
 
     waitForResponse();
 
-    *xVal = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
+    accel[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
-    *yVal = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
+    accel[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
-    *zVal = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
+    accel[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
 
     delete m_results;
     unlock();
@@ -183,7 +201,7 @@ CurieImu::readAccelerometer(int *xVal, int *yVal, int *zVal)
 }
 
 void
-CurieImu::readGyro(int *xVal, int *yVal, int *zVal)
+CurieImu::updateGyro()
 {
     char message[4];
     message[0] = FIRMATA_START_SYSEX;
@@ -199,9 +217,39 @@ CurieImu::readGyro(int *xVal, int *yVal, int *zVal)
 
     waitForResponse();
 
-    *xVal = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
+    gyro[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
-    *yVal = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
+    gyro[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
-    *zVal = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
+    gyro[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
+
+    delete m_results;
+    unlock();
+
+    return;
+}
+
+void
+CurieImu::updateMotion()
+{
+    char message[4];
+    message[0] = FIRMATA_START_SYSEX;
+    message[1] = FIRMATA_CURIE_IMU;
+    message[2] = FIRMATA_CURIE_IMU_READ_MOTION;
+    message[3] = FIRMATA_END_SYSEX;
+
+    lock();
+
+    mraa_firmata_response_stop(m_firmata);
+    mraa_firmata_response(m_firmata, handleSyncResponse);
+    mraa_firmata_write_sysex(m_firmata, &message[0], 4);
+
+    waitForResponse();
+
+    motion[0] = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
+    motion[1] = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
+    motion[2] = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
+    motion[3] = ((m_results[9] & 0x7f) | ((m_results[10] & 0x7f) << 7));
+    motion[4] = ((m_results[11] & 0x7f) | ((m_results[12] & 0x7f) << 7));
+    motion[5] = ((m_results[13] & 0x7f) | ((m_results[13] & 0x7f) << 7));
 
     delete m_results;
     unlock();
@@ -236,36 +284,6 @@ CurieImu::getTemperature()
     return result;
 }
 
-void
-CurieImu::readMotion(int *xA, int *yA, int *zA, int *xG, int *yG, int *zG)
-{
-    char message[4];
-    message[0] = FIRMATA_START_SYSEX;
-    message[1] = FIRMATA_CURIE_IMU;
-    message[2] = FIRMATA_CURIE_IMU_READ_MOTION;
-    message[3] = FIRMATA_END_SYSEX;
-
-    lock();
-
-    mraa_firmata_response_stop(m_firmata);
-    mraa_firmata_response(m_firmata, handleSyncResponse);
-    mraa_firmata_write_sysex(m_firmata, &message[0], 4);
-
-    waitForResponse();
-
-    *xA = ((m_results[3] & 0x7f) | ((m_results[4] & 0x7f) << 7));
-    *yA = ((m_results[5] & 0x7f) | ((m_results[6] & 0x7f) << 7));
-    *zA = ((m_results[7] & 0x7f) | ((m_results[8] & 0x7f) << 7));
-    *xG = ((m_results[9] & 0x7f) | ((m_results[10] & 0x7f) << 7));
-    *yG = ((m_results[11] & 0x7f) | ((m_results[12] & 0x7f) << 7));
-    *zG = ((m_results[13] & 0x7f) | ((m_results[13] & 0x7f) << 7));
-
-    delete m_results;
-    unlock();
-
-    return;
-}
-
 void
 CurieImu::enableShockDetection(bool enable)
 {

src/curieimu/curieimu.hpp

@@ -85,6 +85,20 @@ class CurieImu {
       */
       ~CurieImu();
 
+      /**
+       */
+      void updateAccel();
+
+      /**
+       *
+       */
+      void updateGyro();
+
+      /**
+       *
+       */
+      void updateMotion();
+
       /**
        * Read accelerometer X, Y, and Z axis
        *
@@ -92,7 +106,7 @@ class CurieImu {
        * @param yVal Pointer to returned Y-axis value
        * @param zVal Pointer to returned Z-axis value
        */
-      void readAccelerometer(int *xVal, int *yVal, int *zVal);
+      int16_t* getAccel();
 
       /**
        * Read gyroscope X, Y, and Z axis
@@ -101,7 +115,7 @@ class CurieImu {
        * @param yVal Pointer to returned Y-axis value
        * @param zVal Pointer to returned Z-axis value
        */
-      void readGyro(int *xVal, int *yVal, int *zVal);
+      int16_t* getGyro();
 
       /**
        * Reads the internal temperature
@@ -120,7 +134,7 @@ class CurieImu {
        * @param yG Pointer to returned Y-axis value of Gyroscope
        * @param zG Pointer to returned Z-axis value of Gyroscope
        */
-      void readMotion(int *xA, int *yA, int *zA, int *xG, int *yG, int *zG);
+      int16_t* getMotion();
 
       /**
        * Turns shock detection notifications on/off
@@ -230,6 +244,10 @@ class CurieImu {
         std::queue<IMUDataItem*> m_shockData;
         std::queue<int> m_stepData;
         std::queue<IMUDataItem*> m_tapData;
+
+        int16_t accel[3];
+        int16_t gyro[3];
+        int16_t motion[6];
 };
 
 }

src/curieimu/javaupm_curieimu.i

@@ -5,6 +5,29 @@
     #include "curieimu.hpp"
 %}
 
+%typemap(jni) int16_t* "jshortArray"
+%typemap(jstype) int16_t* "short[]"
+%typemap(jtype) int16_t* "short[]"
+
+%typemap(javaout) int16_t* {
+    return $jnicall;
+}
+
+%typemap(out) int16_t *getAccel {
+    $result = JCALL1(NewShortArray, jenv, 3);
+    JCALL4(SetShortArrayRegion, jenv, $result, 0, 3, (jshort*)$1);
+}
+
+%typemap(out) int16_t *getGyro {
+    $result = JCALL1(NewShortArray, jenv, 3); 
+    JCALL4(SetShortArrayRegion, jenv, $result, 0, 3, (jshort*)$1);
+}
+
+%typemap(out) int16_t *getMotion {
+    $result = JCALL1(NewShortArray, jenv, 6); 
+    JCALL4(SetShortArrayRegion, jenv, $result, 0, 6, (jshort*)$1);
+}
+
 %include "curieimu.hpp"
 
 %pragma(java) jniclasscode=%{

src/curieimu/jsupm_curieimu.i

@@ -1,5 +1,12 @@
 %module jsupm_curieimu
 %include "../upm.i"
+%include "../carrays_int16_t.i"
+
+// Adding this typemap because SWIG is converting int16 into a short by default
+// This forces SWIG to convert it correctly
+%typemap(out) int16_t* {
+        jsresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_int16Array, 0 |  0 );
+}
 
 %{
     #include "curieimu.hpp"

src/curieimu/pyupm_curieimu.i

@@ -2,9 +2,19 @@
 %include "pyupm_doxy2swig.i"
 %module pyupm_curieimu
 %include "../upm.i"
-
+%include "../carrays_int16_t.i"
 %include "stdint.i"
 
+%feature("autodoc", "3");
+
+#ifdef DOXYGEN
+%include "curieupm_doc.i"
+#endif
+
+%typemap(out) int16_t* {
+  $result = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_int16Array, 0 |  0 );
+}
+
 %include "curieimu.hpp"
 %{
     #include "curieimu.hpp"