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d4b536b593
The API has been changed in some cases - see the apichanges.md
document.
In addition, this driver uses a new upm_vectortypes.i SWIG interface
file to provide a mechanism for methods that return a vector of floats
and ints instead of a pointer to an array.
This works much nicer than C array pointers, and results in Python/JS/Java
code that looks much more "natural" to the language in use.
The Python, JS, and Java examples have been changed to use these
methods. Support for the "old" C-style pointer methods are still
provided for backward compatibility with existing code.
As an example - to retrieve the x, y, and z data for Euler Angles from
the bno055, the original python code would look something like:
...
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
...
sensor.getEulerAngles(x, y, z)
...
print("Euler: Heading:", sensorObj.floatp_value(x), end=' ')
print(" Roll:", sensorObj.floatp_value(y), end=' ')
...
Now the equivalent code is simply:
floatData = sensor.getEulerAngles()
print("Euler: Heading:", floatData[0], ...
print(" Roll:", floatData[1], end=' ')
...
Additionally, interrupt handling for Java is now implemented
completely in the C++ header file now rather than the .cxx file, so no
special SWIG processing is required anymore. See Issue #518 .
Signed-off-by: Jon Trulson <jtrulson@ics.com>
18 lines
426 B
OpenEdge ABL
18 lines
426 B
OpenEdge ABL
%module jsupm_bno055
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%include "../upm.i"
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%include "cpointer.i"
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%include "../upm_vectortypes.i"
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/* Send "int *" and "float *" to JS as intp and floatp, though
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* using the vector return (upm_vectortypes.i) functions instead of
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* the pointer argument functions is preferable.
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*/
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%pointer_functions(int, intp);
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%pointer_functions(float, floatp);
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%include "bno055_regs.h"
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%include "bno055.hpp"
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%{
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#include "bno055.hpp"
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%}
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