For review, initial version of Java wrapper using JNA

include/libfreenect.hpp

@@ -41,58 +41,60 @@ namespace Freenect {
 		const Noncopyable& operator=( const Noncopyable& );
 	};
 
-	class FreenectDeviceState {
-		friend class FreenectDevice;
-			FreenectDeviceState(freenect_raw_tilt_state *_state):
-				m_state(_state)
-			{}
-		public:
-			void getAccelerometers(double* x, double* y, double* z) {
-				freenect_get_mks_accel(m_state, x, y, z);
-			}
-			double getTiltDegs() {
-				return freenect_get_tilt_degs(m_state);
-			}
-		private:
-			freenect_raw_tilt_state *m_state;
+	class FreenectTiltState {
+	  friend class FreenectDevice;
+		FreenectTiltState(freenect_raw_tilt_state *_state):
+			m_state(_state), m_code(_state->tilt_status)
+		{}
+	  public:
+		void getAccelerometers(double* x, double* y, double* z) {
+			freenect_get_mks_accel(m_state, x, y, z);
+		}
+		double getTiltDegs() {
+			return freenect_get_tilt_degs(m_state);
+		}
+	  public:
+		freenect_tilt_status_code m_code;
+	  private:
+		freenect_raw_tilt_state *m_state;
 	};
 
 	class FreenectDevice : Noncopyable {
 	  public:
 		FreenectDevice(freenect_context *_ctx, int _index) {
-			if(freenect_open_device(_ctx, &m_dev, _index) != 0) throw std::runtime_error("Cannot open Kinect");
+			if(freenect_open_device(_ctx, &m_dev, _index) < 0) throw std::runtime_error("Cannot open Kinect");
 			freenect_set_user(m_dev, this);
 			freenect_set_video_format(m_dev, FREENECT_VIDEO_RGB);
 			freenect_set_depth_format(m_dev, FREENECT_DEPTH_11BIT);
 			freenect_set_depth_callback(m_dev, freenect_depth_callback);
 			freenect_set_video_callback(m_dev, freenect_video_callback);
 		}
 		~FreenectDevice() {
-			if(freenect_close_device(m_dev) != 0) throw std::runtime_error("Cannot shutdown Kinect");
+			if(freenect_close_device(m_dev) < 0) throw std::runtime_error("Cannot shutdown Kinect");
 		}
 		void startVideo() {
-			if(freenect_start_video(m_dev) != 0) throw std::runtime_error("Cannot start RGB callback");
+			if(freenect_start_video(m_dev) < 0) throw std::runtime_error("Cannot start RGB callback");
 		}
 		void stopVideo() {
-			if(freenect_stop_video(m_dev) != 0) throw std::runtime_error("Cannot stop RGB callback");
+			if(freenect_stop_video(m_dev) < 0) throw std::runtime_error("Cannot stop RGB callback");
 		}
 		void startDepth() {
-			if(freenect_start_depth(m_dev) != 0) throw std::runtime_error("Cannot start depth callback");
+			if(freenect_start_depth(m_dev) < 0) throw std::runtime_error("Cannot start depth callback");
 		}
 		void stopDepth() {
-			if(freenect_stop_depth(m_dev) != 0) throw std::runtime_error("Cannot stop depth callback");
+			if(freenect_stop_depth(m_dev) < 0) throw std::runtime_error("Cannot stop depth callback");
 		}
 		void setTiltDegrees(double _angle) {
-			if(freenect_set_tilt_degs(m_dev, _angle) != 0) throw std::runtime_error("Cannot set angle in degrees");
+			if(freenect_set_tilt_degs(m_dev, _angle) < 0) throw std::runtime_error("Cannot set angle in degrees");
 		}
 		void setLed(freenect_led_options _option) {
-			if(freenect_set_led(m_dev, _option) != 0) throw std::runtime_error("Cannot set led");
+			if(freenect_set_led(m_dev, _option) < 0) throw std::runtime_error("Cannot set led");
 		}
 		void updateState() {
-			if (freenect_update_tilt_state(m_dev) != 0) throw std::runtime_error("Cannot update device state");
+			if (freenect_update_tilt_state(m_dev) < 0) throw std::runtime_error("Cannot update device state");
 		}
-		FreenectDeviceState getState() const {
-			return FreenectDeviceState(freenect_get_tilt_state(m_dev));
+		FreenectTiltState getState() const {
+			return FreenectTiltState(freenect_get_tilt_state(m_dev));
 		}
 		// Do not call directly even in child
 		virtual void VideoCallback(void *video, uint32_t timestamp) = 0;
@@ -113,7 +115,7 @@ namespace Freenect {
 	template <class T>class Freenect : Noncopyable {
 	  public:
 		Freenect() : m_stop(false) {
-			if(freenect_init(&m_ctx, NULL) != 0) throw std::runtime_error("Cannot initialize freenect library");
+			if(freenect_init(&m_ctx, NULL) < 0) throw std::runtime_error("Cannot initialize freenect library");
 			if(pthread_create(&m_thread, NULL, pthread_callback, (void*)this) != 0) throw std::runtime_error("Cannot initialize freenect thread");
 		}
 		~Freenect() {
@@ -122,11 +124,11 @@ namespace Freenect {
 			}
 			m_stop = true;
 			pthread_join(m_thread, NULL);
-			if(freenect_shutdown(m_ctx) != 0) throw std::runtime_error("Cannot cleanup freenect library");
+			if(freenect_shutdown(m_ctx) < 0) throw std::runtime_error("Cannot cleanup freenect library");
 		}
 		T& createDevice(int _index) {
 			m_devices.insert(std::make_pair<int, T*>(_index, new T(m_ctx, _index)));
-			return *(m_devices.at(_index));
+			return *(m_devices[_index]);
 		}
 		void deleteDevice(int _index) {
 			m_devices.erase(_index);
@@ -137,7 +139,7 @@ namespace Freenect {
 		// Do not call directly, thread runs here
 		void operator()() {
 			while(!m_stop) {
-				if(freenect_process_events(m_ctx) != 0) throw std::runtime_error("Cannot process freenect events");
+				if(freenect_process_events(m_ctx) < 0) throw std::runtime_error("Cannot process freenect events");
 			}
 		}
 		static void *pthread_callback(void *user_data) {

wrappers/java/.gitignore

@@ -0,0 +1,4 @@
+.classpath
+.project
+.settings/
+target/

wrappers/java/pom.xml

@@ -0,0 +1,63 @@
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>org.openkinect</groupId>
+  <artifactId>freenect</artifactId>
+  <version>0.0.1-SNAPSHOT</version>
+
+  <repositories>
+    <repository>
+      <id>nativelibs4java-repo</id>
+      <name>NativeLibs4Java Maven Repository</name>
+      <url>http://nativelibs4java.sourceforge.net/maven</url>
+    </repository>
+  </repositories>
+  <pluginRepositories>
+    <pluginRepository>
+      <id>nativelibs4java-pluginRepo</id>
+      <url>http://nativelibs4java.sourceforge.net/maven</url>
+    </pluginRepository>
+  </pluginRepositories>
+
+  <dependencies>
+    <dependency>
+      <groupId>net.java.dev.jna</groupId>
+      <artifactId>jna</artifactId>
+      <version>3.2.3</version>
+      <scope>compile</scope>
+    </dependency>
+    <dependency>
+      <groupId>com.jnaerator</groupId>
+      <artifactId>jnaerator-runtime</artifactId>
+      <version>0.9.5</version>
+      <scope>compile</scope>
+    </dependency>
+    <dependency>
+      <groupId>junit</groupId>
+      <artifactId>junit</artifactId>
+      <version>4.8.2</version>
+      <scope>test</scope>
+    </dependency>
+    <dependency>
+      <groupId>org.hamcrest</groupId>
+      <artifactId>hamcrest-library</artifactId>
+      <version>1.2</version>
+      <scope>test</scope>
+    </dependency>
+  </dependencies>
+
+  <build>
+    <plugins>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-compiler-plugin</artifactId>
+        <version>2.3.2</version>
+        <configuration>
+          <!-- http://maven.apache.org/plugins/maven-compiler-plugin/ -->
+          <source>1.6</source>
+          <target>1.6</target>
+        </configuration>
+      </plugin>
+    </plugins>
+  </build>
+</project>

wrappers/java/src/main/java/org/openkinect/freenect/Context.java

@@ -0,0 +1,12 @@
+package org.openkinect.freenect;
+
+public interface Context {
+    int numDevices();
+    void setLogHandler(LogHandler handler);
+    void setLogLevel(LogLevel level);
+    Device openDevice(int index);
+    void processEvents();
+    void processEventsBackground();
+    void stopEventThread();
+    void shutdown();
+}

wrappers/java/src/main/java/org/openkinect/freenect/DepthFormat.java

@@ -0,0 +1,32 @@
+package org.openkinect.freenect;
+
+
+public enum DepthFormat {
+    D11BIT(0, Freenect.FREENECT_FRAME_W, Freenect.FREENECT_FRAME_H, Freenect.FREENECT_DEPTH_11BIT_SIZE),
+    D10BIT(1, Freenect.FREENECT_FRAME_W, Freenect.FREENECT_FRAME_H, Freenect.FREENECT_DEPTH_10BIT_SIZE),
+    D11BIT_PACKED(2, Freenect.FREENECT_FRAME_W, Freenect.FREENECT_FRAME_H, Freenect.FREENECT_DEPTH_11BIT_PACKED_SIZE),
+    D10BIT_PACKED(3, Freenect.FREENECT_FRAME_W, Freenect.FREENECT_FRAME_H, Freenect.FREENECT_DEPTH_10BIT_PACKED_SIZE);
+    private int value;
+    private int frameSize;
+    private int width;
+    private int height;
+
+    private DepthFormat(int value, int width, int height, int frameSize) {
+        this.value = value;
+        this.width = width;
+        this.height = height;
+        this.frameSize = frameSize;
+    }
+    public int intValue() {
+        return value;
+    }
+    public int getWidth() {
+        return width;
+    }
+    public int getHeight() {
+        return height;
+    }
+    public int getFrameSize() {
+        return frameSize;
+    }
+}

wrappers/java/src/main/java/org/openkinect/freenect/DepthHandler.java

@@ -0,0 +1,7 @@
+package org.openkinect.freenect;
+
+import java.nio.ByteBuffer;
+
+public interface DepthHandler {
+    void onFrameReceived(DepthFormat format, ByteBuffer frame, int timestamp);
+}

wrappers/java/src/main/java/org/openkinect/freenect/Device.java

@@ -0,0 +1,19 @@
+package org.openkinect.freenect;
+
+
+
+public interface Device {
+    double[] getAccel();
+    int setLed(LedStatus status);
+    void refreshTiltState();
+    double getTiltAngle();
+    int setTiltAngle(double angle);
+    TiltStatus getTiltStatus();
+    void setDepthFormat(DepthFormat fmt);
+    void setVideoFormat(VideoFormat fmt);
+    int startDepth(DepthHandler handler);
+    int startVideo(VideoHandler handler);
+    int stopDepth();
+    int stopVideo();
+    void close();
+}