SWIG stuff

kipr · Feb 16, 2015 · 478effd · 478effd
1 parent fd58a16
commit 478effd
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Showing 7 changed files with 123 additions and 64 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -166,8 +166,9 @@ file(GLOB SWIG_SOURCES ${BINDINGS}/*.i)
 if(build_python)
   find_package(SWIG REQUIRED)
   find_package(PythonLibs REQUIRED)
-  list(APPEND BINDINGS_SOURCES ${CMAKE_BINARY_DIR}/kovan_wrap_py.cxx)
-  list(APPEND BINDINGS_LIBRARIES ${PYTHON_LIBRARY})
+  message("${PYTHON_LIBRARY}")
+  set(PYTHON_BINDING_SOURCES ${CMAKE_BINARY_DIR}/kovan_wrap_py.cxx)
+  set(PYTHON_BINDING_LIBRARIES ${PYTHON_LIBRARY})
   include_directories(${PYTHON_INCLUDE_DIR})
   add_custom_command(COMMAND ${SWIG_EXECUTABLE} -Wall -python -c++ -I${INCLUDE} -outdir ${LIBRARY_OUTPUT_PATH} -o ${CMAKE_BINARY_DIR}/kovan_wrap_py.cxx ${BINDINGS}/kovan.i
     DEPENDS ${SWIG_SOURCES}
@@ -179,30 +180,59 @@ option(build_java "Build java bindings" ON)
 if(build_java)
   find_package(SWIG REQUIRED)
   find_package(JNI REQUIRED)
-  list(APPEND BINDINGS_SOURCES ${CMAKE_BINARY_DIR}/kovan_wrap_java.cxx)
-  list(APPEND BINDINGS_LIBRARIES ${JNI_LIBRARIES})
+  find_package(Java REQUIRED)
+  set(JAVA_BINDING_SOURCES ${CMAKE_BINARY_DIR}/kovan_wrap_java.cxx)
+if(APPLE)
+  # This is a hack!
+  # By default, JNI_LIBRARIES contains libjawt and libjvm. Lib jawt pulls in libawt_lwawt.dylib,
+  # which crashes on load into the JVM. To avoid this, we just use libjvm.
+  set(JAVA_BINDING_LIBRARIES /Library/Java/JavaVirtualMachines/jdk1.8.0_20.jdk/Contents/Home/jre/lib/server/libjvm.dylib)
+else()
+  set(JAVA_BINDING_LIBRARIES ${JNI_LIBRARIES})
+endif()
   include_directories(${JAVA_INCLUDE_PATH} ${JAVA_INCLUDE_PATH2} ${BINDINGS})
-  set(JAVA_OUT_PATH ${LIBRARY_OUTPUT_PATH}/java/org/kipr/kovan)
+  set(JAVA_BASE_PATH ${CMAKE_BINARY_DIR}/java)
+  set(JAVA_EXTRAS_PATH ${BINDINGS}/java/org/kipr/kovan)
+  set(JAVA_OUT_PATH ${JAVA_BASE_PATH}/org/kipr/kovan)
+  set(JAVA_BIN_PATH ${CMAKE_BINARY_DIR}/java_bin)
   file(REMOVE_RECURSE ${JAVA_OUT_PATH})
   file(MAKE_DIRECTORY ${JAVA_OUT_PATH})
-  add_custom_command(COMMAND ${SWIG_EXECUTABLE} -Wall -java -package org.kipr.kovan -c++ -I${INCLUDE} -outdir ${JAVA_OUT_PATH} -o ${CMAKE_BINARY_DIR}/kovan_wrap_java.cxx ${BINDINGS}/kovan.i
-    DEPENDS ${SWIG_SOURCES}
-    OUTPUT ${CMAKE_BINARY_DIR}/kovan_wrap_java.cxx)
+  file(REMOVE_RECURSE ${JAVA_BIN_PATH})
+  file(MAKE_DIRECTORY ${JAVA_BIN_PATH})
+  add_custom_target(swig_java
+    COMMAND ${SWIG_EXECUTABLE} -Wall -java -package org.kipr.kovan -c++ -outdir ${JAVA_OUT_PATH} -o ${CMAKE_BINARY_DIR}/kovan_wrap_java.cxx ${BINDINGS}/kovan.i
+    DEPENDS ${SWIG_SOURCES})
+  add_custom_target(java_compile
+    COMMAND ${Java_JAVAC_EXECUTABLE} -d ${JAVA_BIN_PATH} -cp ${JAVA_BIN_PATH} ${JAVA_OUT_PATH}/*.java ${JAVA_EXTRAS_PATH}/*.java
+    DEPENDS swig_java)
+  add_custom_target(kovan_jar ALL
+    COMMAND ${Java_JAR_EXECUTABLE} cf ${LIBRARY_OUTPUT_PATH}/libkovan.jar -C ${JAVA_BIN_PATH}/ .
+    DEPENDS swig_java java_compile)
+endif()
+
+add_library(kovan SHARED ${VI_SOURCES} ${VI_P_INCLUDES} ${OBJC_SOURCES} ${VF_INCLUDES} ${PIXELTOASTER_SOURCES})
+
+
+if(build_python)
+  add_library(kovan_python SHARED ${PYTHON_BINDING_SOURCES})
+  set_target_properties(kovan_python PROPERTIES PREFIX _ OUTPUT_NAME kovan SUFFIX .so)
+  target_link_libraries(kovan_python kovan ${PYTHON_BINDING_LIBRARIES})
 endif()
 
-add_library(kovan SHARED ${VI_SOURCES} ${VI_P_INCLUDES} ${OBJC_SOURCES} ${VF_INCLUDES} ${PIXELTOASTER_SOURCES} ${BINDINGS_SOURCES})
+if(build_java)
+  add_library(kovan_java SHARED ${JAVA_BINDING_SOURCES})
+  target_link_libraries(kovan_java kovan ${JAVA_BINDING_LIBRARIES})
+endif()
 
 if(WIN32)
   # TODO: Make sure these are current
   target_link_libraries(kovan opencv_core2410 opencv_highgui2410 opencv_imgproc2410 libzbar-0 OpenNI2)
   target_link_libraries(kovan d3d9)
   target_link_libraries(kovan ws2_32)
 else()
-  target_link_libraries(kovan pthread opencv_core opencv_highgui opencv_imgproc zbar avcodec avformat avutil z swscale bz2 OpenNI2)
+  target_link_libraries(kovan pthread opencv_core opencv_videoio opencv_imgproc zbar avcodec avformat avutil z swscale bz2 OpenNI2)
 endif()
 
-target_link_libraries(kovan ${BINDINGS_LIBRARIES})
-
 if(APPLE)
   find_library(OPENGL_LIBRARY OpenGL)
   find_library(COCOA_LIBRARY Cocoa)

diff --git a/bindings/java/org/kipr/kovan/Buttons.java b/bindings/java/org/kipr/kovan/Buttons.java
@@ -1,3 +1,5 @@
+package org.kipr.kovan;
+
 public class Buttons
 {
   public static IdButton A = kovan.getA();
@@ -7,4 +9,4 @@ public class Buttons
   public static IdButton Y = kovan.getY();
   public static IdButton Z = kovan.getZ();
   public static AbstractButton SIDE = kovan.getSide();
-}
+}
diff --git a/bindings/java/org/kipr/kovan/Loader.java b/bindings/java/org/kipr/kovan/Loader.java
@@ -0,0 +1,11 @@
+package org.kipr.kovan;
+
+public class Loader {
+  static {
+      try {
+        System.loadLibrary("kovan");
+      } catch (final UnsatisfiedLinkError e) {
+        System.err.println("Failed to load kovan native library.\n" + e);
+      }
+  }
+}
diff --git a/bindings/kovan.i b/bindings/kovan.i
@@ -1,10 +1,10 @@
 %module kovan
 %{
-  #include "kovan/kovan.hpp"
-  #include "kovan/kovan.h"
-  #include "kovan/segment.hpp"
-  #include "kovan/colinear_segmenter.hpp"
-  #include "kovan/xtion_depth_driver.hpp"
+  #include "kovan.hpp"
+  #include "kovan.h"
+  #include "segment.hpp"
+  #include "colinear_segmenter.hpp"
+  #include "xtion_depth_driver.hpp"
 
   #include "motor.hpp"
 
@@ -23,60 +23,64 @@
 #define open _open
 #endif
 
+%include "vtable.h"
+
 %include "button_prelude.i"
 %include "camera_prelude.i"
 
-%include "kovan/sensor.hpp"
+%include "sensor.hpp"
 %template(IntSensor) Sensor<int>;
 %template(ShortSensor) Sensor<short>;
 %template(UnsignedShortSensor) Sensor<unsigned short>;
 %template(BoolSensor) Sensor<bool>;
-%include "kovan/motors.hpp"
-%include "kovan/geom.hpp"
-%include "kovan/port.hpp"
-%include "kovan/segment.hpp"
+%include "motors.hpp"
+%include "geom.hpp"
+%include "port.hpp"
+%include "segment.hpp"
 %template(IntSegmenter) Segmenter<int>;
-%include "kovan/depth_driver.hpp"
-%include "kovan/depth_image.hpp"
-%include "kovan/servo.hpp"
-%include "kovan/util.hpp"
-%include "kovan/xtion_depth_driver.hpp"
-%include "kovan/create.hpp"
-%include "kovan/color.hpp"
-%include "kovan/battery.hpp"
-%include "kovan/analog.hpp"
-%include "kovan/accel.hpp"
-%include "kovan/camera.hpp"
-%include "kovan/button.hpp"
-%include "kovan/ardrone.hpp"
-%include "kovan/config.hpp"
-%include "kovan/datalog.hpp"
-%include "kovan/colinear_segmenter.hpp"
-%include "kovan/digital.hpp"
-%include "kovan/graphics.h"
+%include "depth_driver.hpp"
+%include "depth_image.hpp"
+%include "servo.hpp"
+%include "util.hpp"
+%include "xtion_depth_driver.hpp"
+%include "create.hpp"
+%include "color.hpp"
+%include "battery.hpp"
+%include "analog.hpp"
+%include "accel.hpp"
+%include "camera.hpp"
+%include "button.hpp"
+%include "ardrone.hpp"
+%include "config.hpp"
+%include "datalog.hpp"
+%include "colinear_segmenter.hpp"
+%include "digital.hpp"
+%include "graphics.h"
 
 #ifndef SWIGJAVA
-%include "kovan/thread.hpp"
-
-%include "kovan/motors.h"
-%include "kovan/geom.h"
-%include "kovan/servo.h"
-%include "kovan/util.h"
-%include "kovan/create.h"
-%include "kovan/depth.h"
-%include "kovan/battery.h"
-%include "kovan/analog.h"
-%include "kovan/accel.h"
-%include "kovan/camera.h"
-%include "kovan/button.h"
-%include "kovan/ardrone.h"
-%include "kovan/datalog.h"
-%include "kovan/console.h"
-%include "kovan/audio.h"
-%include "kovan/thread.h"
-%include "kovan/digital.h"
+%include "thread.hpp"
 #endif
 
+%include "motors.h"
+%include "geom.h"
+%include "graphics.h"
+%include "servo.h"
+%include "util.h"
+%include "create.h"
+%include "depth.h"
+%include "battery.h"
+%include "analog.h"
+%include "general.h"
+%include "accel.h"
+%include "camera.h"
+%include "button.h"
+%include "ardrone.h"
+%include "datalog.h"
+%include "console.h"
+%include "audio.h"
+%include "thread.h"
+%include "digital.h"
+
 %include "camera.i"
 %include "create.i"
 %include "motor.i"
diff --git a/include/kovan/depth_driver.hpp b/include/kovan/depth_driver.hpp
@@ -77,7 +77,9 @@ namespace depth
       *       image available yet.
       * \return DepthImage object
       */
+#ifndef SWIG
     virtual DepthImage *depthImage() const = 0;
+#endif
   };
 }
 

diff --git a/include/kovan/vtable.h b/include/kovan/vtable.h
@@ -19,19 +19,29 @@ extern "C" {
 #define POSSIBLY_UNUSED
 #endif
 
+#ifndef SWIG
 #define VTABLE_FUNC_VOID(name, signature, args)                       \
   typedef void (*name##_func) signature;                              \
-  EXPORT_SYM extern name##_func g_##name##_func;                                 \
-  EXPORT_SYM extern const name##_func g_##name##_func_default;                   \
+  EXPORT_SYM extern name##_func g_##name##_func;                      \
+  EXPORT_SYM extern const name##_func g_##name##_func_default;        \
   static const char *const name##_signature = "void" #signature;      \
   POSSIBLY_UNUSED static void name signature { (*g_##name##_func) args;  }
 
 #define VTABLE_FUNC(name, returnType, signature, args)                       \
   typedef returnType (*name##_func) signature;                               \
-  EXPORT_SYM extern name##_func g_##name##_func;                                        \
-  EXPORT_SYM extern const name##_func g_##name##_func_default;                          \
+  EXPORT_SYM extern name##_func g_##name##_func;                             \
+  EXPORT_SYM extern const name##_func g_##name##_func_default;               \
   static const char *const name##_signature = #returnType #signature;        \
   POSSIBLY_UNUSED static returnType name signature { return (*g_##name##_func) args;  }
+#else
+#define VTABLE_FUNC_VOID(name, signature, args)                       \
+  typedef void (*name##_func) signature;                              \
+  static void name signature;
+
+#define VTABLE_FUNC(name, returnType, signature, args)                       \
+  typedef returnType (*name##_func) signature;                               \
+  static returnType name signature;
+#endif
 
 #define VTABLE_SET_DEFAULT(name, impl)                  \
   const name##_func g_##name##_func_default = &impl;    \

diff --git a/useful/SWIGDocumentation.pdf b/useful/SWIGDocumentation.pdf