1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
|
%typemap (javacode) RobotRaconteur::MessageElement
%{
public MessageElement(String name, Object data)
{
this();
setElementName(name);
setData(data);
}
public Object getData()
{
MessageElementData val=null;
try
{
val = _GetData();
if (val == null) return null;
Object a = null;
a = MessageElementDataUtil.toRRBaseArray(val);
if (a != null)
{
if (DataTypeUtil.isNumber(val.getTypeID()))
{
RRBaseArray ra = (RRBaseArray)a;
try
{
return MessageElementDataUtil.rRBaseArrayToArray(ra);
}
finally
{
ra.delete();
}
}
if (val.getTypeID() == DataTypes.DataTypes_string_t)
{
RRBaseArray ra = (RRBaseArray)a;
try
{
return MessageElementDataUtil.rRBaseArrayToString(ra);
}
finally
{
ra.delete();
}
}
if (a!=null)
{
if (a instanceof MessageElementData)
{
((MessageElementData)a).delete();
}
}
throw new RuntimeException(new DataTypeException("Unknown RRArray type"));
}
a = MessageElementDataUtil.toMessageElementNestedElementList(val);
if (a != null) return a;
throw new RuntimeException(new DataTypeException( "Unknown data type"));
}
finally
{
if (val!=null) val.delete();
}
}
private void setData(Object dat)
{
if (dat == null)
{
_SetData(null);
return;
}
if (DataTypeUtil.isArray(dat))
{
RRBaseArray rb=null;
try
{
rb=MessageElementDataUtil.arrayToRRBaseArray(dat);
_SetData(rb);
}
finally
{
if (rb!=null) rb.delete();
}
return;
}
if (DataTypeUtil.isScalarNumber(dat))
{
RRBaseArray rb=null;
try
{
rb=MessageElementDataUtil.arrayToRRBaseArray(DataTypeUtil.arrayFromScalar(dat));
_SetData(rb);
}
finally
{
if (rb!=null) rb.delete();
}
return;
}
if (dat instanceof String)
{
RRBaseArray rb=null;
try
{
rb=MessageElementDataUtil.stringToRRBaseArray((String)dat);
_SetData(rb);
}
finally
{
if (rb!=null) rb.delete();
}
return;
}
if (dat instanceof MessageElementData)
{
_SetData((MessageElementData)dat);
return;
}
String datatype = dat.getClass().toString();
DataTypes elementtype = DataTypeUtil.typeIDFromString(datatype);
throw new RuntimeException(new DataTypeException("Invalid MessageElement data type"));
}
public <T> T castData()
{
if (getData() == null)
{
return null;
}
try
{
return (T)getData();
}
catch (Exception e)
{
throw new DataTypeException("Could not cast data");
}
}
%}
%typemap("javacode") RobotRaconteur::MessageEntry
%{
public final MessageElement addElement(String name, Object data)
{
MessageElement m = new MessageElement(name, data);
this.addElement(m);
m.delete();
return m;
}
%}
%typemap(javacode) MessageElementDataUtil
%{
public static Object rRBaseArrayToArray(RRBaseArray a)
{
if (a==null) return null;
switch (a.getTypeID())
{
case DataTypes_double_t:
{
double[] r=new double[(int)a.size()];
rRBaseArrayToDoubles(a,r,r.length);
return r;
}
case DataTypes_single_t:
{
float[] r=new float[(int)a.size()];
rRBaseArrayToFloats(a,r,r.length);
return r;
}
case DataTypes_int8_t:
{
byte[] r=new byte[(int)a.size()];
rRBaseArrayToBytes(a,r,r.length);
return r;
}
case DataTypes_uint8_t:
{
byte[] r=new byte[(int)a.size()];
rRBaseArrayToBytes(a,r,r.length);
return new UnsignedBytes(r);
}
case DataTypes_int16_t:
{
short[] r=new short[(int)a.size()];
rRBaseArrayToShorts(a,r,r.length);
return r;
}
case DataTypes_uint16_t:
{
short[] r=new short[(int)a.size()];
rRBaseArrayToShorts(a,r,r.length);
return new UnsignedShorts(r);
}
case DataTypes_int32_t:
{
int[] r=new int[(int)a.size()];
rRBaseArrayToInts(a,r,r.length);
return r;
}
case DataTypes_uint32_t:
{
int[] r=new int[(int)a.size()];
rRBaseArrayToInts(a,r,r.length);
return new UnsignedInts(r);
}
case DataTypes_int64_t:
{
long[] r=new long[(int)a.size()];
rRBaseArrayToLongs(a,r,r.length);
return r;
}
case DataTypes_uint64_t:
{
long[] r=new long[(int)a.size()];
rRBaseArrayToLongs(a,r,r.length);
return new UnsignedLongs(r);
}
case DataTypes_cdouble_t:
{
double[] o2=new double[(int)a.size()*2];
rRBaseArrayComplexToDoubles(a,o2,o2.length);
CDouble[] o3=new CDouble[(int)a.size()];
for (int j=0; j<o3.length; j++)
{
o3[j] = new CDouble(o2[j *2], o2[j*2+1]);
}
return o3;
}
case DataTypes_csingle_t:
{
float[] o2=new float[(int)a.size()*2];
rRBaseArrayComplexToFloats(a,o2,o2.length);
CSingle[] o3=new CSingle[(int)a.size()];
for (int j=0; j<o3.length; j++)
{
o3[j] = new CSingle(o2[j *2], o2[j*2+1]);
}
return o3;
}
case DataTypes_bool_t:
{
byte[] o2=new byte[(int)a.size()];
rRBaseArrayBoolToBytes(a,o2,o2.length);
boolean[] o3=new boolean[(int)a.size()];
for (int j=0; j<o3.length; j++)
{
o3[j] = o2[j] != 0;
}
return o3;
}
default:
break;
}
throw new RuntimeException(new DataTypeException("Unknown RRArray type"));
}
public static RRBaseArray arrayToRRBaseArray(Object a)
{
if (a==null) return null;
if (a instanceof double[]) return doublesToRRBaseArray((double[])a,((double[])a).length);
if (a instanceof float[]) return floatsToRRBaseArray((float[])a,((float[])a).length);
if (a instanceof byte[]) return bytesToRRBaseArray((byte[])a,((byte[])a).length,DataTypes.DataTypes_int8_t);
if (a instanceof UnsignedBytes) return bytesToRRBaseArray(((UnsignedBytes)a).value,((UnsignedBytes)a).value.length,DataTypes.DataTypes_uint8_t);
if (a instanceof short[]) return shortsToRRBaseArray((short[])a,((short[])a).length,DataTypes.DataTypes_int16_t);
if (a instanceof UnsignedShorts) return shortsToRRBaseArray(((UnsignedShorts)a).value,((UnsignedShorts)a).value.length,DataTypes.DataTypes_uint16_t);
if (a instanceof int[]) return intsToRRBaseArray((int[])a,((int[])a).length,DataTypes.DataTypes_int32_t);
if (a instanceof UnsignedInts) return intsToRRBaseArray(((UnsignedInts)a).value,((UnsignedInts)a).value.length,DataTypes.DataTypes_uint32_t);
if (a instanceof long[]) return longsToRRBaseArray((long[])a,((long[])a).length,DataTypes.DataTypes_int64_t);
if (a instanceof UnsignedLongs) return longsToRRBaseArray(((UnsignedLongs)a).value,((UnsignedLongs)a).value.length,DataTypes.DataTypes_uint64_t);
if (a instanceof CDouble[])
{
CDouble[] a1=(CDouble[])a;
double[] b1=new double[a1.length * 2];
for (int j = 0; j<a1.length; j++)
{
b1[j * 2] = a1[j].real;
b1[j * 2 + 1] = a1[j].imag;
}
return doublesToComplexRRBaseArray(b1,b1.length);
}
if (a instanceof CSingle[])
{
CSingle[] a1=(CSingle[])a;
float[] b1=new float[a1.length * 2];
for (int j = 0; j<a1.length; j++)
{
b1[j * 2] = a1[j].real;
b1[j * 2 + 1] = a1[j].imag;
}
return floatsToComplexRRBaseArray(b1,b1.length);
}
if (a instanceof boolean[])
{
boolean[] a1=(boolean[])a;
byte[] b1=new byte[a1.length];
for (int j = 0; j<a1.length; j++)
{
b1[j] = (byte) (a1[j] ? 1 : 0);
}
return bytesToBoolRRBaseArray(b1,b1.length);
}
throw new RuntimeException(new DataTypeException("Unknown Array type"));
}
public static void arrayToRRBaseArray(Object a, RRBaseArray rra)
{
if (a instanceof double[]) {doublesToRRBaseArray((double[])a,((double[])a).length,rra); return; }
if (a instanceof float[]) {floatsToRRBaseArray((float[])a,((float[])a).length,rra); return;}
if (a instanceof byte[]) { bytesToRRBaseArray((byte[])a,((byte[])a).length,rra); return; }
if (a instanceof UnsignedBytes) {bytesToRRBaseArray(((UnsignedBytes)a).value,((UnsignedBytes)a).value.length,rra); return; }
if (a instanceof short[]) {shortsToRRBaseArray((short[])a,((short[])a).length,rra); return; }
if (a instanceof UnsignedShorts) {shortsToRRBaseArray(((UnsignedShorts)a).value,((UnsignedShorts)a).value.length,rra); return; }
if (a instanceof int[]) {intsToRRBaseArray((int[])a,((int[])a).length,rra); return; }
if (a instanceof UnsignedInts) { intsToRRBaseArray(((UnsignedInts)a).value,((UnsignedInts)a).value.length,rra); return; }
if (a instanceof long[]) { longsToRRBaseArray((long[])a,((long[])a).length,rra); return; }
if (a instanceof UnsignedLongs) { longsToRRBaseArray(((UnsignedLongs)a).value,((UnsignedLongs)a).value.length,rra); return; }
if (a instanceof CDouble[])
{
CDouble[] a1=(CDouble[])a;
double[] b1=new double[a1.length * 2];
for (int j = 0; j<a1.length; j++)
{
b1[j * 2] = a1[j].real;
b1[j * 2 + 1] = a1[j].imag;
}
doublesToComplexRRBaseArray(b1,b1.length,rra);
return;
}
if (a instanceof CSingle[])
{
CSingle[] a1=(CSingle[])a;
float[] b1=new float[a1.length * 2];
for (int j = 0; j<a1.length; j++)
{
b1[j * 2] = a1[j].real;
b1[j * 2 + 1] = a1[j].imag;
}
floatsToComplexRRBaseArray(b1,b1.length,rra);
return;
}
if (a instanceof boolean[])
{
boolean[] a1=(boolean[])a;
byte[] b1=new byte[a1.length];
for (int j = 0; j<a1.length; j++)
{
b1[j] = (byte) (a1[j] ? 1 : 0);
}
bytesToBoolRRBaseArray(b1,b1.length,rra);
return;
}
throw new RuntimeException(new DataTypeException("Unknown Array type"));
}
%}
%typemap("javacode") MemberDefinitionUtil %{
public static MemberDefinition swigCast(MemberDefinition i)
{
MemberDefinition o=null;
o=toProperty(i);
if (o!=null) return (PropertyDefinition)o;
o=toFunction(i);
if (o!=null) return (FunctionDefinition)o;
o=toEvent(i);
if (o!=null) return (EventDefinition)o;
o=toObjRef(i);
if (o!=null) return (ObjRefDefinition)o;
o=toPipe(i);
if (o!=null) return (PipeDefinition)o;
o=toCallback(i);
if (o!=null) return (CallbackDefinition)o;
o=toWire(i);
if (o!=null) return (WireDefinition)o;
o=toMemory(i);
if (o!=null) return (MemoryDefinition)o;
throw new RuntimeException (new Exception("Invalid MemberDefinition"));
}
%}
%apply double[] {double *};
%apply float[] {float *};
%apply int8_t[] {int8_t *};
%apply uint8_t[] {uint8_t *};
%apply int16_t[] {int16_t *};
%apply uint16_t[] {uint16_t *};
%apply int32_t[] {int32_t *};
%apply uint32_t[] {uint32_t *};
%apply int64_t[] {int64_t *};
%apply uint64_t[] {uint64_t*};
%include "Message.i"
|
