/* * Copyright (c) 2013, Georgia Tech Research Corporation * All rights reserved. * * Author(s): Neil T. Dantam * Georgia Tech Humanoid Robotics Lab * Under Direction of Prof. Mike Stilman * * * This file is provided under the following "BSD-style" License: * * * Redistribution and use in source and binary forms, with or * without modification, are permitted provided that the following * conditions are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * */ package org.golems.ach; /** Low-level JNI interface to libach */ public class Lib { static{ System.loadLibrary("achj"); } /* Native Function Wrappers */ /** Wrapper for ach_open. * * @param channel_name Name of the channel to open * @param chan_ptr Array in which the channel pointer is returned * * @return An integer ach_status code and writes the channel pointer to element 0 of chan_ptr array * */ public static native int open(String channel_name, long[] chan_ptr); /** Wrapper for ach_close. * * @param chan_ptr The channel pointer returned by ach_open * * @return An integer ach_status code */ public static native int close(long chan_ptr); /** Wrapper for ach_flush. * * @param chan_ptr The channel pointer returned by ach_open * * @return An integer ach_status code */ public static native int flush(long chan_ptr); /** Wrapper for ach_put. * * @param chan_ptr The channel pointer returned by ach_open * @param buf The byte array to put to the channel * * @return An integer ach_status code */ public static native int put(long chan_ptr, byte[] buf); /** Wrapper for ach_get without timeout. * * @param chan_ptr The channel pointer returned by ach_open * @param buf The byte array hold message data * @param frame_size On return, element 0 holds the number of bytes read from the channel * @param options OR'ed ach_get_opts values * * @return An integer ach_status code */ public static native int get(long chan_ptr, byte[] buf, long[] frame_size, int options); /** Wrapper for ach_get with timeout. * * @param chan_ptr The channel pointer returned by ach_open * @param buf The byte array hold message data * @param frame_size On return, element 0 holds the number of bytes read from the channel * @param options OR'ed ach_get_opts values * @param sec Absolute timeout seconds * @param nsec Absolute timeout nanoseconds * * @return An integer ach_status code */ public static native int get(long chan_ptr, byte[] buf, long[] frame_size, long sec, int nsec, int options); /** Get the current time using the default ach clock. * * @param abstime An array of length 2, in which the seconds and * nanoseconds are returned. */ public static native int time( long[] abstime ); /* Constant accessor functions */ /** Return ach_status constant of same name */ public static native int ACH_OK(); /** Return ach_status constant of same name */ public static native int ACH_OVERFLOW(); /** Return ach_status constant of same name */ public static native int ACH_INVALID_NAME(); /** Return ach_status constant of same name */ public static native int ACH_BAD_SHM_FILE(); /** Return ach_status constant of same name */ public static native int ACH_FAILED_SYSCALL(); /** Return ach_status constant of same name */ public static native int ACH_STALE_FRAMES(); /** Return ach_status constant of same name */ public static native int ACH_MISSED_FRAME(); /** Return ach_status constant of same name */ public static native int ACH_TIMEOUT(); /** Return ach_status constant of same name */ public static native int ACH_EEXIST(); /** Return ach_status constant of same name */ public static native int ACH_ENOENT(); /** Return ach_status constant of same name */ public static native int ACH_CLOSED(); /** Return ach_status constant of same name */ public static native int ACH_BUG(); /** Return ach_status constant of same name */ public static native int ACH_EINVAL(); /** Return ach_status constant of same name */ public static native int ACH_CORRUPT(); /** Return ach_status constant of same name */ public static native int ACH_BAD_HEADER(); /** Return ach_status constant of same name */ public static native int ACH_EACCES(); /** Return ach_status constant of same name */ public static native int ACH_CANCELED(); /** Return ach_get_opts constant of same name */ public static native int ACH_O_WAIT(); /** Return ach_get_opts constant of same name */ public static native int ACH_O_LAST(); /** Return ach_get_opts constant of same name */ public static native int ACH_O_COPY(); /* Static variables for constants */ /** Constant field for ach_status constant of same name */ public static final int OK = ACH_OK(); /** Constant field for ach_status constant of same name */ public static final int OVERFLOW = ACH_OVERFLOW(); /** Constant field for ach_status constant of same name */ public static final int INVALID_NAME = ACH_INVALID_NAME(); /** Constant field for ach_status constant of same name */ public static final int BAD_SHM_FILE = ACH_BAD_SHM_FILE(); /** Constant field for ach_status constant of same name */ public static final int FAILED_SYSCALL = ACH_FAILED_SYSCALL(); /** Constant field for ach_status constant of same name */ public static final int STALE_FRAMES = ACH_STALE_FRAMES(); /** Constant field for ach_status constant of same name */ public static final int MISSED_FRAME = ACH_MISSED_FRAME(); /** Constant field for ach_status constant of same name */ public static final int TIMEOUT = ACH_TIMEOUT(); /** Constant field for ach_status constant of same name */ public static final int EEXIST = ACH_EEXIST(); /** Constant field for ach_status constant of same name */ public static final int ENOENT = ACH_ENOENT(); /** Constant field for ach_status constant of same name */ public static final int CLOSED = ACH_CLOSED(); /** Constant field for ach_status constant of same name */ public static final int BUG = ACH_BUG(); /** Constant field for ach_status constant of same name */ public static final int EINVAL = ACH_EINVAL(); /** Constant field for ach_status constant of same name */ public static final int CORRUPT = ACH_CORRUPT(); /** Constant field for ach_status constant of same name */ public static final int BAD_HEADER = ACH_BAD_HEADER(); /** Constant field for ach_status constant of same name */ public static final int EACCES = ACH_EACCES(); /** Constant field for ach_status constant of same name */ public static final int CANCELED = ACH_CANCELED(); /** Bid mask for ach_status constant of same name */ public static final int MASK_OK = 1<