From bdfcda54d7fbcec0b3680b1fcf60c0f0c83e68a5 Mon Sep 17 00:00:00 2001
From: Anders Blomdell <anders.blomdell@control.lth.se>
Date: Mon, 11 Mar 2019 12:30:18 +0100
Subject: [PATCH] Add java support
---
Makefile | 5 +
adaptors/java/Makefile | 5 +
adaptors/java/README | 1 +
adaptors/java/src/Makefile | 66 +++
adaptors/java/src/getProperty_os_arch | 14 +
.../realtime/AlreadyAllocatedException.java | 30 ++
.../src/se/lth/control/realtime/AnalogIn.java | 42 ++
.../se/lth/control/realtime/AnalogOut.java | 46 ++
.../se/lth/control/realtime/DigitalIn.java | 44 ++
.../se/lth/control/realtime/DigitalOut.java | 43 ++
.../se/lth/control/realtime/EncoderIn.java | 44 ++
.../se/lth/control/realtime/IOChannel.java | 88 ++++
.../control/realtime/IOChannelException.java | 32 ++
.../lth/control/realtime/moberg/Moberg.java | 51 +++
.../MobergConfigurationFileNotFoundError.java | 31 ++
.../MobergDeviceDoesNotExistException.java | 31 ++
.../moberg/MobergDeviceReadException.java | 31 ++
.../moberg/MobergDeviceWriteException.java | 31 ++
.../realtime/moberg/MobergException.java | 32 ++
.../moberg/MobergNotOpenException.java | 12 +
.../moberg/MobergRangeNotFoundException.java | 12 +
.../se_lth_control_realtime_moberg_Moberg.c | 413 ++++++++++++++++++
adaptors/matlab/Makefile | 2 +
moberg.spec.template | 12 +-
24 files changed, 1116 insertions(+), 2 deletions(-)
create mode 100644 adaptors/java/Makefile
create mode 100644 adaptors/java/README
create mode 100644 adaptors/java/src/Makefile
create mode 100755 adaptors/java/src/getProperty_os_arch
create mode 100644 adaptors/java/src/se/lth/control/realtime/AlreadyAllocatedException.java
create mode 100644 adaptors/java/src/se/lth/control/realtime/AnalogIn.java
create mode 100644 adaptors/java/src/se/lth/control/realtime/AnalogOut.java
create mode 100644 adaptors/java/src/se/lth/control/realtime/DigitalIn.java
create mode 100644 adaptors/java/src/se/lth/control/realtime/DigitalOut.java
create mode 100644 adaptors/java/src/se/lth/control/realtime/EncoderIn.java
create mode 100644 adaptors/java/src/se/lth/control/realtime/IOChannel.java
create mode 100644 adaptors/java/src/se/lth/control/realtime/IOChannelException.java
create mode 100644 adaptors/java/src/se/lth/control/realtime/moberg/Moberg.java
create mode 100644 adaptors/java/src/se/lth/control/realtime/moberg/MobergConfigurationFileNotFoundError.java
create mode 100644 adaptors/java/src/se/lth/control/realtime/moberg/MobergDeviceDoesNotExistException.java
create mode 100644 adaptors/java/src/se/lth/control/realtime/moberg/MobergDeviceReadException.java
create mode 100644 adaptors/java/src/se/lth/control/realtime/moberg/MobergDeviceWriteException.java
create mode 100644 adaptors/java/src/se/lth/control/realtime/moberg/MobergException.java
create mode 100644 adaptors/java/src/se/lth/control/realtime/moberg/MobergNotOpenException.java
create mode 100644 adaptors/java/src/se/lth/control/realtime/moberg/MobergRangeNotFoundException.java
create mode 100644 adaptors/java/src/se_lth_control_realtime_moberg_Moberg.c
diff --git a/Makefile b/Makefile
index 97c9151..bca7042 100644
--- a/Makefile
+++ b/Makefile
@@ -32,6 +32,10 @@ build/lib/%.o: %.c Makefile | build/lib
$(ADAPTORS) $(PLUGINS):
$(MAKE) -C $@
+.PHONY: $(PLUGINS) $(ADAPTORS)
+$(ADAPTORS) $(PLUGINS):
+ $(MAKE) -C $@
+
.PHONY: TAR
TAR:
git archive \
@@ -60,6 +64,7 @@ clean:
rm -f moberg-*.spec
rm -f moberg-*.tar.gz
make -C test clean
+ for d in $(ADAPTORS) ; do make -C $$d clean ; done
build/libmoberg.so: build/lib/moberg.o
build/libmoberg.so: build/lib/moberg_config.o
diff --git a/adaptors/java/Makefile b/adaptors/java/Makefile
new file mode 100644
index 0000000..1687218
--- /dev/null
+++ b/adaptors/java/Makefile
@@ -0,0 +1,5 @@
+all:
+ make -f src/Makefile
+
+clean:
+ make -f src/Makefile clean
diff --git a/adaptors/java/README b/adaptors/java/README
new file mode 100644
index 0000000..8dbdf8d
--- /dev/null
+++ b/adaptors/java/README
@@ -0,0 +1 @@
+Moberg support for java
\ No newline at end of file
diff --git a/adaptors/java/src/Makefile b/adaptors/java/src/Makefile
new file mode 100644
index 0000000..d82b263
--- /dev/null
+++ b/adaptors/java/src/Makefile
@@ -0,0 +1,66 @@
+VERSION=1.0
+JARNAME=Moberg
+TARFILE=java_se.lth.control.realtime.Moberg-$(VERSION).tar.gz
+JNINAME=se_lth_control_realtime_moberg_Moberg
+
+JAVAH_PATH=$(shell javah -Xbootclasspath/p:build -version >/dev/null 2>&1 && \
+ echo -Xbootclasspath/p:build || echo -bootclasspath build)
+JNI_INCLUDE=/usr/lib/jvm/java/include/
+CC=gcc
+CC_JNI_FLAGS=-Wall -Werror -shared -fPIC \
+ -I$(JNI_INCLUDE) -I$(JNI_INCLUDE)/linux -Ibuild \
+ -lmoberg
+JAVADIR=/tmp
+INSTALL_DIR=$(JAVADIR)/$(JARNAME)
+JAR_DIR=$(INSTALL_DIR)/jre/lib/ext/
+SO_DIR=$(INSTALL_DIR)/jre/lib/$(shell /bin/sh ./src/getProperty_os_arch)
+SRCFILES=README \
+ src/Makefile \
+ src/getProperty_os_arch \
+ $(JNINAME:%=src/%.c) \
+ $(JAVAFILES:%=src/%)
+JAVAFILES=$(shell find src -name '*.java' | sed -e 's:^src/::g')
+
+all: JAVAC build/$(JARNAME).jar $(JNINAME:%=build/lib%.so)
+
+install: install_src install_jar install_so
+
+install_src:
+ for f in $(SRCFILES) ; do install -D $$f $(INSTALL_DIR)/$$f ; done
+
+install_jar: build/$(JARNAME).jar
+ install -d $(JAR_DIR)
+ install build/$(JARNAME).jar $(JAR_DIR)
+
+install_so: $(JNINAME:%=install_%.so)
+
+install_%.so: build/lib%.so
+ install -d $(SO_DIR)
+ install $< $(SO_DIR)
+
+JAVAC: $(JAVAFILES:%.java=build/%.class)
+
+build/%.class: src/%.java
+# Recompile all javafiles at once (do JIT compilation once)
+ mkdir -p build
+ cd src ; javac -d ../build -target 1.5 -source 1.5 $(JAVAFILES)
+
+build/$(JARNAME).jar: JAVAC
+ jar -cf $@ \
+ -C build se \
+ $(SRCFILES)
+
+build/%.h: $(shell echo $(JNINAME:%=build/%.class) | sed -e 's:_:/:g')
+# Too many dependencies, base the ones we need on $* (matches % above)
+ javah -o $@ -force $(JAVAH_PATH) $(shell echo $* | sed -e s/_/./g)
+
+build/lib%.so: $(JNINAME:%=build/%.h) $(JNINAME:%=src/%.c)
+# Too many dependencies, base the ones we need on $* (matches % above)
+ $(CC) -o $@ $(CC_JNI_FLAGS) -I. src/$*.c
+
+clean:
+ rm -rf build *~
+
+TAR:
+ mkdir -p build
+ tar -C .. -cvzf build/$(TARFILE) $(SRCFILES:%=$(shell basename $$(pwd))/%)
diff --git a/adaptors/java/src/getProperty_os_arch b/adaptors/java/src/getProperty_os_arch
new file mode 100755
index 0000000..a178e0f
--- /dev/null
+++ b/adaptors/java/src/getProperty_os_arch
@@ -0,0 +1,14 @@
+#!/usr/bin/sh
+
+BASENAME=`basename $0`
+cat > ${BASENAME}.java << EOF
+public class ${BASENAME} {
+
+ public static void main(String[] args) {
+ System.out.println(System.getProperty("os.arch"));
+ }
+}
+EOF
+javac ${BASENAME}.java
+java ${BASENAME}
+rm ${BASENAME}.java ${BASENAME}.class
diff --git a/adaptors/java/src/se/lth/control/realtime/AlreadyAllocatedException.java b/adaptors/java/src/se/lth/control/realtime/AlreadyAllocatedException.java
new file mode 100644
index 0000000..91e8253
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/AlreadyAllocatedException.java
@@ -0,0 +1,30 @@
+/**
+ * se.lth.control.realtime.moberg.AlreadyAllocatedException.java
+ *
+ * Copyright (C) 2005-2019 Anders Blomdell <anders.blomdell@control.lth.se>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package se.lth.control.realtime;
+
+public class AlreadyAllocatedException extends IOChannelException {
+
+ private static final long serialVersionUID = 1L;
+
+ public AlreadyAllocatedException(String kind, int index) {
+ super(kind, index, "is already allocated");
+ }
+
+}
diff --git a/adaptors/java/src/se/lth/control/realtime/AnalogIn.java b/adaptors/java/src/se/lth/control/realtime/AnalogIn.java
new file mode 100644
index 0000000..3fc715f
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/AnalogIn.java
@@ -0,0 +1,42 @@
+/**
+ * se.lth.control.realtime.AnalogIn.java
+ *
+ * Copyright (C) 2005-2019 Anders Blomdell <anders.blomdell@control.lth.se>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package se.lth.control.realtime;
+
+import se.lth.control.realtime.moberg.Moberg;
+
+public class AnalogIn extends IOChannel {
+
+ public AnalogIn(final int index) throws IOChannelException {
+ super(index);
+ }
+
+ protected void open() throws IOChannelException {
+ Moberg.analogInOpen(index);
+ }
+
+ protected void close() throws IOChannelException {
+ Moberg.analogInClose(index);
+ }
+
+ public double get() throws IOChannelException {
+ return Moberg.analogIn(index);
+ }
+
+}
diff --git a/adaptors/java/src/se/lth/control/realtime/AnalogOut.java b/adaptors/java/src/se/lth/control/realtime/AnalogOut.java
new file mode 100644
index 0000000..4310079
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/AnalogOut.java
@@ -0,0 +1,46 @@
+/**
+ * se.lth.control.realtime.AnalogOut.java
+ *
+ * Copyright (C) 2005-2019 Anders Blomdell <anders.blomdell@control.lth.se>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package se.lth.control.realtime;
+
+
+import java.util.BitSet;
+
+import se.lth.control.realtime.moberg.Moberg;
+
+
+public class AnalogOut extends IOChannel {
+
+ public AnalogOut(int index) throws IOChannelException {
+ super(index);
+ }
+
+ public void open() throws IOChannelException {
+ Moberg.analogOutOpen(index);
+ }
+
+ public void close() throws IOChannelException {
+ Moberg.analogOutClose(index);
+ }
+
+ public void set(double value) throws IOChannelException {
+ Moberg.analogOut(index, value);
+ }
+
+}
diff --git a/adaptors/java/src/se/lth/control/realtime/DigitalIn.java b/adaptors/java/src/se/lth/control/realtime/DigitalIn.java
new file mode 100644
index 0000000..e34e28b
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/DigitalIn.java
@@ -0,0 +1,44 @@
+/**
+ * se.lth.control.realtime.DigitalIn.java
+ *
+ * Copyright (C) 2005-2019 Anders Blomdell <anders.blomdell@control.lth.se>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package se.lth.control.realtime;
+
+import java.util.BitSet;
+
+import se.lth.control.realtime.moberg.Moberg;
+
+public class DigitalIn extends IOChannel {
+
+ public DigitalIn(int index) throws IOChannelException {
+ super(index);
+ }
+
+ public void open() throws IOChannelException {
+ Moberg.digitalInOpen(index);
+ }
+
+ public void close() throws IOChannelException {
+ Moberg.digitalInClose(index);
+ }
+
+ public boolean get() throws IOChannelException {
+ return Moberg.digitalIn(index);
+ }
+
+}
diff --git a/adaptors/java/src/se/lth/control/realtime/DigitalOut.java b/adaptors/java/src/se/lth/control/realtime/DigitalOut.java
new file mode 100644
index 0000000..a14f189
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/DigitalOut.java
@@ -0,0 +1,43 @@
+/**
+ * se.lth.control.realtime.DigitalOut.java
+ *
+ * Copyright (C) 2005-2019 Anders Blomdell <anders.blomdell@control.lth.se>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package se.lth.control.realtime;
+
+import java.util.BitSet;
+
+import se.lth.control.realtime.moberg.Moberg;
+
+public class DigitalOut extends IOChannel {
+
+ public DigitalOut(int index) throws IOChannelException {
+ super(index);
+ }
+
+ public void open() throws IOChannelException {
+ Moberg.digitalOutOpen(index);
+ }
+ public void close() throws IOChannelException {
+ Moberg.digitalOutClose(index);
+ }
+
+ public void set(boolean value) throws IOChannelException {
+ Moberg.digitalOut(index, value);
+ }
+
+}
diff --git a/adaptors/java/src/se/lth/control/realtime/EncoderIn.java b/adaptors/java/src/se/lth/control/realtime/EncoderIn.java
new file mode 100644
index 0000000..d1f919d
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/EncoderIn.java
@@ -0,0 +1,44 @@
+/**
+ * se.lth.control.realtime.EncoderIn.java
+ *
+ * Copyright (C) 2005-2019 Anders Blomdell <anders.blomdell@control.lth.se>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package se.lth.control.realtime;
+
+import java.util.BitSet;
+
+import se.lth.control.realtime.moberg.Moberg;
+
+public class EncoderIn extends IOChannel {
+
+ public EncoderIn(int index) throws IOChannelException {
+ super(index);
+ }
+
+ protected void open() throws IOChannelException {
+ Moberg.encoderInOpen(index);
+ }
+
+ protected void close() throws IOChannelException {
+ Moberg.encoderInClose(index);
+ }
+
+ public long get() throws IOChannelException {
+ return Moberg.encoderIn(index);
+ }
+
+}
diff --git a/adaptors/java/src/se/lth/control/realtime/IOChannel.java b/adaptors/java/src/se/lth/control/realtime/IOChannel.java
new file mode 100644
index 0000000..6f83f0c
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/IOChannel.java
@@ -0,0 +1,88 @@
+/**
+ * se.lth.control.realtime.moberg.IOChannel.java
+ *
+ * Copyright (C) 2005-2019 Anders Blomdell <anders.blomdell@control.lth.se>
+ * Copyright (C) 2014 Alfred Theorin <alfred.theorin@control.lth.se>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package se.lth.control.realtime;
+
+import java.util.HashMap;
+import java.util.BitSet;
+
+public abstract class IOChannel {
+
+ private static HashMap allocations = new HashMap();
+
+ public final int index;
+ private BitSet allocation;
+ private boolean isAllocated = false;
+
+ public IOChannel(int index) throws IOChannelException {
+ this.index = index;
+ open();
+ allocate();
+ }
+
+ private BitSet getAllocation() {
+ BitSet result = allocation;
+ if (result == null) {
+ result = (BitSet)allocations.get(this.getClass().getName());
+ if (result == null) {
+ result = new BitSet();
+ allocations.put(this.getClass().getName(), result);
+ }
+ }
+ return result;
+ }
+
+ private synchronized void allocate() throws IOChannelException {
+ if (getAllocation().get(index)) {
+ // Try to free unreferenced channels
+ System.gc();
+ System.runFinalization();
+ }
+ if (getAllocation().get(index)) {
+ try {
+ close();
+ } catch (IOChannelException e) {
+ }
+ throw new AlreadyAllocatedException(this.getClass().getName(), index);
+ }
+ getAllocation().set(index);
+ isAllocated = true;
+ }
+
+ private synchronized void deallocate() {
+ if (isAllocated) {
+ getAllocation().clear(index);
+ try {
+ close();
+ } catch (IOChannelException e) {
+ }
+ isAllocated = false;
+ }
+ }
+
+
+ protected abstract void open() throws IOChannelException;
+ protected abstract void close() throws IOChannelException;
+
+ protected void finalize() throws IOChannelException {
+ deallocate();
+ }
+
+}
diff --git a/adaptors/java/src/se/lth/control/realtime/IOChannelException.java b/adaptors/java/src/se/lth/control/realtime/IOChannelException.java
new file mode 100644
index 0000000..69ff096
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/IOChannelException.java
@@ -0,0 +1,32 @@
+/**
+ * se.lth.control.realtime.IOChannelException.java
+ *
+ * Copyright (C) 2005-2019 Anders Blomdell <anders.blomdell@control.lth.se>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package se.lth.control.realtime;
+
+import java.io.IOException;
+
+public class IOChannelException extends IOException {
+
+ private static final long serialVersionUID = 1L;
+
+ public IOChannelException(String kind, int index, String s) {
+ super(kind + " channel #" + index + " " + s);
+ }
+
+}
diff --git a/adaptors/java/src/se/lth/control/realtime/moberg/Moberg.java b/adaptors/java/src/se/lth/control/realtime/moberg/Moberg.java
new file mode 100644
index 0000000..2a79c03
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/moberg/Moberg.java
@@ -0,0 +1,51 @@
+/**
+ * se.lth.control.realtime.moberg.Moberg.java
+ *
+ * Copyright (C) 2005-2019 Anders Blomdell <anders.blomdell@control.lth.se>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package se.lth.control.realtime.moberg;
+
+import java.io.File;
+
+public class Moberg {
+ public static native void analogInOpen(int index) throws MobergException;
+ public static native void analogInClose(int index) throws MobergException;
+ public static native double analogIn(int index) throws MobergException;
+
+ public static native void analogOutOpen(int index) throws MobergException;
+ public static native void analogOutClose(int index) throws MobergException;
+ public static native void analogOut(int index, double value) throws MobergException;
+
+ public static native void digitalInOpen(int index) throws MobergException;
+ public static native void digitalInClose(int index) throws MobergException;
+ public static native boolean digitalIn(int index) throws MobergException;
+
+ public static native void digitalOutOpen(int index) throws MobergException;
+ public static native void digitalOutClose(int index) throws MobergException;
+ public static native void digitalOut(int index, boolean value) throws MobergException;
+
+ public static native void encoderInOpen(int index) throws MobergException;
+ public static native void encoderInClose(int index) throws MobergException;
+ public static native long encoderIn(int index) throws MobergException;
+
+ private static native void Init();
+
+ static {
+ System.loadLibrary("se_lth_control_realtime_moberg_Moberg");
+ Init();
+ }
+}
diff --git a/adaptors/java/src/se/lth/control/realtime/moberg/MobergConfigurationFileNotFoundError.java b/adaptors/java/src/se/lth/control/realtime/moberg/MobergConfigurationFileNotFoundError.java
new file mode 100644
index 0000000..7daa0fe
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/moberg/MobergConfigurationFileNotFoundError.java
@@ -0,0 +1,31 @@
+/**
+ * se.lth.control.realtime.moberg.MobergConfigurationFileNotFoundError.java
+ *
+ * Copyright (C) 2005-2019 Anders Blomdell <anders.blomdell@control.lth.se>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package se.lth.control.realtime.moberg;
+
+
+public class MobergConfigurationFileNotFoundError extends Error {
+
+ private static final long serialVersionUID = 1L;
+
+ public MobergConfigurationFileNotFoundError(int index) {
+ super("Moberg configuration file '/etc/moberg.conf' was not found");
+ }
+
+}
diff --git a/adaptors/java/src/se/lth/control/realtime/moberg/MobergDeviceDoesNotExistException.java b/adaptors/java/src/se/lth/control/realtime/moberg/MobergDeviceDoesNotExistException.java
new file mode 100644
index 0000000..ffc876f
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/moberg/MobergDeviceDoesNotExistException.java
@@ -0,0 +1,31 @@
+/**
+ * se.lth.control.realtime.moberg.MobergDeviceDoesNotExistException.java
+ *
+ * Copyright (C) 2005-2019 Anders Blomdell <anders.blomdell@control.lth.se>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package se.lth.control.realtime.moberg;
+
+
+public class MobergDeviceDoesNotExistException extends MobergException {
+
+ private static final long serialVersionUID = 1L;
+
+ public MobergDeviceDoesNotExistException(int index) {
+ super(index, "does not exist");
+ }
+
+}
diff --git a/adaptors/java/src/se/lth/control/realtime/moberg/MobergDeviceReadException.java b/adaptors/java/src/se/lth/control/realtime/moberg/MobergDeviceReadException.java
new file mode 100644
index 0000000..2b9b056
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/moberg/MobergDeviceReadException.java
@@ -0,0 +1,31 @@
+/**
+ * se.lth.control.realtime.moberg.MobergDeviceReadException.java
+ *
+ * Copyright (C) 2005-2019 Anders Blomdell <anders.blomdell@control.lth.se>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package se.lth.control.realtime.moberg;
+
+
+public class MobergDeviceReadException extends MobergException {
+
+ private static final long serialVersionUID = 1L;
+
+ public MobergDeviceReadException(int index) {
+ super(index, "read failed");
+ }
+
+}
diff --git a/adaptors/java/src/se/lth/control/realtime/moberg/MobergDeviceWriteException.java b/adaptors/java/src/se/lth/control/realtime/moberg/MobergDeviceWriteException.java
new file mode 100644
index 0000000..fa24bd1
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/moberg/MobergDeviceWriteException.java
@@ -0,0 +1,31 @@
+/**
+ * se.lth.control.realtime.moberg.MobergDeviceWriteException.java
+ *
+ * Copyright (C) 2005-2019 Anders Blomdell <anders.blomdell@control.lth.se>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package se.lth.control.realtime.moberg;
+
+
+public class MobergDeviceWriteException extends MobergException {
+
+ private static final long serialVersionUID = 1L;
+
+ public MobergDeviceWriteException(int index) {
+ super(index, "write failed");
+ }
+
+}
diff --git a/adaptors/java/src/se/lth/control/realtime/moberg/MobergException.java b/adaptors/java/src/se/lth/control/realtime/moberg/MobergException.java
new file mode 100644
index 0000000..015acd0
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/moberg/MobergException.java
@@ -0,0 +1,32 @@
+/**
+ * se.lth.control.realtime.moberg.MobergException.java
+ *
+ * Copyright (C) 2005-2019 Anders Blomdell <anders.blomdell@control.lth.se>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package se.lth.control.realtime.moberg;
+
+import se.lth.control.realtime.IOChannelException;
+
+public class MobergException extends IOChannelException {
+
+ private static final long serialVersionUID = 1L;
+
+ public MobergException(int index, String reason) {
+ super("Moberg", index, reason);
+ }
+
+}
diff --git a/adaptors/java/src/se/lth/control/realtime/moberg/MobergNotOpenException.java b/adaptors/java/src/se/lth/control/realtime/moberg/MobergNotOpenException.java
new file mode 100644
index 0000000..2e23889
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/moberg/MobergNotOpenException.java
@@ -0,0 +1,12 @@
+package se.lth.control.realtime.moberg;
+
+
+public class MobergNotOpenException extends MobergException {
+
+ private static final long serialVersionUID = 1L;
+
+ public MobergNotOpenException(int index) {
+ super(index, "is not open");
+ }
+
+}
diff --git a/adaptors/java/src/se/lth/control/realtime/moberg/MobergRangeNotFoundException.java b/adaptors/java/src/se/lth/control/realtime/moberg/MobergRangeNotFoundException.java
new file mode 100644
index 0000000..fb4d8d0
--- /dev/null
+++ b/adaptors/java/src/se/lth/control/realtime/moberg/MobergRangeNotFoundException.java
@@ -0,0 +1,12 @@
+package se.lth.control.realtime.moberg;
+
+
+public class MobergRangeNotFoundException extends MobergException {
+
+ private static final long serialVersionUID = 1L;
+
+ public MobergRangeNotFoundException(int index) {
+ super(index, "has no range information");
+ }
+
+}
diff --git a/adaptors/java/src/se_lth_control_realtime_moberg_Moberg.c b/adaptors/java/src/se_lth_control_realtime_moberg_Moberg.c
new file mode 100644
index 0000000..9363df3
--- /dev/null
+++ b/adaptors/java/src/se_lth_control_realtime_moberg_Moberg.c
@@ -0,0 +1,413 @@
+/**
+ * se_lth_control_realtime_moberg_Moberg.c
+ *
+ * Copyright (C) 2005-2019 Anders Blomdell <anders.blomdell@control.lth.se>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <jni.h>
+#include "se_lth_control_realtime_moberg_Moberg.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <stddef.h>
+#include <string.h>
+#include <moberg.h>
+
+static void throwMoberg(JNIEnv *env, int chan, char *exceptionName)
+{
+ jclass exceptionClass = 0;
+ jmethodID exceptionClassInit = 0;
+ jobject exception = 0;
+ jint result = -1;
+
+ exceptionClass =
+ (*env)->FindClass(env, exceptionName);
+ if (exceptionClass) {
+ exceptionClassInit = (*env)->GetMethodID(env, exceptionClass,
+ "<init>", "(I)V");
+ }
+ if (exceptionClassInit) {
+ exception = (*env)->NewObject(env, exceptionClass, exceptionClassInit,
+ chan);
+ }
+ if (exception) {
+ result = (*env)->Throw(env, exception);
+ }
+ if (result != 0) {
+ fprintf(stderr, "%s: %d\n", exceptionName, chan);
+ }
+}
+
+static void throwMobergNotOpenException(JNIEnv *env, int chan)
+{
+ throwMoberg(env, chan, "se/lth/control/realtime/moberg/MobergNotOpenException");
+}
+
+static void throwMobergDeviceDoesNotExistException(JNIEnv *env, int chan)
+{
+ throwMoberg(env, chan, "se/lth/control/realtime/moberg/MobergDeviceDoesNotExistException");
+}
+
+#if 0
+static void throwMobergDeviceReadException(JNIEnv *env, int chan)
+{
+ throwMoberg(env, chan, "se/lth/control/realtime/moberg/MobergDeviceReadException");
+}
+
+static void throwMobergDeviceWriteException(JNIEnv *env, int chan)
+{
+ throwMoberg(env, chan, "se/lth/control/realtime/moberg/MobergDeviceWriteException");
+}
+
+static void throwMobergRangeNotFoundException(JNIEnv *env, int chan)
+{
+ throwMoberg(env, chan, "se/lth/control/realtime/moberg/MobergRangeNotFoundException");
+}
+
+static void throwMobergConfigurationFileNotFoundError(JNIEnv *env)
+{
+ throwMoberg(env, 0, "se/lth/control/realtime/moberg/MobergConfigurationFileNotFoundError");
+}
+#endif
+
+static struct list {
+ int capacity;
+ struct channel {
+ int count;
+ union {
+ struct moberg_analog_in analog_in;
+ struct moberg_analog_out analog_out;
+ struct moberg_digital_in digital_in;
+ struct moberg_digital_out digital_out;
+ struct moberg_encoder_in encoder_in;
+ };
+ } *channel;
+} analog_in = { .capacity=0, .channel=NULL },
+ analog_out = { .capacity=0, .channel=NULL },
+ digital_in = { .capacity=0, .channel=NULL },
+ digital_out = { .capacity=0, .channel=NULL },
+ encoder_in = { .capacity=0, .channel=NULL };
+
+struct {
+ int count;
+ struct moberg *moberg;
+} g_moberg = { 0, NULL };
+
+static int up()
+{
+ if (g_moberg.count <= 0) {
+ g_moberg.moberg = moberg_new(NULL);
+ }
+ g_moberg.count++;
+ return 0;
+}
+
+static int down()
+{
+ g_moberg.count--;
+ if (g_moberg.count <= 0) {
+ moberg_free(g_moberg.moberg);
+ g_moberg.moberg = NULL;
+ }
+ return 0;
+}
+
+static struct channel *channel_get(struct list *list, int index)
+{
+ if (index < list->capacity && list->channel[index].count > 0) {
+ return &list->channel[index];
+ }
+ return NULL;
+}
+
+static int channel_set(struct list *list, int index, struct channel channel)
+{
+ if (list->capacity < index) {
+ int capacity = index + 1;
+ void *new = realloc(list->channel, capacity * sizeof(*list->channel));
+ if (new) {
+ void *p = new + list->capacity * sizeof(*list->channel);
+ memset(p, 0, (capacity - list->capacity) * sizeof(*list->channel));
+ list->channel = new;
+ list->capacity = capacity;
+ }
+ }
+ if (0 <= index && index < list->capacity) {
+ list->channel[index] = channel;
+ return 1;
+ } else {
+ return 0;
+ }
+}
+
+static int channel_up(struct list *list, int index)
+{
+ struct channel *channel = channel_get(list, index);
+ if (channel) {
+ up();
+ channel->count++;
+ return 1;
+ }
+ return 0;
+}
+
+static struct channel *channel_down(struct list *list, int index)
+{
+ struct channel *channel = channel_get(list, index);
+ if (channel) {
+ down();
+ channel->count--;
+ return channel;
+ }
+ return NULL;
+}
+
+JNIEXPORT void JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_analogInOpen(
+ JNIEnv *env, jclass obj, jint index
+)
+{
+ if (! channel_up(&analog_in, index)) {
+ struct channel channel;
+ up();
+ if (! moberg_analog_in_open(g_moberg.moberg, index, &channel.analog_in)) {
+ down();
+ throwMobergDeviceDoesNotExistException(env, index);
+ } else {
+ channel.count = 1;
+ channel_set(&analog_in, index, channel);
+ }
+ }
+}
+
+JNIEXPORT void JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_analogInClose(
+ JNIEnv *env, jclass obj, jint index
+)
+{
+ struct channel *channel = channel_down(&analog_in, index);
+ if (! channel) {
+ throwMobergDeviceDoesNotExistException(env, index);
+ } else if (channel->count == 0) {
+ moberg_analog_in_close(g_moberg.moberg, index, channel->analog_in);
+ }
+}
+
+
+JNIEXPORT jdouble JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_analogIn(
+ JNIEnv *env, jobject obj, jint index
+)
+{
+ double result = 0.0;
+
+ struct channel *channel = channel_get(&analog_in, index);
+ if (! channel) {
+ throwMobergNotOpenException(env, index);
+ } else {
+ channel->analog_in.read(channel->analog_in.context, &result);
+ }
+ return result;
+}
+
+JNIEXPORT void JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_analogOutOpen(
+ JNIEnv *env, jclass obj, jint index
+)
+{
+ if (! channel_up(&analog_out, index)) {
+ struct channel channel;
+ up();
+ if (! moberg_analog_out_open(g_moberg.moberg, index, &channel.analog_out)) {
+ down();
+ throwMobergDeviceDoesNotExistException(env, index);
+ } else {
+ channel.count = 1;
+ channel_set(&analog_out, index, channel);
+ }
+ }
+}
+
+JNIEXPORT void JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_analogOutClose(
+ JNIEnv *env, jclass obj, jint index
+)
+{
+ struct channel *channel = channel_down(&analog_out, index);
+ if (! channel) {
+ throwMobergDeviceDoesNotExistException(env, index);
+ } else if (channel->count == 0) {
+ moberg_analog_out_close(g_moberg.moberg, index, channel->analog_out);
+ }
+}
+
+
+JNIEXPORT void JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_analogOut(
+ JNIEnv *env, jobject obj, jint index, jdouble value
+)
+{
+ struct channel *channel = channel_get(&analog_out, index);
+ if (! channel) {
+ throwMobergNotOpenException(env, index);
+ } else {
+ channel->analog_out.write(channel->analog_out.context, value);
+ }
+}
+
+JNIEXPORT void JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_digitalInOpen(
+ JNIEnv *env, jclass obj, jint index
+)
+{
+ if (! channel_up(&digital_in, index)) {
+ struct channel channel;
+ up();
+ if (! moberg_digital_in_open(g_moberg.moberg, index, &channel.digital_in)) {
+ down();
+ throwMobergDeviceDoesNotExistException(env, index);
+ } else {
+ channel.count = 1;
+ channel_set(&digital_in, index, channel);
+ }
+ }
+}
+
+JNIEXPORT void JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_digitalInClose(
+ JNIEnv *env, jclass obj, jint index
+)
+{
+ struct channel *channel = channel_down(&digital_in, index);
+ if (! channel) {
+ throwMobergDeviceDoesNotExistException(env, index);
+ } else if (channel->count == 0) {
+ moberg_digital_in_close(g_moberg.moberg, index, channel->digital_in);
+ }
+}
+
+JNIEXPORT jboolean JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_digitalIn(
+ JNIEnv *env, jobject obj, jint index
+)
+{
+ int result = 0;
+
+ struct channel *channel = channel_get(&digital_in, index);
+ if (! channel) {
+ throwMobergNotOpenException(env, index);
+ } else {
+ channel->digital_in.read(channel->digital_in.context, &result);
+ }
+ return result;
+}
+
+JNIEXPORT void JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_digitalOutOpen(
+ JNIEnv *env, jclass obj, jint index
+)
+{
+ if (! channel_up(&digital_out, index)) {
+ struct channel channel;
+ up();
+ if (! moberg_digital_out_open(g_moberg.moberg, index, &channel.digital_out)) {
+ down();
+ throwMobergDeviceDoesNotExistException(env, index);
+ } else {
+ channel.count = 1;
+ channel_set(&digital_out, index, channel);
+ }
+ }
+}
+
+JNIEXPORT void JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_digitalOutClose(
+ JNIEnv *env, jclass obj, jint index
+)
+{
+ struct channel *channel = channel_down(&digital_out, index);
+ if (! channel) {
+ throwMobergDeviceDoesNotExistException(env, index);
+ } else if (channel->count == 0) {
+ moberg_digital_out_close(g_moberg.moberg, index, channel->digital_out);
+ }
+}
+
+JNIEXPORT void JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_digitalOut(
+ JNIEnv *env, jobject obj, jint index, jboolean value
+)
+{
+ struct channel *channel = channel_get(&digital_out, index);
+ if (! channel) {
+ throwMobergNotOpenException(env, index);
+ } else {
+ channel->digital_out.write(channel->digital_out.context, value);
+ }
+}
+
+JNIEXPORT void JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_encoderInOpen(
+ JNIEnv *env, jclass obj, jint index
+)
+{
+ if (! channel_up(&encoder_in, index)) {
+ struct channel channel;
+ up();
+ if (! moberg_encoder_in_open(g_moberg.moberg, index, &channel.encoder_in)) {
+ down();
+ throwMobergDeviceDoesNotExistException(env, index);
+ } else {
+ channel.count = 1;
+ channel_set(&encoder_in, index, channel);
+ }
+ }
+}
+
+JNIEXPORT void JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_encoderInClose(
+ JNIEnv *env, jclass obj, jint index
+)
+{
+ struct channel *channel = channel_down(&encoder_in, index);
+ if (! channel) {
+ throwMobergDeviceDoesNotExistException(env, index);
+ } else if (channel->count == 0) {
+ moberg_encoder_in_close(g_moberg.moberg, index, channel->encoder_in);
+ }
+}
+
+JNIEXPORT jlong JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_encoderIn(
+ JNIEnv *env, jobject obj, jint index
+)
+{
+ long result = 0;
+
+ struct channel *channel = channel_get(&encoder_in, index);
+ if (! channel) {
+ throwMobergNotOpenException(env, index);
+ } else {
+ channel->encoder_in.read(channel->encoder_in.context, &result);
+ }
+ return result;
+}
+
+JNIEXPORT void JNICALL
+Java_se_lth_control_realtime_moberg_Moberg_Init(
+ JNIEnv *env, jobject obj
+)
+{
+}
diff --git a/adaptors/matlab/Makefile b/adaptors/matlab/Makefile
index 561bfd6..d59df21 100644
--- a/adaptors/matlab/Makefile
+++ b/adaptors/matlab/Makefile
@@ -3,6 +3,8 @@ CCFLAGS+=-Wall -Werror -O3 -I. -I../.. -g
all: $(LIBRARIES:%=../../build/%)
+clean:
+
../../build/libmoberg4simulink.so: moberg4simulink.c Makefile
$(CC) -o $@ $(CCFLAGS) -L../../build -shared -fPIC -lmoberg $<
diff --git a/moberg.spec.template b/moberg.spec.template
index 36e5438..504f1ae 100644
--- a/moberg.spec.template
+++ b/moberg.spec.template
@@ -9,6 +9,7 @@ BuildRequires: gcc
BuildRequires: comedilib-devel
BuildRequires: valgrind
BuildRequires: libxdg-basedir-devel
+BuildRequires: java-devel
%description
Shared library for abstracting physical process I/O (analog, digital
@@ -30,12 +31,19 @@ Requires: %{name} = %{version}-%{release}
Development files for %{name}
%package matlab
-Summary: Matlab development files for %{name}
+Summary: Matlab support files for %{name}
Requires: %{name} = %{version}-%{release}
Requires: %{name}-devel = %{version}-%{release}
%description matlab
-Matlab development files for %{name}
+Matlab support files for %{name}
+
+%package java
+Summary: Java support files for %{name}
+Requires: %{name} = %{version}-%{release}
+
+%description java
+Java support files for %{name}
%prep
--
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