/*
* Class: com_hd_internal_ScanWork
* Method: sj_scan_point
* Signature: (J)I
*/
JNIEXPORT jint JNICALL Java_com_hd_internal_ScanWork_sj_1scan_1point
(JNIEnv *env, jclass clazz, jlong priv) {
int ret;
struct scan_job_t* scan = (struct scan_job_t*) priv;
e_assert(scan!=NULL, 0);
ret = sj_scan_point(scan);
e_assert(ret>0, 0);
return 1;
}
int on_command(const char *cmd, char *ret_buf, int *ctx,
int log_printf(char *buf, int *ctx, int code, char *fmt, ...)) {
int ret = 1;
//command select
signal(SIGINT, sig_handler);
if (!strncmp(cmd, "get", 3)) {
const char *scmd = get_sub_command(cmd);
if (!strcmp(scmd, "author")) {
log_printf(ret_buf, ctx, ret, "uplusplus");
} else if (!strcmp(scmd, "version")) {
log_printf(ret_buf, ctx, ret, "1.0.0");
} else {
log_printf(ret_buf, ctx, 0, "unknown command: <b>%s</b>", cmd);
ret = 0;
goto end;
}
} else if (!strncmp(cmd, "connect", sizeof("connect"))) {
if (job != NULL) {
log_printf(ret_buf, ctx, 0, "Laser already connect..");
return 0;
}
log_printf(ret_buf, ctx, ret, "Laser try create..");
ret = sj_create(&job, NULL, NULL, NULL, NULL);
if (e_failed(ret)) {
log_printf(ret_buf, ctx, ret, "Laser scan create failed.");
} else {
log_printf(ret_buf, ctx, ret, "Laser create successfull.");
}
} else if (!strncmp(cmd, "disconnect", sizeof("disconnect"))) {
if (job == NULL) {
log_printf(ret_buf, ctx, 0, "Laser already disconnect..");
return 0;
}
log_printf(ret_buf, ctx, ret, "Laser try disconnect..");
ret = sj_destroy(job);
if (e_failed(ret)) {
log_printf(ret_buf, ctx, ret, "Laser scan disconnect failed.");
} else {
log_printf(ret_buf, ctx, ret, "Laser disconnect successfull.");
}
job = NULL;
} else if (!strncmp(cmd, "config", sizeof("config"))) {
log_printf(ret_buf, ctx, ret, "Laser scan try config..");
sj_set_data_dir(job, "/sdcard/ls300/data/point_cloud",
"/sdcard/ls300/data/image");
ret = sj_config(job, 100, 0, 360, 5, 0.25, -45, 90);
if (e_failed(ret)) {
log_printf(ret_buf, ctx, ret,
"Laser scan config failed.device busy.");
} else {
log_printf(ret_buf, ctx, ret, "Laser scan config successfull.");
}
} else if (!strncmp(cmd, "pointscan", sizeof("pointscan"))) {
log_printf(ret_buf, ctx, ret, "Laser scan try start..");
ret = sj_scan_point(job);
if (e_failed(ret)) {
log_printf(ret_buf, ctx, ret,
"Laser scan start scan point cloud failed.device busy.");
}
} else if (!strncmp(cmd, "photoscan", sizeof("photoscan"))) {
log_printf(ret_buf, ctx, ret, "Laser photo scan try start..");
ret = sj_scan_photo(job);
if (e_failed(ret)) {
log_printf(ret_buf, ctx, ret,
"Laser scan start scan photo failed.device busy.");
}
} else if (!strncmp(cmd, "cancel", sizeof("cancel"))) {
log_printf(ret_buf, ctx, ret, "Laser scan try stop..");
ret = sj_cancel(job);
if (e_failed(ret)) {
log_printf(ret_buf, ctx, ret, "Laser scan stop failed.");
}
} else {
log_printf(ret_buf, ctx, 0, "unknown command: <b>%s</b>", cmd);
ret = 0;
goto end;
}
end: return ret;
}