bool SunJVMDLL::run(const std::string& mainclass, bool waitDeath)
{
if (m_statusCode == SunJVMDLL::JVM_NOT_STARTED)
instanciate();
if (m_statusCode == SunJVMDLL::JVM_LOADED)
{
JClassProxy disp(this, mainclass);
jstring emptystr = newUTFString(std::string(""));
jobjectArray mainargs = newObjectArray(m_arguments.size(), "java.lang.String", emptystr);
for (int i =0; i<m_arguments.size(); i++)
{
env()->SetObjectArrayElement(mainargs, i, newUTFString(m_arguments[i]));
}
printf("arguments array = %d\n", mainargs);
jvalue ma[1];
ma[0].l = mainargs;
disp.invokeStatic(std::string("void main(java.lang.String[] args)"), ma);
if (waitDeath == true)
m_javavm->DestroyJavaVM();
return true;
}
return false;
}
void Backend::buildCache()
{
for (auto module : modules) {
if (module.second->getType() == "component") {
// Creating component
auto component = instanciate(module.first);
component->compile();
delete component;
}
}
getModel("anchor");
getModel("com");
}
Component *Backend::fromJson(Json::Value json, Robot *robot)
{
if (!json.isObject() || !json.isMember("component")
|| !json.isMember("parameters") || !json.isMember("anchors")
|| !json["component"].isString() || !json["parameters"].isObject()
|| !json["anchors"].isObject()) {
std::stringstream ss;
ss << "Malformed Json component";
throw ss.str();
}
std::string component = json["component"].asString();
if (!modules.count(component)) {
std::stringstream ss;
ss << "Unknown component " << component;
throw ss.str();
}
Component *instance = instanciate(component);
instance->parametersFromJson(json["parameters"]);
instance->compile(robot);
if (json.isMember("name")) {
instance->name = json["name"].asString();
}
if (json.isMember("tipName")) {
instance->tipName = json["tipName"].asString();
}
Json::Value &anchors = json["anchors"];
for (auto anchor : instance->anchors) {
std::stringstream ss;
ss << anchor->id;
std::string id = ss.str();
if (anchors.isMember(id)) {
int remote = anchors[id]["remote"].asInt();
Component *instance = Backend::fromJson(anchors[id]["component"], robot);
if (anchors[id].isMember("zero")) {
anchor->zero = anchors[id]["zero"].asFloat();
}
if (anchors[id].isMember("orientationX")) {
anchor->orientationX = anchors[id]["orientationX"].asFloat();
}
if (anchors[id].isMember("orientationY")) {
anchor->orientationY = anchors[id]["orientationY"].asFloat();
}
if (anchors[id].isMember("orientationZ")) {
anchor->orientationZ = anchors[id]["orientationZ"].asFloat();
}
if (anchors[id].isMember("inverted")) {
anchor->inverted = anchors[id]["inverted"].asBool();
}
if (anchors[id].isMember("minimum")) {
anchor->minimum = anchors[id]["minimum"].asFloat();
}
if (anchors[id].isMember("maximum")) {
anchor->maximum = anchors[id]["maximum"].asFloat();
}
anchor->attach(instance->getAnchor(remote));
}
}
return instance;
}
