int main()
{
signal(SIGINT, sig_handler);
int ret;
DMSG((STDOUT,"LASER scan TEST start.\r\n"));
ret = sj_create(&job);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST config.\r\n"));
//ret = sj_config(job, 50, 180, 360, 5, 0.5, -45, 0);
//ret = sj_config(job, 50, 0, 360, 5, 0.125, 0, 90);
ret = sj_config(job, 50, 0, 360, 5, 0.25, -45, 90);
//ret = sj_config(job, 50, 0, 90, 5, 0.5, -45, -20);
// ret = sj_config(job, 50, 160, 200, 5, 0.5, -45, 90);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST start.\r\n"));
ret = sj_start(job);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST start.\r\n"));
ret = sj_wait(job);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST PASSED.\r\n"));
sj_destroy(job);
}
/*
* Class: com_hd_scan_SickLD
* Method: main
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_com_hd_scan_SickLD_main
(JNIEnv *env, jclass clazz)
{
int ret;
scan_job job;
DMSG((STDOUT,"LASER scan TEST start.\r\n"));
ret = sj_create(&job);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST config.\r\n"));
//ret = sj_config(job, 50, 180, 360, 5, 0.5, -45, 0);
//ret = sj_config(job, 50, 0, 360, 5, 0.5, 0, 90);//???频繁出现取数据错误?sick 3030
ret = sj_config(job, 50, 0, 360, 5, 0.25, -45, 90);
//ret = sj_config(job, 50, 0, 90, 5, 0.5, -45, -20);
//ret = sj_config(job, 50, 160, 200, 5, 0.5, -45, 90);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST start.\r\n"));
ret = sj_start(job);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST start.\r\n"));
ret = sj_wait(job);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST PASSED.\r\n"));
sj_destroy(job);
return ret;
}
/*
* Class: com_hd_internal_Scan
* Method: sj_create
* Signature: (J)I
*/
JNIEXPORT jlong JNICALL Java_com_hd_internal_Scan_sj_1create__J
(JNIEnv *env, jclass clazz) {
int ret;
struct scan_job_t* ptr;
ret = sj_create(&ptr);
e_assert(ret>0, 0);
return (jlong) ptr;
}
/*
* Class: com_hd_internal_Scan
* Method: sj_create
* Signature: (JLjava/lang/String;I)J
*/
JNIEXPORT jlong JNICALL Java_com_hd_internal_ScanWork_sj_1create
(JNIEnv *env, jclass clazz, jstring jsdev, jint baud, jstring jsip, jint port) {
int ret;
char *ip,*dev;
struct scan_job_t* ptr;
ip = (*env)->GetStringUTFChars(env, jsip, 0);
dev = (*env)->GetStringUTFChars(env, jsdev, 0);
ret = sj_create(&ptr, dev,baud,ip, port);
(*env)->ReleaseStringUTFChars(env, jsip, ip);
(*env)->ReleaseStringUTFChars(env, jsdev, dev);
e_assert(ret>0, 0);
return (jlong) ptr;
}
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;
}
