From 11afb9f2a49d420858f24d48c353eeb9196e58b0 Mon Sep 17 00:00:00 2001 From: MrLetsplay2003 Date: Sat, 14 Oct 2023 16:07:20 +0200 Subject: [PATCH] initial commit --- .gitattributes | 9 + .gitignore | 24 ++ .../magicianproject/App$1.class | Bin 0 -> 1712 bytes .../cringe_studios/magicianproject/App.class | Bin 0 -> 6958 bytes .../lib/DobotDll$DobotResult.class | Bin 0 -> 1414 bytes .../lib/DobotDll$EndEffectorParams.class | Bin 0 -> 964 bytes .../magicianproject/lib/DobotDll$JOG.class | Bin 0 -> 1810 bytes .../magicianproject/lib/DobotDll$JOGCmd.class | Bin 0 -> 944 bytes .../lib/DobotDll$JOGCommonParams.class | Bin 0 -> 946 bytes .../lib/DobotDll$JOGCoordinateParams.class | Bin 0 -> 995 bytes .../lib/DobotDll$JOGJointParams.class | Bin 0 -> 980 bytes .../magicianproject/lib/DobotDll$PTPCmd.class | Bin 0 -> 1030 bytes .../lib/DobotDll$PTPCoordinateParams.class | Bin 0 -> 1030 bytes .../lib/DobotDll$PTPJointParams.class | Bin 0 -> 980 bytes .../lib/DobotDll$PTPJumpParams.class | Bin 0 -> 926 bytes .../lib/DobotDll$PTPMode.class | Bin 0 -> 1688 bytes .../magicianproject/lib/DobotDll$Pose.class | Bin 0 -> 1049 bytes .../magicianproject/lib/DobotDll.class | Bin 0 -> 3167 bytes app/bin/main/libDobotDll.so | Bin 0 -> 378720 bytes app/build.gradle | 53 ++++ .../cringe_studios/magicianproject/App.java | 179 +++++++++++++ .../magicianproject/lib/DobotDll.java | 253 ++++++++++++++++++ app/src/main/resources/libDobotDll.so | Bin 0 -> 378720 bytes gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 63721 bytes gradle/wrapper/gradle-wrapper.properties | 7 + gradlew | 249 +++++++++++++++++ gradlew.bat | 92 +++++++ settings.gradle | 14 + 28 files changed, 880 insertions(+) create mode 100644 .gitattributes create mode 100644 .gitignore create mode 100644 app/bin/main/com/cringe_studios/magicianproject/App$1.class create mode 100644 app/bin/main/com/cringe_studios/magicianproject/App.class create mode 100644 app/bin/main/com/cringe_studios/magicianproject/lib/DobotDll$DobotResult.class create mode 100644 app/bin/main/com/cringe_studios/magicianproject/lib/DobotDll$EndEffectorParams.class create mode 100644 app/bin/main/com/cringe_studios/magicianproject/lib/DobotDll$JOG.class create mode 100644 app/bin/main/com/cringe_studios/magicianproject/lib/DobotDll$JOGCmd.class create mode 100644 app/bin/main/com/cringe_studios/magicianproject/lib/DobotDll$JOGCommonParams.class create mode 100644 app/bin/main/com/cringe_studios/magicianproject/lib/DobotDll$JOGCoordinateParams.class create mode 100644 app/bin/main/com/cringe_studios/magicianproject/lib/DobotDll$JOGJointParams.class create mode 100644 app/bin/main/com/cringe_studios/magicianproject/lib/DobotDll$PTPCmd.class create mode 100644 app/bin/main/com/cringe_studios/magicianproject/lib/DobotDll$PTPCoordinateParams.class create mode 100644 app/bin/main/com/cringe_studios/magicianproject/lib/DobotDll$PTPJointParams.class create mode 100644 app/bin/main/com/cringe_studios/magicianproject/lib/DobotDll$PTPJumpParams.class 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this initialization function because their memory layouts are naturally aligned to one byte. + public Pose() + { + this.setAlignType(ALIGN_NONE); + } + }; + + public static class EndEffectorParams extends Structure + { + public float xBias; + public float yBias; + public float zBias; + @Override + protected List getFieldOrder() { + List a = new ArrayList(); + a.add("xBias"); + a.add("yBias"); + a.add("zBias"); + return a; + } + }; + + public enum JOG + { + JogIdle, + JogAPPressed, + JogANPressed, + JogBPPressed, + JogBNPressed, + JogCPPressed, + JogCNPressed, + JogDPPressed, + JogDNPressed, + JogEPPressed, + JogENPressed + }; + + public static class JOGCmd extends Structure + { + public JOGCmd() { + setAlignType(Structure.ALIGN_NONE); + } + public byte isJoint; + public byte cmd; + @Override + protected List getFieldOrder() { + List a = new ArrayList(); + a.add("isJoint"); + a.add("cmd"); + return a; + } + }; + + public static class JOGJointParams extends Structure + { + public float[] velocity = new float[4]; + public float[] acceleration = new float[4]; + @Override + protected List getFieldOrder() { + List a = new ArrayList(); + a.add("velocity"); + a.add("acceleration"); + return a; + } + }; + + public static class JOGCoordinateParams extends Structure + { + public float[] velocity = new float[4]; + public float[] acceleration = new float[4]; + @Override + protected List getFieldOrder() { + List a = new ArrayList(); + a.add("velocity"); + a.add("acceleration"); + return a; + } + }; + + public static class JOGCommonParams extends Structure + { + public float velocityRatio; + public float accelerationRatio; + @Override + protected List getFieldOrder() { + List a = new ArrayList(); + a.add("velocityRatio"); + a.add("accelerationRatio"); + return a; + } + }; + + public enum PTPMode { + PTPJUMPXYZMode, + PTPMOVJXYZMode, + PTPMOVLXYZMode, + + PTPJUMPANGLEMode, + PTPMOVJANGLEMode, + PTPMOVLANGLEMode, + + PTPMOVJXYZINCMode, + PTPMOVLXYZINCMode + }; + + public static class PTPCmd extends Structure + { + public PTPCmd() { + setAlignType(Structure.ALIGN_NONE); + } + /* + public static class ByReference extends PTPCmd implements Structure.ByReference { } + public static class ByValue extends PTPCmd implements Structure.ByValue{ } + */ + public byte ptpMode; + public float x; + public float y; + public float z; + public float r; + @Override + protected List getFieldOrder() { + List a = new ArrayList(); + a.add("ptpMode"); + a.add("x"); + a.add("y"); + a.add("z"); + a.add("r"); + return a; + } + }; + + public static class PTPJointParams extends Structure + { + public float[] velocity = new float[4]; + public float[] acceleration = new float[4]; + @Override + protected List getFieldOrder() { + List a = new ArrayList(); + a.add("velocity"); + a.add("acceleration"); + return a; + } + }; + + public static class PTPCoordinateParams extends Structure + { + public float xyzVelocity; + public float rVelocity; + public float xyzAcceleration; + public float rAcceleration; + @Override + protected List getFieldOrder() { + List a = new ArrayList(); + a.add("xyzVelocity"); + a.add("rVelocity"); + a.add("xyzAcceleration"); + a.add("rAcceleration"); + return a; + } + }; + + public static class PTPJumpParams extends Structure + { + public float jumpHeight; + public float zLimit; + @Override + protected List getFieldOrder() { + List a = new ArrayList(); + a.add("jumpHeight"); + a.add("zLimit"); + return a; + } + }; + + public enum DobotResult + { + DobotConnect_NoError, + DobotConnect_NotFound, + DobotConnect_Occupied + }; + //c中的char* 对应 java中的byte【】 + int ConnectDobot(char portName, int baudrate, byte[] fwtype, byte[] version, FloatByReference time); + void DisconnectDobot(); + void SetCmdTimeout(int cmdTimeout); + int SetQueuedCmdClear(); + int SetQueuedCmdStartExec(); + int SetEndEffectorParams(EndEffectorParams endEffectorParams, boolean isQueued, LongByReference queuedCmdIndex); + int DobotExec(); + + // Pose + int GetPose(Pose pose); + + // Jog functions + // C中的float对应java中的long + // Float in c correspond to long in java + int SetJOGCmd(JOGCmd jogCmd, boolean isQueued, LongByReference ueuedCmdIndex); + int SetJOGJointParams(JOGJointParams jogJointParams, boolean isQueued, LongByReference ueuedCmdIndex); + int SetJOGCoordinateParams(JOGCoordinateParams jogCoordinateParams, boolean isQueued, LongByReference ueuedCmdIndex); + int SetJOGCommonParams(JOGCommonParams jogCommonParams, boolean isQueued, LongByReference ueuedCmdIndex); + + // Playback functions + int SetPTPCmd(PTPCmd ptpCmd, boolean isQueued, LongByReference queuedCmdIndex); + int SetPTPJointParams(PTPJointParams ptpJointParams, boolean isQueued, LongByReference ueuedCmdIndex); + int SetPTPCoordinateParams(PTPCoordinateParams ptpCoordinateParams, boolean isQueued, LongByReference ueuedCmdIndex); + int SetPTPJumpParams(PTPJumpParams ptpJumpParams, boolean isQueued, LongByReference ueuedCmdIndex); +} \ No newline at end of file diff --git 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+distributionPath=wrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.3-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=wrapper/dists diff --git a/gradlew b/gradlew new file mode 100755 index 0000000..0adc8e1 --- /dev/null +++ b/gradlew @@ -0,0 +1,249 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command; +# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of +# shell script including quotes and variable substitutions, so put them in +# double quotes to make sure that they get re-expanded; and +# * put everything else in single quotes, so that it's not re-expanded. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat new file mode 100644 index 0000000..93e3f59 --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,92 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/settings.gradle b/settings.gradle new file mode 100644 index 0000000..7b14816 --- /dev/null +++ b/settings.gradle @@ -0,0 +1,14 @@ +/* + * This file was generated by the Gradle 'init' task. + * + * The settings file is used to specify which projects to include in your build. + * For more detailed information on multi-project builds, please refer to https://docs.gradle.org/8.3/userguide/building_swift_projects.html in the Gradle documentation. + */ + +plugins { + // Apply the foojay-resolver plugin to allow automatic download of JDKs + id 'org.gradle.toolchains.foojay-resolver-convention' version '0.4.0' +} + +rootProject.name = 'MagicianProject' +include('app')