i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

ios first release

Browse Source
This commit is contained in:
matlabbe
2021-06-08 00:06:49 -04:00
parent 630cb6a59f
commit 289d4afd76
88 changed files with 9260 additions and 473 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
app/android/jni/ProgressionStatus.h
View File

@@ -11,7 +11,9 @@
#include <rtabmap/core/ProgressState.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UEventsManager.h>
#ifdef __ANDROID__
#include <jni.h>
#endif
namespace rtabmap {
@@ -27,16 +29,29 @@ public:
class ProgressionStatus: public ProgressState, public UEventsHandler
{
public:
ProgressionStatus() : count_(0), max_(100), jvm_(0), rtabmap_(0)
ProgressionStatus() : count_(0), max_(100)
#ifdef __ANDROID__
, jvm_(0), rtabmap_(0)
#else
, swiftClassPtr_(0)
#endif
{
registerToEventsManager();
}
#ifdef __ANDROID__
void setJavaObjects(JavaVM * jvm, jobject rtabmap)
{
jvm_ = jvm;
rtabmap_ = rtabmap;
}
#else
void setSwiftCallback(void * classPtr, void(*callback)(void *, int, int))
{
swiftClassPtr_ = classPtr;
swiftCallback = callback;
}
#endif
void reset(int max)
{
@@ -82,6 +97,7 @@ protected:
count_ += ((ProgressEvent*)event)->count_;
// Call JAVA callback
bool success = false;
#ifdef __ANDROID__
if(jvm_ && rtabmap_)
{
JNIEnv *env = 0;
@@ -103,6 +119,16 @@ protected:
}
jvm_->DetachCurrentThread();
}
#else // APPLE
if(swiftClassPtr_)
{
std::function<void()> actualCallback = [&](){
swiftCallback(swiftClassPtr_, count_, max_);
};
actualCallback();
success = true;
}
#endif
if(!success)
{
UERROR("Failed to call rtabmap::updateProgressionCallback");
@@ -114,8 +140,13 @@ protected:
private:
int count_;
int max_;
#ifdef __ANDROID__
JavaVM *jvm_;
jobject rtabmap_;
#else
void * swiftClassPtr_;
void(*swiftCallback)(void *, int, int);
#endif
};
}