MlpiConnection.java

Go to the documentation of this file.

// -----------------------------------------------------------------------
// MLPI - <MlpiConnection.java>
// -----------------------------------------------------------------------
// Copyright (c) 2012 Bosch Rexroth. All rights reserved.
// Redistribution and use in source and binary forms of this MLPI software
// (SW) provided to you, with or without modification, are permitted
// without prior approval provided that the following conditions are met:
//
// 1. Redistributions of source code of SW must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form of SW must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// 3. User recognizes and acknowledges that it acquires no right,
// title or interest in or to any of the names or trademarks used in
// connection with the SW ("names") by virtue of this License and waives
// any right to or interest in the names. User recognizes and acknowledges
// that names of companies or names or products of companies displayed
// in the documentation of SW to indicate the interoperability of products
// with the SW are the names of their respective owners. The use of such
// names in the documentation of SW does not imply any sponsorship,
// approval, or endorsement by such companies of this product.
//
// 4. Modified code versions, i.e. any addition to or deletion from
// the substance or structure of the original code of the SW running
// the MLPI must be plainly marked as such and must not be misrepresented
// as being original SW.
//
// 5. The SW may only be used in connection with a Bosch Rexroth product.
//
// THIS INFORMATION IS PROVIDED BY BOSCH REXROTH CORPORATION "AS IS"
// AND WITHOUT WARRANTY OF ANY KIND, EXPRESSED OR IMPLIED, INCLUDING
// (BUT NOTLIMITED TO) ANY IMPLIED WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR ANY PARTICULAR PURPOSE, OR NON-INFRINGEMENT. WHILE THE
// INFORMATION PROVIDED IS BELIEVED TO BE ACCURATE, IT MAY INCLUDE
// ERRORS OR INACCURACIES.
// SUBJECT TO COMPULSORY STATUTORY PROVISIONS OF THE GERMAN LAW AS
// THE APPLICABLE LAW FOR THIS LICENSE BOSCH REXROTH CORPORATION WILL
// NOT BE LIABLE FOR ANY DAMAGES OF ANY KIND ARISING FROM THE USE OF
// THE  SOFTWARE  DISTRIBUTED HEREUNDER, INCLUDING BUT NOT LIMITED TO
// DIRECT, INDIRECT, INCIDENTAL, PUNITIVE, AND CONSEQUENTIAL DAMAGES.
// -----------------------------------------------------------------------
//
//
// -----------------------------------------------------------------------
package com.boschrexroth.mlpi;

public class MlpiConnection implements MlpiComponent.MlpiHandle {

  final static String[] libnames = {
    "mlpijavawin64",                            // library with old name schema - windows DLL, 64 Bit
    "mlpijavawin64d",                           // library with old name schema - windows DLL, 64 Bit
    "mlpijavawin32",                            // library with old name schema - windows DLL, 32 Bit
    "mlpijavawin32d",                           // library with old name schema - windows DLL, 32 Bit
    "mlpijavaandroid",                          // library with old name schema - android so, 32 Bit
    "mlpijava-linux-gcc-x64",                   // library with new name schema - linux gcc so, 64 Bit, x64
    "mlpijava-linux-gcc-x86",                   // library with new name schema - linux gcc so, 32 Bit, x86
    "mlpijava-linux-gcc-armhf",                 // library with new name schema - linux gcc so, 64 Bit, armhf
    "mlpijava-linux-gcc-arm",                   // library with new name schema - linux gcc so, 32 Bit, arm
    "mlpijava"                                  // and the LAST ONE: default library name 'libmlpijava.*'
  };

  final static String[] openssl_libnames = {
    "libeay32",                                // in windows we have to load the ssl libraries before
    "ssleay32",                                // we try to load the mlpi library because we have some dependencies
    "crypto",
    "ssl"
  };

  static {
    for(int i = 0; i < openssl_libnames.length - 1; i=i+2) {
      try {
        java.lang.System.out.print("Try to load OpenSSL library '" + openssl_libnames[i]);
        java.lang.System.loadLibrary(openssl_libnames[i]);
        java.lang.System.out.println("'... succeeded.");

        java.lang.System.out.print("Try to load OpenSSL library '" + openssl_libnames[i+1]);
        java.lang.System.loadLibrary(openssl_libnames[i+1]);
        java.lang.System.out.println("'... succeeded.");
        break;
      }
      catch (UnsatisfiedLinkError e) {
        java.lang.System.out.println("'... failed.");
      }
    }
  }

  static {
    boolean loaded = false;
    for(String libname : libnames ) {
      try {
        java.lang.System.out.print("Try to load library '" + libname);
        java.lang.System.loadLibrary(libname);
        java.lang.System.out.println("'... succeeded.");
        loaded = true;
        break;
      }
      catch (UnsatisfiedLinkError e) {
        java.lang.System.out.println("'... failed.");
      }
    }
    if(loaded==false) {
      throw new UnsatisfiedLinkError("Could not find valid MLPI JNI library.");
    }
  }

  /*
   * Structs
   */
  public static class Version
  {
    public int major;
    public int minor;
    public int bugfix;
    public int patch;
    public int build;
  }

  public static class ConnectionInfo
  {
    public double minimum;
    public double maximum;
    public double average;
    public double variance;
    public double standardDeviation;
  }

  public enum ApiProtection
  {
    MLPI_API_PROTECTION_NON       (0x00),
    MLPI_API_PROTECTION_WATCHDOG  (0x01),
    MLPI_API_PROTECTION_COMPLETE  (0x02);

    private int _code;
    int getCode() { return _code; }
    ApiProtection(int code) { this._code = code; }
    static ApiProtection valueOf(int code) {
      for (ApiProtection value : values()) {
        if (code == value.getCode()) return value;
      }
      return null;
    }
  }

  public static class ConnectionDescription
  {
    public long                     uid;
    public String                   user;
    public String                   uri;
    public String                   name;
    public String                   label;
    public MlpiGlobal.DateAndTime   dateTime = new MlpiGlobal.DateAndTime();
    public int                      requestCounter;
    public int                      lastRequest;
    public ApiProtection            protection;
    public int                      watchdog;
  }

  public static class Library
  {
    public String   name;
    public long     id;
  }

  /*
   * Fields
   */
  private long            _connectionHandle   = -1;
  private Logic           _logic              = new Logic(this);
  private System          _system             = new System(this);
  private Watchdog        _watchdog           = new Watchdog(this);
  private Motion          _motion             = new Motion(this);
  private Io              _io                 = new Io(this);
  private Parameter       _parameter          = new Parameter(this);
  private Robot           _robot              = new Robot(this);
  private Container       _container          = new Container(this);
  private Task            _task               = new Task(this);
  private Security        _security           = new Security(this);
  private AccessControl   _accessControl      = new AccessControl(this);

  /*
   * Methods
   */
  public MlpiConnection() {
  }

  public void finalize() {
    disconnect();
  }

  public void connect(String address) {
    // don't forget to delete native connection object
    if (getConnectionHandle() != -1) {
      disconnect();
    }

    try{
      // call connection facility and create connection
      long handle = connectInternal2(address);

      // update all slave objects of object model
      if (handle != -1 && handle != 0) {
        setConnectionHandle(handle);
      } else {
        throw new MlpiException("Internal error during MLPI connection!");
      }
    }
    catch(UnsatisfiedLinkError e) {
      throw new MlpiException("MLPI_E_FAIL: General error during function call. MLPI JNI library mismatch (old native shared library).");
    }

  }

  public void disconnect() {
    try{
      // delete current connection
      disconnectInternal2(getConnectionHandle());
    }
    catch(UnsatisfiedLinkError e) {
      throw new MlpiException("MLPI_E_FAIL: General error during function call. MLPI JNI library mismatch (old native shared library).");
    }

    // update all slave objects of object model
    setConnectionHandle(-1);
  }

  private native long connectInternal2(String address);
  private native void disconnectInternal2(long handle);

  private void setConnectionHandle(long handle) {
    _connectionHandle = handle;
  }

  public long getConnectionHandle() {
    return _connectionHandle;
  }

  public Logic logic() {
    return _logic;
  }

  public System system() {
    return _system;
  }

  public Watchdog watchdog() {
    return _watchdog;
  }

  public Motion motion() {
    return _motion;
  }

  public Io io() {
    return _io;
  }

  public Parameter parameter() {
    return _parameter;
  }

  public Robot robot() {
      return _robot;
  }

  public Container container() {
    return _container;
  }

  public Task task() {
    return _task;
  }

  public Security security() {
    return _security;
  }
  
  @Deprecated
  public Security Security() {
    return _security;
  }
  
  public AccessControl accessControl() {
    return _accessControl;
  }
  
  @Deprecated
  public AccessControl AccessControl() {
    return _accessControl;
  }

  public native boolean isConnected();

  public native Version getClientCoreVersion();

  public native Version getServerCoreVersion();

  public native void delay(int delayMilliseconds);

  public native ConnectionInfo testConnection(int payloadBytes, int numMeasurements);

  public native void setNameOfConnection(String name);

  public native void setLabelOfConnection(String label);

  public native ConnectionDescription getOwnConnectionDescription();

  public native ConnectionDescription[] getAllConnectionDescription();

  public native void closeConnectionByUid(long uid);

  public native void closeConnectionsByUser(String user);

  public native void closeConnectionsByUri(String uri);

  public native void userAccountControlReload();

  public native void userAccountControlLoadAccounts(String path);

  public native void userAccountControlUnloadAccounts(String path);

  public native String[] getOwnPermissions();

  public native String[] getAccounts();

  public native String[] getAccountPermissions(String account);

  public native Library[] getLibrarySupport();
}