ProgressionStatus.h

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/*
 * ProgressionStatus.h
 *
 *  Created on: Feb 28, 2017
 *      Author: mathieu
 */
 
#ifndef APP_ANDROID_JNI_PROGRESSIONSTATUS_H_
#define APP_ANDROID_JNI_PROGRESSIONSTATUS_H_
 
#include <rtabmap/core/ProgressState.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UEventsManager.h>
#ifdef __ANDROID__
#include <jni.h>
#endif
 
namespace rtabmap {
 
class ProgressEvent : public UEvent
{
public:
        ProgressEvent(int count = 1) : count_(count){}
        virtual std::string getClassName() const {return "ProgressEvent";}
 
        int count_;
};
 
class ProgressionStatus: public ProgressState, public UEventsHandler
{
public:
        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)
        {
                count_=-1;
                max_ = max;
                setCanceled(false);
 
                increment();
        }
 
        void setMax(int max)
        {
                max_ = max;
        }
        int getMax() const {return max_;}
 
        void increment(int count = 1) const
        {
                UEventsManager::post(new ProgressEvent(count));
        }
 
        void finish()
        {
 
        }
 
        virtual bool callback(const std::string & msg) const
        {
                if(!isCanceled())
                {
                        increment();
                }
 
                return ProgressState::callback(msg);
        }
        virtual ~ProgressionStatus(){}
 
protected:
        virtual bool handleEvent(UEvent * event)
        {
                if(event->getClassName().compare("ProgressEvent") == 0)
                {
                        count_ += ((ProgressEvent*)event)->count_;
                        // Call JAVA callback
                        bool success = false;
#ifdef __ANDROID__
                        if(jvm_ && rtabmap_)
                        {
                                JNIEnv *env = 0;
                                jint rs = jvm_->AttachCurrentThread(&env, NULL);
                                if(rs == JNI_OK && env)
                                {
                                        jclass clazz = env->GetObjectClass(rtabmap_);
                                        if(clazz)
                                        {
                                                jmethodID methodID = env->GetMethodID(clazz, "updateProgressionCallback", "(II)V" );
                                                if(methodID)
                                                {
                                                        env->CallVoidMethod(rtabmap_, methodID,
                                                                        count_,
                                                                        max_);
                                                        success = true;
                                                }
                                        }
                                }
                                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");
                        }
                }
                return false;
        }
 
private:
        int count_;
        int max_;
#ifdef __ANDROID__
        JavaVM *jvm_;
        jobject rtabmap_;
#else
    void * swiftClassPtr_;
    void(*swiftCallback)(void *, int, int);
#endif
};
 
}
 
 
#endif /* APP_ANDROID_JNI_PROGRESSIONSTATUS_H_ */