#include <jni.h>
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#include <string>
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#include <pthread.h>
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#include <unistd.h>
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#include <cstdlib>
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#include "common/serial_port.h"
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#include "jni_log.h"
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#include "common/net.h"
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#include "common/apptimer.h"
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#include "rtk_platform/parse_net.h"
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#include "native-lib.h"
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#include "test_common/Geometry.h"
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#include "rtk_platform/platform.h"
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#include "rtk_module/rtk.h"
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#include "mcu/mcu_if.h"
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#include "driver_test.h"
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#include "master/comm_if.h"
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#include "rtk_module/virtual_rtk.h"
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#define DEBUG(fmt, args...) LOGD("<native-lib> <%s>: " fmt, __func__, ##args)
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static JavaVM *sg_jvm = NULL;
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static jobject sg_obj = NULL;
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const char *RTK_PLATFORM_IP = "47.93.80.84";
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const int RTK_PLATFORM_PORT = 12125;
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const uint8_t phone[] = {0x20,0x19,0x10,0x15,0x00,0x00,0x00,0x01};
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const char *VIRTUAL_RTK_IP = "192.168.16.100";
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const int VIRTUAL_RTK_PORT = 9001;
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static pthread_mutex_t tts_mutex = PTHREAD_MUTEX_INITIALIZER;
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static int ttsSeq = 1;
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static void SendBootIndicate(union sigval sig);
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int DESEncrypt(const uint8_t *key, int key_length,
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const uint8_t *plaintext, int plaintext_length,
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uint8_t **ciphertext)
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{
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JNIEnv *env;
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bool ready_in_java_env = false;
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int ciphertext_length = 0;
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*ciphertext = NULL;
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LOGD("JNI_DESEncrypt");
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if (sg_jvm->GetEnv((void **)&env, JNI_VERSION_1_6) != JNI_OK) {
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// Attach主线程
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if (sg_jvm->AttachCurrentThread(&env, NULL) != JNI_OK) {
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LOGE("%s: AttachCurrentThread() failed", __FUNCTION__);
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return 0;
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}
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} else {
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ready_in_java_env = true;
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}
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jclass cls = env->GetObjectClass(sg_obj);
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jmethodID fun = env->GetMethodID(cls, "javaDESEncrypt", "([B[B)[B");
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jbyteArray jni_key = env->NewByteArray(key_length);
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jbyteArray jni_plaintext = env->NewByteArray(plaintext_length);
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env->SetByteArrayRegion(jni_key, 0, key_length, (jbyte *) key);
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env->SetByteArrayRegion(jni_plaintext, 0, plaintext_length, (jbyte *) plaintext);
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jbyteArray jni_ciphertext = (jbyteArray) env->CallObjectMethod(sg_obj, fun, jni_plaintext, jni_key);
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if (jni_ciphertext != NULL) {
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ciphertext_length = env->GetArrayLength(jni_ciphertext);
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uint8_t *buffer = (uint8_t *)malloc(ciphertext_length);
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env->GetByteArrayRegion(jni_ciphertext, 0, ciphertext_length, (jbyte *) buffer);
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*ciphertext = buffer;
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}
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env->DeleteLocalRef(jni_key);
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env->DeleteLocalRef(jni_plaintext);
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env->DeleteLocalRef(cls);
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if (!ready_in_java_env) {
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//Detach主线程
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if (sg_jvm->DetachCurrentThread() != JNI_OK) {
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LOGE("%s: DetachCurrentThread() failed", __FUNCTION__);
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}
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}
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return ciphertext_length;
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}
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void TextOsd(int type, const char *text)
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{
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/* JNIEnv *env;
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bool ready_in_java_env = false;
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if (sg_jvm->GetEnv((void **)&env, JNI_VERSION_1_6) != JNI_OK) {
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// Attach主线程
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if (sg_jvm->AttachCurrentThread(&env, NULL) != JNI_OK) {
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LOGE("%s: AttachCurrentThread() failed", __FUNCTION__);
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return;
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}
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} else {
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ready_in_java_env = true;
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}
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jclass cls = env->GetObjectClass(sg_obj);
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jmethodID fun = env->GetMethodID(cls, "TextOsd", "(ILjava/lang/String;)V");
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std::string cstext = text;
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env->CallVoidMethod(sg_obj, fun, type, env->NewStringUTF(cstext.c_str()));
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env->DeleteLocalRef(cls);
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if (!ready_in_java_env) {
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//Detach主线程
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if (sg_jvm->DetachCurrentThread() != JNI_OK) {
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LOGE("%s: DetachCurrentThread() failed", __FUNCTION__);
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}
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}*/
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}
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void DrawScreen(const Polygon *map, const Polygon *car)
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{
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JNIEnv *env;
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bool ready_in_java_env = false;
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if (sg_jvm->GetEnv((void **)&env, JNI_VERSION_1_6) != JNI_OK) {
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// Attach主线程
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if (sg_jvm->AttachCurrentThread(&env, NULL) != JNI_OK) {
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LOGE("%s: AttachCurrentThread() failed", __FUNCTION__);
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return;
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}
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} else {
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ready_in_java_env = true;
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}
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jclass cls = env->GetObjectClass(sg_obj);
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jmethodID fun = env->GetMethodID(cls, "DrawMap", "([[D[[D)V");
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jclass doubleArrCls = env->FindClass("[D");
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jobjectArray retmap = env->NewObjectArray(map->num, doubleArrCls, NULL);
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jobjectArray retcar = env->NewObjectArray(car->num, doubleArrCls, NULL);
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for (int i = 0; i < map->num; ++i) {
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jdoubleArray doubleArr = env->NewDoubleArray(2);
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jdouble tmp[2] = {map->point[i].X, 0 - map->point[i].Y};
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env->SetDoubleArrayRegion(doubleArr, 0, 2, tmp);
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env->SetObjectArrayElement(retmap, i, doubleArr);
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env->DeleteLocalRef(doubleArr);
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}
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for (int i = 0; i < car->num; ++i) {
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jdoubleArray doubleArr = env->NewDoubleArray(2);
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jdouble tmp[2] = {car->point[i].X, 0 - car->point[i].Y};
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env->SetDoubleArrayRegion(doubleArr, 0, 2, tmp);
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env->SetObjectArrayElement(retcar, i, doubleArr);
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env->DeleteLocalRef(doubleArr);
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}
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env->CallVoidMethod(sg_obj, fun, retmap, retcar);
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env->DeleteLocalRef(retmap);
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env->DeleteLocalRef(retcar);
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env->DeleteLocalRef(cls);
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if (!ready_in_java_env) {
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//Detach主线程
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if (sg_jvm->DetachCurrentThread() != JNI_OK) {
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LOGE("%s: DetachCurrentThread() failed", __FUNCTION__);
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}
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}
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}
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void SendMsgToMainProc(int cmd, const char *value)
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{
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JNIEnv *env;
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bool ready_in_java_env = false;
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if (sg_jvm->GetEnv((void **)&env, JNI_VERSION_1_6) != JNI_OK) {
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// Attach主线程
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if (sg_jvm->AttachCurrentThread(&env, NULL) != JNI_OK) {
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LOGE("%s: AttachCurrentThread() failed", __FUNCTION__);
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return;
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}
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} else {
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ready_in_java_env = true;
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}
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jclass cls = env->GetObjectClass(sg_obj);
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jmethodID fun = env->GetMethodID(cls, "SendMsgToMainProc", "(ILjava/lang/String;)V");
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env->CallVoidMethod(sg_obj, fun, cmd, value != NULL ? env->NewStringUTF(value) : NULL);
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env->DeleteLocalRef(cls);
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if (!ready_in_java_env) {
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//Detach主线程
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if (sg_jvm->DetachCurrentThread() != JNI_OK) {
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LOGE("%s: DetachCurrentThread() failed", __FUNCTION__);
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}
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}
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}
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static int GetTtsSeq(void)
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{
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int seq = 0;
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pthread_mutex_lock(&tts_mutex);
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seq = ttsSeq++;
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pthread_mutex_unlock(&tts_mutex);
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return seq;
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}
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int PlayTTS(const char *string)
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{
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DEBUG("PlayTTS: %s", string);
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JNIEnv *env;
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bool ready_in_java_env = false;
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if (sg_jvm->GetEnv((void **)&env, JNI_VERSION_1_6) != JNI_OK) {
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// Attach主线程
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if (sg_jvm->AttachCurrentThread(&env, NULL) != JNI_OK) {
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LOGE("%s: AttachCurrentThread() failed", __FUNCTION__);
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return -1;
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}
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} else {
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ready_in_java_env = true;
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}
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jclass cls = env->GetObjectClass(sg_obj);
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jmethodID fun = env->GetMethodID(cls, "TextSpeak", "(Ljava/lang/String;I)V");
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int id = GetTtsSeq();
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env->CallVoidMethod(sg_obj, fun, env->NewStringUTF(string), id);
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env->DeleteLocalRef(cls);
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if (!ready_in_java_env) {
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//Detach主线程
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if (sg_jvm->DetachCurrentThread() != JNI_OK) {
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LOGE("%s: DetachCurrentThread() failed", __FUNCTION__);
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}
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}
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return id;
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}
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extern "C"
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JNIEXPORT void JNICALL
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Java_com_anyun_exam_lib_RemoteService_startNative(JNIEnv *env, jobject thiz) {
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// TODO: implement startNative()
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// 保存全局JVM以便在子线程中使用
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DEBUG("启动Native");
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env->GetJavaVM(&sg_jvm);
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// 不能直接赋值(g_obj = ojb)
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sg_obj = env->NewGlobalRef(thiz);
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srand(time(NULL));
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AppTimer_Init();
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ConfigMCU();
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DriverTestInit();
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ConfigRTKModule();
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MA_Init();
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InitPlatform(phone, RTK_PLATFORM_IP, RTK_PLATFORM_PORT);
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AppTimer_add(SendBootIndicate, D_SEC(1));
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InitVirtualDevice(VIRTUAL_RTK_IP, VIRTUAL_RTK_PORT);
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pthread_mutex_init(&tts_mutex, NULL);
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}
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static void SendBootIndicate(union sigval sig) {
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static int n = 0;
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AppTimer_delete(SendBootIndicate);
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MA_NdkStart();
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n++;
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if (n < 3) {
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AppTimer_add(SendBootIndicate, D_SEC(1));
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}
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}
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extern "C"
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JNIEXPORT void JNICALL
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Java_com_anyun_exam_lib_RemoteService_MainProcMsgEntry(JNIEnv *env, jobject thiz, jint cmd,
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jstring value) {
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// TODO: implement MainProcMsgEntry()
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if (value != NULL) {
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const char *str = env->GetStringUTFChars(value, 0);
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MA_MainProcMsgEntry(cmd, str);
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env->ReleaseStringUTFChars(value, str);
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} else {
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MA_MainProcMsgEntry(cmd, NULL);
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}
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}
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extern "C"
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JNIEXPORT void JNICALL
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Java_com_anyun_exam_lib_RemoteService_MainProcBinMsgEntry(JNIEnv *env, jobject thiz, jint cmd,
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jbyteArray data, jint length) {
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// TODO: implement MainProcBinMsgEntry()
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jbyte *c_dat = env->GetByteArrayElements(data, NULL);
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int len = env->GetArrayLength(data);
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MA_MainProcBinMsgEntry(cmd, (uint8_t *)c_dat, len);
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env->ReleaseByteArrayElements(data, c_dat, NULL);
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}
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extern "C"
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JNIEXPORT void JNICALL
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Java_com_anyun_exam_lib_RemoteService_TextSpeakEnd(JNIEnv *env, jobject thiz, jint id) {
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// TODO: implement TextSpeakEnd()
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PlatformStatusChanged(PLAY_TTS_DONE_EVT, (uint8_t *)&id, sizeof(id));
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}
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