96 lines
3.5 KiB
Plaintext
96 lines
3.5 KiB
Plaintext
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USING THE JAVA WRAPPER FOR ARIA
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-------------------------------
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A "wrapper" library for Java has been provided in the "java" directory.
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This wrapper layer provides a Java API which simply makes calls using JNI
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into the regular Aria or ArNetworking "native" library.
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To use the Aria Java wrapper you need to download a Java SDK.
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On Debian 3, Debian 5, and Windows, the Sun J2SE JDK
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1.6 (Java SE6) was used to build the wrapper. You can download it from:
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http://java.sun.com/javase/downloads
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Find the Java SE Development Kit 6 and click "Download". (Only the JDK
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is needed, ARIA does not need Java EE or any other extra Java technologies.)
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The JDK also includes the runtime environment (JRE) that allows you to run
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Java programs. If you only need the JRE, it can also
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be obtained from <http://java.sun.com>.
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On Ubuntu, Ubuntu's "default-jdk" package was installed and used to build
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the wrapper (which uses openjdk 6 on Ubuntu 12.04).
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In Windows you must then put Aria's 'bin' directory into your PATH environment
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variable so that Java can find the dlls needed to run the wrapper. (Environment
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variables are set in the System control panel. If you used the default
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installation location, add "C:\Program Files\MobileRobots\Aria\bin" to PATH.)
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(The java wrapper tries to load AriaJava.dll, which also requires AriaVC10.dll.)
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For an example you can start the simulator, then enter the javaExamples
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directory and compile the simple Java example by using this command:
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javac -classpath ../java/Aria.jar simple.java
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Then run it with this command in Windows:
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java -cp ../java/Aria.jar;. simple
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or this one in Linux:
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java -cp ../java/Aria.jar:. simple
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(The difference is the seperator in the class path: ';' vs ':'.)
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The Java wrapper is not as well tested as Aria itself. If you encounter
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problems using it, please notify the aria-users mailing list.
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You can use the C++ API documentation in 'docs', or you can use javadoc
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to generate a Java API reference based on the java source files in the 'java'
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directory.
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USING ARFUNCTOR IN JAVA
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-----------------------
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Since you can't have a "pointer" to a method in Java, to use ArFunctors,
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you must define a subclass of ArFunctor which overrides invoke(). For
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functors that take arguments, you can only use specially defined
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ArFunctor subclasses, see java/com/mobilerobots/Aria/ArFunctor_*.java.
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(More can be added by adding them to wrapper.i and rebuilding the wrapper
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using SWIG.)
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REBUILDING THE JAVA WRAPPER
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---------------------------
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If you want to rebuild the Java wrapper you need to install SWIG:
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See <http://www.swig.org/download.html> You should get at
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least version 1.3.29.
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You then need to set the environment variable JAVA_INCLUDE to the include
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directory in your Java SDK, and JAVA_BIN to the bin directory in your Java
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SDK.
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If you installed Sun Java on Linux in "/usr/local/jdk", use
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"/usr/local/jdk/bin" for JAVA_BIN and "/usr/local/jdk/include" for
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JAVA_INCLUDE.
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If you installed "default-jdk" on Ubuntu, then use
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"/usr/lib/jvm/default-java/bin" for JAVA_BIN and
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"/usr/lib/jvm/default-java/include" for JAVA_INCLUDE.
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On Windows, use "C:\Program Files\Java\jdk1.6.0_10\bin" for
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JAVA_BIN and "C:\Program Files\Java\jdk1.6.0_10\include" for JAVA_INCLUDE.
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In Linux, run 'make java' in the Aria directory.
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In Windows with Visual Studio 2010, open java/AriaJava-vc2010.sln, select
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Tools menu -> Options -> Projects -> VC++ Directories and add your SWIG
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directory. Select Release build configuration. Then build or rebuild the AriaJava
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project.
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