Integrated xyRobot libSerial fixes.

CubeControl/libSerial/makefile

@@ -16,7 +16,7 @@ UNAME := $(shell uname -s)
 ifeq ($(UNAME),Darwin)
 HEADERPATH = /System/Library/Frameworks/JavaVM.framework/Headers
 else 
-HEADERPATH = /usr/lib/jvm/java-6-openjdk/include
+HEADERPATH = /usr/lib/jvm/java-6-openjdk/include -I/usr/lib/jvm/java-6-openjdk/include/linux
 endif
 endif
 endif
@@ -46,7 +46,7 @@ libSerial.jnilib: serialHelper.c unixSerial.c serialInterface.h
 
 libSerial.so: serialHelper.c unixSerial.c serialInterface.h
 	$(CC) -x c -std=$(STANDARD) -I$(HEADERPATH) -c serialHelper.c -o serialHelper.o
-	$(CC) -dynamiclib -o libSerial.so serialHelper.o
+	$(CC) -shared -o libSerial.so serialHelper.o
 
 Serial.dll: serialHelper.c winSerial.c serialInterface.h
 	$(CC) -x c -std=$(STANDARD) -DBUILDINGDLL -I$(HEADERPATH) -c serialHelper.c -o serialHelper.o -D winHelper

CubeControl/libSerial/serialHelper.c

@@ -21,6 +21,7 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <jni.h>
+#include <time.h>
 #include "serialInterface.h"
 
 #ifdef winHelper
@@ -80,11 +81,13 @@ JNIEXPORT jstring JNICALL Java_HelperUtility_getThePorts(JNIEnv *env, jclass cla
 JNIEXPORT jshortArray JNICALL Java_HelperUtility_readDataNative(JNIEnv *env, jclass class, jint length) {
 	jshortArray arr = (*env)->NewShortArray(env, length);
 	int toBeRead = 0, read, i, error = 0;
-	char *data = (char *)malloc(length * sizeof(char));
+	unsigned char *data = (char *)malloc(length * sizeof(char));
 	jshort *data2 = (jshort *)malloc(length * sizeof(jshort));
+	time_t startTime = time(NULL);
+	time_t diff = (length / 3000) + 1;
 
 	while (length > 0) {
-		read = serialRead(data + toBeRead, length);
+		read = serialRead((char *)data + toBeRead, length);
 		if (read == -1) {
 			error++;
 			if (error > 10) {
@@ -94,6 +97,9 @@ JNIEXPORT jshortArray JNICALL Java_HelperUtility_readDataNative(JNIEnv *env, jcl
 			toBeRead += read;
 			length -= read;
 		}
+		if (difftime(time(NULL), startTime) > diff) {
+			return NULL;
+		}
 	}
 
 	for (i = 0; i < (*env)->GetArrayLength(env, arr); i++) {

CubeControl/libSerial/unixSerial.c

@@ -1,5 +1,4 @@
 /*
- *
  * unixSerial.c
  *
  * POSIX compatible serial port library
@@ -118,26 +117,42 @@ char** namesInDev(int *siz) {
 	files = (char **)malloc((size + 1) * sizeof(char *));
 	files[size++] = NULL;
 	closedir(dir);
+
+	// printf("JNI: Counted files in /dev/: %d\n", size);
+
 	dir = opendir("/dev/");
 	while ((ent = readdir(dir)) != NULL) {
+		if (i == (size - 1)) {
+			break;
+		}
 		files[i] = (char *)malloc((strlen(ent->d_name) + 1) * sizeof(char));
 		files[i] = strcpy(files[i], ent->d_name);
 		i++;
 	}
 	closedir(dir);
 
+	// printf("JNI: Got names...\n");
+
 	char *tmp = NULL;
-	// Fix every string, addin /dev/ in front of it...
+	// Fix every string, add /dev/ in front of it...
 	for (i = 0; i < (size - 1); i++) {
+		// printf("JNI: (%d)Allocating %d\n", i, strlen(files[i]) + 6);
 		tmp = (char *)malloc((strlen(files[i]) + 6) * sizeof(char));
+		if (tmp == NULL) {
+			printf("JNI: Ran out of memory!\n");
+			exit(1);
+		}
 		tmp[0] = '/';
 		tmp[1] = 'd';
 		tmp[2] = 'e';
 		tmp[3] = 'v';
 		tmp[4] = '/';
+		tmp[5] = '\0';
 		files[i] = strncat(tmp, files[i], strlen(files[i]));
 	}
 
+	// printf("JNI: Paths fixed!\n");
+
 	*siz = size;
 	return files;
 }

CubeControl/libSerial/winSerial.c

@@ -1,5 +1,4 @@
 /*
- *
  * winSerial.c
  *
  * Windows 16 (& 32 & 64?) compatible serial port library

CubeFirmware/cube.c

@@ -146,10 +146,10 @@ void setImage(uint8_t *img) {
 		for (i = 0; i < 8; i++) {
 			for (j = 0; j < 8; j++) {
 				// First line uses the lookUp Table to account for our wrong connection
-				// imgBuffer[j][7 - i] = ~(pgm_read_byte(&(lookUp[img[j + (i * 8)]])));
+				imgBuffer[j][7 - i] = ~(pgm_read_byte(&(lookUp[img[j + (i * 8)]])));
 
 				// This line is simply displaying the data, for correct connections
-				imgBuffer[j][i] = ~(img[j + (i * 8)]);
+				// imgBuffer[j][i] = ~(img[j + (i * 8)]);
 
 				// Uncomment the desired line, comment the other...
 			}