Support Multiple Hands

cppbuild.bash

@@ -8,7 +8,7 @@ cd cppbuild
 
 # Clone the ability-hand-api repo, if it's not already here
 if [ ! -d ability-hand-api ]; then
-  git clone -b split-read-write-v2 https://github.com/ihmcrobotics/ability-hand-api.git ability-hand-api
+  git clone -b multi-hand-support https://github.com/ihmcrobotics/ability-hand-api.git ability-hand-api
 fi
 
 cd ability-hand-api/cpp

src/main/java/us/ihmc/abilityhand/AbilityHandJavaAPIConfig.java

@@ -13,6 +13,14 @@
             link = "ability_hand_api",
             linkpath = "install/lib",
             preload = "jniabilityhand"
+      ),
+      @Platform(
+            value = "linux",
+            define = "PLATFORM_LINUX"
+      ),
+      @Platform(
+            value = "windows",
+            define = "PLATFORM_WINDOWS"
       )},
       target = "us.ihmc.abilityhand",
       global = "us.ihmc.abilityhand.global.abilityhand"
@@ -27,6 +35,7 @@ public void map(InfoMap infoMap)
              .put(new Info("std::array<uint16_t,30>").pointerTypes("UInt16Array30").define())
              // Hand field of AHWrapper is read-only. Code adapted from here:
              // https://github.com/bytedeco/javacpp/wiki/Mapping-Recipes#mapping-a-declaration-to-custom-code
-             .put(new Info("AHWrapper::hand").javaText("public native @MemberGetter @Const @ByRef Hand hand();"));
+             .put(new Info("AHWrapper::hand").javaText("public native @MemberGetter @Const @ByRef Hand hand();"))
+             .put(new Info("AHSerial").skip());
    }
 }

src/main/java/us/ihmc/abilityhand/global/abilityhand.java

@@ -40,6 +40,7 @@ public class abilityhand extends us.ihmc.abilityhand.AbilityHandJavaAPIConfig {
 
 
 
+
 // Parsed from hand.h
 
 // #pragma once