Fix write_command function signature

Author: ds58

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

@@ -4,7 +4,6 @@
 import us.ihmc.abilityhand.ble.SimpleBLE;
 import us.ihmc.abilityhand.ble.SimpleBLE.libsimpleble.size_t;
 import us.ihmc.abilityhand.ble.SimpleBLE.libsimpleble.uuid_t.ByValue;
-import us.ihmc.tools.nativelibraries.NativeLibraryDescription.OperatingSystem;
 
 import java.util.HashMap;
 import java.util.LinkedList;
@@ -67,14 +66,7 @@ private void consume() throws InterruptedException
          ByValue characteristicID = new ByValue();
          writeUUID(characteristicID, BLEUUID.ABILITY_HAND_TX_CHARACTERISTIC_ID);
 
-         if (SimpleBLE.getOS() == OperatingSystem.WIN64)
-         {
-            simpleBLE.writeRequest(handPeripheralPointer, serviceID, characteristicID, data, dataLength);
-         }
-         else if (SimpleBLE.getOS() == OperatingSystem.LINUX64)
-         {
-            simpleBLE.writeCommand(handPeripheralPointer, data, dataLength, serviceID, characteristicID);
-         }
+         simpleBLE.writeCommand(handPeripheralPointer, serviceID, characteristicID, data, dataLength);
       }
 
       lock.unlock();

src/main/java/us/ihmc/abilityhand/ble/SimpleBLE.java

@@ -97,9 +97,9 @@ public interface libsimpleble extends Library
 
       boolean simpleble_peripheral_connect(Pointer handle);
 
-      boolean simpleble_peripheral_write_command(Pointer handle, byte[] data, size_t length, uuid_t.ByValue service, uuid_t.ByValue characteristic);
+      boolean simpleble_peripheral_write_command(Pointer handle, uuid_t.ByValue service, uuid_t.ByValue characteristic, byte[] data, size_t length);
 
-      boolean simpleble_peripheral_write_request(Pointer handle, uuid_t service, uuid_t characteristic, byte[] data, size_t length);
+      boolean simpleble_peripheral_write_request(Pointer handle, uuid_t.ByValue service, uuid_t.ByValue characteristic, byte[] data, size_t length);
 
       boolean simpleble_peripheral_services_get(Pointer handle, int index, service_t services);
 
@@ -286,17 +286,17 @@ public boolean connectToPeripheral(Pointer peripheralHandle)
    }
 
    public boolean writeCommand(Pointer peripheralHandle,
-                               byte[] data,
-                               libsimpleble.size_t length,
                                libsimpleble.uuid_t.ByValue serviceUuid,
-                               libsimpleble.uuid_t.ByValue characteristicUuid)
+                               libsimpleble.uuid_t.ByValue characteristicUuid,
+                               byte[] data,
+                               libsimpleble.size_t length)
    {
-      return libsimpleble.INSTANCE.simpleble_peripheral_write_command(peripheralHandle, data, length, serviceUuid, characteristicUuid);
+      return libsimpleble.INSTANCE.simpleble_peripheral_write_command(peripheralHandle, serviceUuid, characteristicUuid, data, length);
    }
 
    public boolean writeRequest(Pointer peripheralHandle,
-                               libsimpleble.uuid_t serviceUuid,
-                               libsimpleble.uuid_t characteristicUuid,
+                               libsimpleble.uuid_t.ByValue serviceUuid,
+                               libsimpleble.uuid_t.ByValue characteristicUuid,
                                byte[] data,
                                libsimpleble.size_t length)
    {