com.qualcomm.hardware.lynx

Class LynxController

java.lang.Object

com.qualcomm.hardware.lynx.LynxCommExceptionHandler

com.qualcomm.hardware.lynx.LynxController

All Implemented Interfaces:

Engagable, HardwareDevice, HardwareDeviceHealth, RobotArmingStateNotifier, RobotArmingStateNotifier.Callback

Direct Known Subclasses:

LynxAnalogInputController, LynxDcMotorController, LynxDigitalChannelController, LynxI2cDeviceSynch, LynxPwmOutputController, LynxServoController, LynxVoltageSensor

public abstract class LynxController
extends LynxCommExceptionHandler
implements Engagable, HardwareDevice, HardwareDeviceHealth, RobotArmingStateNotifier.Callback, RobotArmingStateNotifier

Created by bob on 2016-03-07.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	LynxController.PretendLynxModule

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDeviceHealth

HardwareDeviceHealth.HealthStatus

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.usb.RobotArmingStateNotifier

RobotArmingStateNotifier.ARMINGSTATE, RobotArmingStateNotifier.Callback

Field Summary

Fields

Modifier and Type	Field and Description
protected Context	context
protected HardwareDeviceHealthImpl	hardwareDeviceHealth
protected boolean	isEngaged
protected boolean	isHardwareInitialized
protected boolean	isHooked
protected WeakReferenceSet<RobotArmingStateNotifier.Callback>	registeredCallbacks

Fields inherited from class com.qualcomm.hardware.lynx.LynxCommExceptionHandler

tag

Constructor Summary

Constructors

Constructor and Description
LynxController(Context context, LynxModule module)

Method Summary

Modifier and Type	Method and Description
protected void	adjustHookingToMatchEngagement()
void	close() Closes this device
void	disengage() Disengage the object from underlying services it uses to render its function.
protected void	doHook()
protected void	doUnhook()
void	engage() (Re)enage the object with its underlying services.
protected void	finishConstruction()
protected void	floatHardware()
void	forgetLastKnown()
RobotArmingStateNotifier.ARMINGSTATE	getArmingState() Returns the current arming state of the object.
java.lang.String	getConnectionInfo() Get connection information about this device in a human readable format
abstract java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
HardwareDeviceHealth.HealthStatus	getHealthStatus()
protected java.util.concurrent.Callable<HardwareDeviceHealth.HealthStatus>	getHealthStatusOverride()
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
protected LynxModuleIntf	getModule()
SerialNumber	getSerialNumber() Returns the serial number of this USB module
protected abstract java.lang.String	getTag()
int	getVersion() Version
protected void	hook()
protected void	initializeHardware()
protected boolean	isArmed()
boolean	isEngaged() Returns whether the object is currently in the engaged state.
protected void	moduleNowArmedOrPretending()
protected void	moduleNowDisarmed()
void	onModuleStateChange(RobotArmingStateNotifier module, RobotArmingStateNotifier.ARMINGSTATE state) Notifies the callback that a module with which it has registered for notifications has undergone a change of state.
void	registerCallback(RobotArmingStateNotifier.Callback callback, boolean doInitialCallback) Registers a callback for arming state notifications from this module.
void	resetDeviceConfigurationForOpMode() Resets the device's configuration to that which is expected at the beginning of an OpMode.
void	setHealthStatus(HardwareDeviceHealth.HealthStatus status)
protected void	setHealthyIfArmed()
protected void	unhook()
void	unregisterCallback(RobotArmingStateNotifier.Callback callback) Unregister a callback which has been registered for notifications with this module.

Methods inherited from class com.qualcomm.hardware.lynx.LynxCommExceptionHandler

handleException, handleSpecificException, handleSpecificException, handleSpecificException, handleSpecificException

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

context

protected Context context

isHardwareInitialized

protected boolean isHardwareInitialized

isEngaged

protected boolean isEngaged

isHooked

protected boolean isHooked

registeredCallbacks

protected final WeakReferenceSet<RobotArmingStateNotifier.Callback> registeredCallbacks

hardwareDeviceHealth

protected final HardwareDeviceHealthImpl hardwareDeviceHealth

Constructor Detail

LynxController

public LynxController(Context context,
                      LynxModule module)

Method Detail

getTag

protected abstract java.lang.String getTag()

Overrides:

getTag in class LynxCommExceptionHandler

finishConstruction

protected void finishConstruction()

onModuleStateChange

public void onModuleStateChange(RobotArmingStateNotifier module,
                                RobotArmingStateNotifier.ARMINGSTATE state)

Description copied from interface: RobotArmingStateNotifier.Callback

Notifies the callback that a module with which it has registered for notifications has undergone a change of state.

Specified by:

onModuleStateChange in interface RobotArmingStateNotifier.Callback

Parameters:

module - the module whose state has changed

state - the state into which that module has transitioned

See Also:

#registerCallback(Callback)

moduleNowArmedOrPretending

protected void moduleNowArmedOrPretending()

moduleNowDisarmed

protected void moduleNowDisarmed()

getSerialNumber

public SerialNumber getSerialNumber()

Description copied from interface: RobotArmingStateNotifier

Returns the serial number of this USB module

Specified by:

getSerialNumber in interface RobotArmingStateNotifier

Returns:

the serial number of this USB module

getArmingState

public RobotArmingStateNotifier.ARMINGSTATE getArmingState()

Description copied from interface: RobotArmingStateNotifier

Returns the current arming state of the object.

Specified by:

getArmingState in interface RobotArmingStateNotifier

Returns:

the current arming state of the object

registerCallback

public void registerCallback(RobotArmingStateNotifier.Callback callback,
                             boolean doInitialCallback)

Description copied from interface: RobotArmingStateNotifier

Registers a callback for arming state notifications from this module. If this callback is already registered for notifications from this module, this method has no effect. Note that multiple callbacks may be simultaneously registered with a given one module: they all receive state-change notifications, in an arbitrary order.

Specified by:

registerCallback in interface RobotArmingStateNotifier

See Also:

RobotArmingStateNotifier.unregisterCallback(Callback)

unregisterCallback

public void unregisterCallback(RobotArmingStateNotifier.Callback callback)

Description copied from interface: RobotArmingStateNotifier

Unregister a callback which has been registered for notifications with this module. If the callback was not previously registered, this method has no effect.

Specified by:

unregisterCallback in interface RobotArmingStateNotifier

See Also:

RobotArmingStateNotifier.registerCallback(Callback, boolean)

getManufacturer

public HardwareDevice.Manufacturer getManufacturer()

Description copied from interface: HardwareDevice

Returns an indication of the manufacturer of this device.

Specified by:

getManufacturer in interface HardwareDevice

Returns:

the device's manufacturer

close

public void close()

Description copied from interface: HardwareDevice

Closes this device

Specified by:

close in interface HardwareDevice

getConnectionInfo

public java.lang.String getConnectionInfo()

Description copied from interface: HardwareDevice

Get connection information about this device in a human readable format

Specified by:

getConnectionInfo in interface HardwareDevice

Returns:

connection info

getVersion

public int getVersion()

Description copied from interface: HardwareDevice

Version

Specified by:

getVersion in interface HardwareDevice

Returns:

get the version of this device

getDeviceName

public abstract java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Returns a string suitable for display to the user as to the type of device. Note that this is a device-type-specific name; it has nothing to do with the name by which a user might have configured the device in a robot configuration.

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

Description copied from interface: HardwareDevice

Resets the device's configuration to that which is expected at the beginning of an OpMode. For example, motors will reset the their direction to 'forward'.

Specified by:

resetDeviceConfigurationForOpMode in interface HardwareDevice

initializeHardware

protected void initializeHardware()
                           throws RobotCoreException,
                                  java.lang.InterruptedException

Throws:

RobotCoreException

java.lang.InterruptedException

floatHardware

protected void floatHardware()

forgetLastKnown

public void forgetLastKnown()

setHealthyIfArmed

protected void setHealthyIfArmed()

setHealthStatus

public void setHealthStatus(HardwareDeviceHealth.HealthStatus status)

Specified by:

setHealthStatus in interface HardwareDeviceHealth

getHealthStatusOverride

protected java.util.concurrent.Callable<HardwareDeviceHealth.HealthStatus> getHealthStatusOverride()

getHealthStatus

public HardwareDeviceHealth.HealthStatus getHealthStatus()

Specified by:

getHealthStatus in interface HardwareDeviceHealth

engage

public void engage()

Description copied from interface: Engagable

(Re)enage the object with its underlying services. If the object is presently engaged, this method has no effect.

Specified by:

engage in interface Engagable

disengage

public void disengage()

Description copied from interface: Engagable

Disengage the object from underlying services it uses to render its function. If the object is presently disenaged, this method has no effect.

Specified by:

disengage in interface Engagable

isEngaged

public boolean isEngaged()

Description copied from interface: Engagable

Returns whether the object is currently in the engaged state.

Specified by:

isEngaged in interface Engagable

Returns:

whether the object is currently in the engaged state.

getModule

protected LynxModuleIntf getModule()

adjustHookingToMatchEngagement

protected void adjustHookingToMatchEngagement()

hook

protected void hook()

unhook

protected void unhook()

doHook

protected void doHook()

doUnhook

protected void doUnhook()

isArmed

protected boolean isArmed()