com.qualcomm.hardware.lynx

Class LynxUsbDeviceImpl

java.lang.Object

ArmableUsbDevice

com.qualcomm.hardware.lynx.LynxUsbDeviceImpl

All Implemented Interfaces:

LynxUsbDevice, Engagable, HardwareDevice, RobotCoreLynxUsbDevice, RobotArmingStateNotifier, RobotUsbModule, GlobalWarningSource

public class LynxUsbDeviceImpl
extends ArmableUsbDevice
implements LynxUsbDevice

LynxUsbDeviceImpl controls the USB communication to one or more Lynx Modules. It polls for incoming traffic and sorts same according to the module address involved.

Nested Class Summary

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

RobotArmingStateNotifier.ARMINGSTATE, RobotArmingStateNotifier.Callback

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

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
protected static int	cbusBothAsserted
protected static int	cbusMask
protected static int	cbusNeitherAsserted
protected static int	cbusNProg
protected static int	cbusNReset
protected static int	cbusProgAsserted
protected static int	cbusResetAsserted
static boolean	DEBUG_LOG_DATAGRAMS
static boolean	DEBUG_LOG_DATAGRAMS_FINISH
static boolean	DEBUG_LOG_DATAGRAMS_LOCK
static boolean	DEBUG_LOG_MESSAGES
protected java.util.concurrent.ConcurrentHashMap<java.lang.Integer,LynxModuleMeta>	discoveredModules
protected java.lang.Object	engageLock
protected static LynxCommExceptionHandler	exceptionHandler
protected static WeakReferenceSet<LynxUsbDeviceImpl>	extantDevices
protected boolean	hasShutdownAbnormally
protected java.util.concurrent.ExecutorService	incomingDatagramPoller
protected boolean	isEngaged
protected boolean	isSystemSynthetic
protected java.util.concurrent.ConcurrentHashMap<java.lang.Integer,LynxModule>	knownModules
protected java.util.concurrent.ConcurrentHashMap<java.lang.Integer,LynxModule>	knownModulesChanging
protected java.util.concurrent.ConcurrentHashMap<java.lang.Integer,java.lang.String>	missingModules
protected static int	msCbusWiggle
protected static int	msNetworkTransmissionLockAcquisitionTimeMax
protected static int	msResetRecovery
protected MessageKeyedLock	networkTransmissionLock
protected static long	randSeed
protected boolean	resetAttempted
protected static java.lang.String	SEPARATOR
static java.lang.String	TAG
protected boolean	wasPollingWhenEngaged

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	LynxUsbDeviceImpl(Context context, SerialNumber serialNumber, SyncdDevice.Manager manager, com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice.OpenRobotUsbDevice openRobotUsbDevice) Use findOrCreateAndArm(Context, com.qualcomm.robotcore.util.SerialNumber, SyncdDevice.Manager, com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice.OpenRobotUsbDevice) instead

Method Summary

Modifier and Type	Method and Description
protected void	abandonUnfinishedCommands()
protected static RobotUsbDeviceFtdi	accessCBus(RobotUsbDevice robotUsbDevice) A simple, cursory test to see whether we can get access to the cbus FTDI functionality.
void	acquireNetworkTransmissionLock(LynxMessage message)
void	addConfiguredModule(LynxModule module)
protected void	armDevice(RobotUsbDevice device)
void	changeModuleAddress(LynxModule module, int newAddress, java.lang.Runnable runnable)
protected void	closeModules()
protected java.lang.String	composeGlobalWarning() For lynx modules, in addition to reporting arming issues, we also need to report any issues having to do with configured modules which are absent.
protected void	disarmDevice()
LynxModuleMetaList	discoverModules() Discover all the lynx modules that are accessible through this Lynx USB device.
void	disengage() Disengage the object from underlying services it uses to render its function.
protected void	doClose()
protected void	doCloseFromArmed()
protected void	doCloseFromOther()
protected void	doPretend()
void	engage() (Re)enage the object with its underlying services.
static boolean	enterFirmwareUpdateModeControlHub() If we are a Control Hub, then this causes the combo-Lynx to enter firmware update * mode.
static boolean	enterFirmwareUpdateModeUSB(RobotUsbDevice robotUsbDevice) If we are a USB-attached Lynx, then cause us to enter firmware update mode
void	failSafe()
protected LynxModule	findKnownModule(int moduleAddress)
static LynxUsbDevice	findOrCreateAndArm(Context context, SerialNumber serialNumber, SyncdDevice.Manager manager, com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice.OpenRobotUsbDevice openRobotUsbDevice) Either finds an already-open device with the indicated serial number and returns same, as-is, or creates a new device and arms or pretends it, as the case may be.
java.util.List<java.lang.String>	getAllModuleFirmwareVersions() getAllModuleFirmwareVersions
LynxModule	getConfiguredModule(int moduleAddress)
java.lang.String	getConnectionInfo() Get connection information about this device in a human readable format
LynxUsbDeviceImpl	getDelegationTarget()
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
protected java.util.Collection<LynxModule>	getKnownModules()
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
RobotUsbModule	getOwner()
ShutdownReason	getShutdownReason()
protected java.lang.String	getTag()
int	getVersion() Version
protected boolean	hasShutdownAbnormally()
boolean	isEngaged() Returns whether the object is currently in the engaged state.
boolean	isSystemSynthetic()
void	lockNetworkLockAcquisitions()
void	noteMissingModule(LynxModule module, java.lang.String moduleName)
protected void	onLynxDiscoveryResponseReceived(LynxDatagram datagram)
protected void	pingAndQueryKnownInterfaces()
protected void	pretendFinishExtantCommands()
void	releaseNetworkTransmissionLock(LynxMessage message)
void	removeConfiguredModule(LynxModule module)
static void	resetDevice(RobotUsbDevice robotUsbDevice) Issues a hardware reset to the lynx module.
void	resetDeviceConfigurationForOpMode() Resets the device's configuration to that which is expected at the beginning of an OpMode.
protected void	resetNetworkTransmissionLock()
boolean	setControlHubModuleAddressIfNecessary() Checks if the Control Hub has a module with an address of LynxConstants.CH_EMBEDDED_MODULE_ADDRESS, and sets the Control Hub's embedded parent module address to such if necessary.
void	setOwner(RobotUsbModule owner)
void	setSystemSynthetic(boolean systemSynthetic)
void	setThrowOnNetworkLockAcquisition(boolean shouldThrow)
protected void	shutdownAbnormally()
protected void	startPollingForIncomingDatagrams()
protected void	startRegularPinging()
protected boolean	stopPollingForIncomingDatagrams()
void	transmit(LynxMessage message)

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.qualcomm.hardware.lynx.LynxUsbDevice

getRobotUsbDevice

Methods inherited from interface com.qualcomm.robotcore.hardware.usb.RobotUsbModule

arm, armOrPretend, close, disarm, pretend

Methods inherited from interface com.qualcomm.robotcore.hardware.usb.RobotArmingStateNotifier

getArmingState, getSerialNumber, registerCallback, unregisterCallback

Methods inherited from interface com.qualcomm.robotcore.util.GlobalWarningSource

clearGlobalWarning, getGlobalWarning, setGlobalWarning, suppressGlobalWarning

Methods inherited from interface com.qualcomm.robotcore.hardware.RobotCoreLynxUsbDevice

close

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close

Field Detail

TAG

public static final java.lang.String TAG

See Also:

Constant Field Values

DEBUG_LOG_MESSAGES

public static boolean DEBUG_LOG_MESSAGES

DEBUG_LOG_DATAGRAMS

public static boolean DEBUG_LOG_DATAGRAMS

DEBUG_LOG_DATAGRAMS_FINISH

public static boolean DEBUG_LOG_DATAGRAMS_FINISH

DEBUG_LOG_DATAGRAMS_LOCK

public static boolean DEBUG_LOG_DATAGRAMS_LOCK

randSeed

protected static long randSeed

extantDevices

protected static final WeakReferenceSet<LynxUsbDeviceImpl> extantDevices

exceptionHandler

protected static final LynxCommExceptionHandler exceptionHandler

knownModules

protected final java.util.concurrent.ConcurrentHashMap<java.lang.Integer,LynxModule> knownModules

knownModulesChanging

protected final java.util.concurrent.ConcurrentHashMap<java.lang.Integer,LynxModule> knownModulesChanging

discoveredModules

protected final java.util.concurrent.ConcurrentHashMap<java.lang.Integer,LynxModuleMeta> discoveredModules

missingModules

protected final java.util.concurrent.ConcurrentHashMap<java.lang.Integer,java.lang.String> missingModules

networkTransmissionLock

protected final MessageKeyedLock networkTransmissionLock

incomingDatagramPoller

protected java.util.concurrent.ExecutorService incomingDatagramPoller

resetAttempted

protected boolean resetAttempted

hasShutdownAbnormally

protected boolean hasShutdownAbnormally

isSystemSynthetic

protected boolean isSystemSynthetic

isEngaged

protected boolean isEngaged

wasPollingWhenEngaged

protected boolean wasPollingWhenEngaged

engageLock

protected final java.lang.Object engageLock

cbusNReset

protected static final int cbusNReset

See Also:

Constant Field Values

cbusNProg

protected static final int cbusNProg

See Also:

Constant Field Values

cbusMask

protected static final int cbusMask

See Also:

Constant Field Values

cbusNeitherAsserted

protected static final int cbusNeitherAsserted

See Also:

Constant Field Values

cbusBothAsserted

protected static final int cbusBothAsserted

See Also:

Constant Field Values

cbusProgAsserted

protected static final int cbusProgAsserted

See Also:

Constant Field Values

cbusResetAsserted

protected static final int cbusResetAsserted

See Also:

Constant Field Values

msNetworkTransmissionLockAcquisitionTimeMax

protected static final int msNetworkTransmissionLockAcquisitionTimeMax

See Also:

Constant Field Values

msCbusWiggle

protected static final int msCbusWiggle

See Also:

Constant Field Values

msResetRecovery

protected static final int msResetRecovery

See Also:

Constant Field Values

SEPARATOR

protected static final java.lang.String SEPARATOR

See Also:

Constant Field Values

Constructor Detail

LynxUsbDeviceImpl

protected LynxUsbDeviceImpl(Context context,
                            SerialNumber serialNumber,
                            SyncdDevice.Manager manager,
                            com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice.OpenRobotUsbDevice openRobotUsbDevice)

Use findOrCreateAndArm(Context, com.qualcomm.robotcore.util.SerialNumber, SyncdDevice.Manager, com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice.OpenRobotUsbDevice) instead

Method Detail

getTag

protected java.lang.String getTag()

findOrCreateAndArm

public static LynxUsbDevice findOrCreateAndArm(Context context,
                                               SerialNumber serialNumber,
                                               SyncdDevice.Manager manager,
                                               com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice.OpenRobotUsbDevice openRobotUsbDevice)
                                        throws RobotCoreException,
                                               java.lang.InterruptedException

Either finds an already-open device with the indicated serial number and returns same, as-is, or creates a new device and arms or pretends it, as the case may be. We wrap with delegates so that we can do reference counting (allowing multiple opens of the same device) while at the same time maintaining the semantic that close() must be idempotent on a given instance.

Throws:

RobotCoreException

java.lang.InterruptedException

getDelegationTarget

public LynxUsbDeviceImpl getDelegationTarget()

Specified by:

getDelegationTarget in interface LynxUsbDevice

isSystemSynthetic

public boolean isSystemSynthetic()

Specified by:

isSystemSynthetic in interface LynxUsbDevice

setSystemSynthetic

public void setSystemSynthetic(boolean systemSynthetic)

Specified by:

setSystemSynthetic in interface LynxUsbDevice

doClose

protected void doClose()

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

getDeviceName

public 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

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

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

getVersion

public int getVersion()

Description copied from interface: HardwareDevice

Version

Specified by:

getVersion in interface HardwareDevice

Returns:

get the version of this device

getShutdownReason

public ShutdownReason getShutdownReason()

hasShutdownAbnormally

protected boolean hasShutdownAbnormally()

setOwner

public void setOwner(RobotUsbModule owner)

getOwner

public RobotUsbModule getOwner()

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.

doPretend

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

Throws:

RobotCoreException

java.lang.InterruptedException

armDevice

protected void armDevice(RobotUsbDevice device)
                  throws RobotCoreException,
                         java.lang.InterruptedException

Throws:

RobotCoreException

java.lang.InterruptedException

disarmDevice

protected void disarmDevice()
                     throws java.lang.InterruptedException

Throws:

java.lang.InterruptedException

doCloseFromArmed

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

Throws:

RobotCoreException

java.lang.InterruptedException

doCloseFromOther

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

Throws:

RobotCoreException

java.lang.InterruptedException

closeModules

protected void closeModules()

failSafe

public void failSafe()

Specified by:

failSafe in interface LynxUsbDevice

Specified by:

failSafe in interface RobotCoreLynxUsbDevice

getKnownModules

protected java.util.Collection<LynxModule> getKnownModules()

findKnownModule

protected LynxModule findKnownModule(int moduleAddress)

getAllModuleFirmwareVersions

public java.util.List<java.lang.String> getAllModuleFirmwareVersions()

getAllModuleFirmwareVersions

Returns:

A list of firmware versions for all known modules in the form of "id / version"

changeModuleAddress

public void changeModuleAddress(LynxModule module,
                                int newAddress,
                                java.lang.Runnable runnable)

Specified by:

changeModuleAddress in interface LynxUsbDevice

noteMissingModule

public void noteMissingModule(LynxModule module,
                              java.lang.String moduleName)

Specified by:

noteMissingModule in interface LynxUsbDevice

composeGlobalWarning

protected java.lang.String composeGlobalWarning()

For lynx modules, in addition to reporting arming issues, we also need to report any issues having to do with configured modules which are absent. However, we avoid being *too* verbose, choosing instead to prioritize our messages.

addConfiguredModule

public void addConfiguredModule(LynxModule module)
                         throws RobotCoreException,
                                java.lang.InterruptedException,
                                LynxNackException

Specified by:

addConfiguredModule in interface LynxUsbDevice

Throws:

RobotCoreException

java.lang.InterruptedException

LynxNackException

getConfiguredModule

public LynxModule getConfiguredModule(int moduleAddress)

Specified by:

getConfiguredModule in interface LynxUsbDevice

removeConfiguredModule

public void removeConfiguredModule(LynxModule module)

Specified by:

removeConfiguredModule in interface LynxUsbDevice

discoverModules

public LynxModuleMetaList discoverModules()
                                   throws RobotCoreException,
                                          java.lang.InterruptedException

Discover all the lynx modules that are accessible through this Lynx USB device. One of these will be the 'parent', which is the one directly USB connected. The others are accessible over the RS485 bus.

Specified by:

discoverModules in interface LynxUsbDevice

Specified by:

discoverModules in interface RobotCoreLynxUsbDevice

Throws:

RobotCoreException

java.lang.InterruptedException

setControlHubModuleAddressIfNecessary

public boolean setControlHubModuleAddressIfNecessary()
                                              throws java.lang.InterruptedException,
                                                     RobotCoreException

Checks if the Control Hub has a module with an address of LynxConstants.CH_EMBEDDED_MODULE_ADDRESS, and sets the Control Hub's embedded parent module address to such if necessary.

Specified by:

setControlHubModuleAddressIfNecessary in interface LynxUsbDevice

Returns:

true if the Control Hub's embedded parent module address was changed

Throws:

java.lang.InterruptedException

RobotCoreException

onLynxDiscoveryResponseReceived

protected void onLynxDiscoveryResponseReceived(LynxDatagram datagram)

pingAndQueryKnownInterfaces

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

Throws:

RobotCoreException

java.lang.InterruptedException

lockNetworkLockAcquisitions

public void lockNetworkLockAcquisitions()

Specified by:

lockNetworkLockAcquisitions in interface RobotCoreLynxUsbDevice

setThrowOnNetworkLockAcquisition

public void setThrowOnNetworkLockAcquisition(boolean shouldThrow)

Specified by:

setThrowOnNetworkLockAcquisition in interface RobotCoreLynxUsbDevice

resetNetworkTransmissionLock

protected void resetNetworkTransmissionLock()
                                     throws java.lang.InterruptedException

Throws:

java.lang.InterruptedException

acquireNetworkTransmissionLock

public void acquireNetworkTransmissionLock(LynxMessage message)
                                    throws java.lang.InterruptedException

Specified by:

acquireNetworkTransmissionLock in interface LynxUsbDevice

Throws:

java.lang.InterruptedException

releaseNetworkTransmissionLock

public void releaseNetworkTransmissionLock(LynxMessage message)
                                    throws java.lang.InterruptedException

Specified by:

releaseNetworkTransmissionLock in interface LynxUsbDevice

Throws:

java.lang.InterruptedException

startPollingForIncomingDatagrams

protected void startPollingForIncomingDatagrams()

stopPollingForIncomingDatagrams

protected boolean stopPollingForIncomingDatagrams()

startRegularPinging

protected void startRegularPinging()

transmit

public void transmit(LynxMessage message)
              throws java.lang.InterruptedException

Specified by:

transmit in interface LynxUsbDevice

Throws:

java.lang.InterruptedException

shutdownAbnormally

protected void shutdownAbnormally()

pretendFinishExtantCommands

protected void pretendFinishExtantCommands()
                                    throws java.lang.InterruptedException

Throws:

java.lang.InterruptedException

abandonUnfinishedCommands

protected void abandonUnfinishedCommands()

accessCBus

protected static RobotUsbDeviceFtdi accessCBus(RobotUsbDevice robotUsbDevice)

A simple, cursory test to see whether we can get access to the cbus FTDI functionality. Currently not very robust

resetDevice

public static void resetDevice(RobotUsbDevice robotUsbDevice)

Issues a hardware reset to the lynx module.

enterFirmwareUpdateModeUSB

public static boolean enterFirmwareUpdateModeUSB(RobotUsbDevice robotUsbDevice)

If we are a USB-attached Lynx, then cause us to enter firmware update mode

enterFirmwareUpdateModeControlHub

public static boolean enterFirmwareUpdateModeControlHub()

If we are a Control Hub, then this causes the combo-Lynx to enter firmware update * mode. We will be updating the firmware using the 'serial' connection, not the USB connection. So after this function exits, the Android board must be asserting its presence.