com.qualcomm.hardware.modernrobotics

Class ModernRoboticsUsbController

java.lang.Object

ArmableUsbDevice

com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice

com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbController

All Implemented Interfaces:

ReadWriteRunnable.Callback

Direct Known Subclasses:

ModernRoboticsUsbDcMotorController, ModernRoboticsUsbServoController

public abstract class ModernRoboticsUsbController
extends ModernRoboticsUsbDevice

This class provides services common to both Modern Robotics motor and servo controllers

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
protected static class	ModernRoboticsUsbController.WRITE_STATUS

Nested classes/interfaces inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice

ModernRoboticsUsbDevice.CreateReadWriteRunnable

Field Summary

Fields

Modifier and Type	Field and Description
protected java.lang.Object	callbackLock
protected java.util.concurrent.atomic.AtomicInteger	callbackWaiterCount
protected java.lang.Object	concurrentClientLock
protected java.util.concurrent.atomic.AtomicLong	readCompletionCount
protected boolean	readWriteRunnableIsRunning
protected ModernRoboticsUsbController.WRITE_STATUS	writeStatus

Fields inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice

createReadWriteRunnable, readWriteRunnable, readWriteService

Constructor Summary

Constructors

Constructor and Description
ModernRoboticsUsbController(Context context, SerialNumber serialNumber, SyncdDevice.Manager manager, OpenRobotUsbDevice openRobotUsbDevice, ModernRoboticsUsbDevice.CreateReadWriteRunnable createReadWriteRunnable)

Method Summary

Modifier and Type	Method and Description
protected boolean	isOkToReadOrWrite()
byte[]	read(int address, int size) Read from device
void	readComplete()
void	shutdownComplete()
void	startupComplete()
void	write(int address, byte[] data) Write to device
void	writeComplete()

Methods inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice

armDevice, disarmDevice, getCreateReadWriteRunnable, getDeviceName, getOpenRobotUsbDevice, getPretendDevice, getReadWriteRunnable, getVersion, initializeHardware, read8, readFromWriteCache, readFromWriteCache, write8, write8, write8

Methods inherited from class java.lang.Object

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

Field Detail

writeStatus

protected ModernRoboticsUsbController.WRITE_STATUS writeStatus

readWriteRunnableIsRunning

protected boolean readWriteRunnableIsRunning

callbackWaiterCount

protected final java.util.concurrent.atomic.AtomicInteger callbackWaiterCount

readCompletionCount

protected final java.util.concurrent.atomic.AtomicLong readCompletionCount

concurrentClientLock

protected final java.lang.Object concurrentClientLock

callbackLock

protected final java.lang.Object callbackLock

Constructor Detail

ModernRoboticsUsbController

public ModernRoboticsUsbController(Context context,
                                   SerialNumber serialNumber,
                                   SyncdDevice.Manager manager,
                                   OpenRobotUsbDevice openRobotUsbDevice,
                                   ModernRoboticsUsbDevice.CreateReadWriteRunnable createReadWriteRunnable)
                            throws RobotCoreException,
                                   java.lang.InterruptedException

Throws:

RobotCoreException

java.lang.InterruptedException

Method Detail

write

public void write(int address,
                  byte[] data)

Description copied from class: ModernRoboticsUsbDevice

Write to device

Overrides:

write in class ModernRoboticsUsbDevice

Parameters:

address - address to write

data - data to write

read

public byte[] read(int address,
                   int size)

Description copied from class: ModernRoboticsUsbDevice

Read from device

Overrides:

read in class ModernRoboticsUsbDevice

Parameters:

address - address to read

size - number of bytes to read

writeComplete

public void writeComplete()
                   throws java.lang.InterruptedException

Specified by:

writeComplete in interface ReadWriteRunnable.Callback

Overrides:

writeComplete in class ModernRoboticsUsbDevice

Throws:

java.lang.InterruptedException

readComplete

public void readComplete()
                  throws java.lang.InterruptedException

Specified by:

readComplete in interface ReadWriteRunnable.Callback

Overrides:

readComplete in class ModernRoboticsUsbDevice

Throws:

java.lang.InterruptedException

isOkToReadOrWrite

protected boolean isOkToReadOrWrite()

startupComplete

public void startupComplete()

Specified by:

startupComplete in interface ReadWriteRunnable.Callback

Overrides:

startupComplete in class ModernRoboticsUsbDevice

shutdownComplete

public void shutdownComplete()

Specified by:

shutdownComplete in interface ReadWriteRunnable.Callback

Overrides:

shutdownComplete in class ModernRoboticsUsbDevice