com.qualcomm.hardware.modernrobotics

Class ModernRoboticsUsbDevice

java.lang.Object

ArmableUsbDevice

com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice

All Implemented Interfaces:

ReadWriteRunnable.Callback

Direct Known Subclasses:

ModernRoboticsUsbController, ModernRoboticsUsbI2cController

public abstract class ModernRoboticsUsbDevice
extends ArmableUsbDevice
implements ReadWriteRunnable.Callback

Base class for Modern Robotics USB Devices

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static interface	ModernRoboticsUsbDevice.CreateReadWriteRunnable

Field Summary

Fields

Modifier and Type	Field and Description
protected ModernRoboticsUsbDevice.CreateReadWriteRunnable	createReadWriteRunnable
protected ReadWriteRunnable	readWriteRunnable
protected java.util.concurrent.ExecutorService	readWriteService

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
protected void	armDevice(RobotUsbDevice device)
protected void	disarmDevice() Closes down the device in an orderly and reliable way.
ModernRoboticsUsbDevice.CreateReadWriteRunnable	getCreateReadWriteRunnable()
abstract java.lang.String	getDeviceName() Device Name
OpenRobotUsbDevice	getOpenRobotUsbDevice()
protected RobotUsbDevice	getPretendDevice(SerialNumber serialNumber) intended as subclass hook
ReadWriteRunnable	getReadWriteRunnable()
int	getVersion() Version
void	initializeHardware()
byte[]	read(int address, int size) Read from device
byte	read8(int address) Read a single byte from device
void	readComplete()
byte	readFromWriteCache(int address) Read from the device write cache
byte[]	readFromWriteCache(int address, int size) Read from the device write cache
void	shutdownComplete()
void	startupComplete()
void	write(int address, byte[] data) Write to device
void	write8(int address, byte data) Write a single byte to the device
void	write8(int address, double data) Write a single byte to the device
void	write8(int address, int data) Write a single byte to the device
void	writeComplete()

Methods inherited from class java.lang.Object

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

Field Detail

readWriteService

protected java.util.concurrent.ExecutorService readWriteService

readWriteRunnable

protected volatile ReadWriteRunnable readWriteRunnable

createReadWriteRunnable

protected final ModernRoboticsUsbDevice.CreateReadWriteRunnable createReadWriteRunnable

Constructor Detail

ModernRoboticsUsbDevice

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

Throws:

RobotCoreException

java.lang.InterruptedException

Method Detail

initializeHardware

public void initializeHardware()

getPretendDevice

protected RobotUsbDevice getPretendDevice(SerialNumber serialNumber)

intended as subclass hook

armDevice

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

Throws:

RobotCoreException

java.lang.InterruptedException

disarmDevice

protected void disarmDevice()
                     throws java.lang.InterruptedException

Closes down the device in an orderly and reliable way. The device can be activated again by subsequently calling armDevice(). Note that this implementation *must* be able to disarm the device from any state, even a partially armed one.

Throws:

java.lang.InterruptedException

getReadWriteRunnable

public ReadWriteRunnable getReadWriteRunnable()

getOpenRobotUsbDevice

public OpenRobotUsbDevice getOpenRobotUsbDevice()

getCreateReadWriteRunnable

public ModernRoboticsUsbDevice.CreateReadWriteRunnable getCreateReadWriteRunnable()

getDeviceName

public abstract java.lang.String getDeviceName()

Device Name

Returns:

device name

getVersion

public int getVersion()

Version

Returns:

get the version of this device

write8

public void write8(int address,
                   byte data)

Write a single byte to the device

Parameters:

address - address to write

write8

public void write8(int address,
                   int data)

Write a single byte to the device

Parameters:

address - address to write

data - data to write (will be cast to a byte)

write8

public void write8(int address,
                   double data)

Write a single byte to the device

Parameters:

address - address to write

data - data to write (will be cast to a byte)

write

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

Write to device

Parameters:

address - address to write

data - data to write

Throws:

java.lang.IllegalArgumentException - if address is out of range

readFromWriteCache

public byte readFromWriteCache(int address)

Read from the device write cache

Parameters:

address - address of byte to read

Returns:

byte

readFromWriteCache

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

Read from the device write cache

Parameters:

address - address of byte to read

size - number of bytes to read

Returns:

byte array

read8

public byte read8(int address)

Read a single byte from device

Parameters:

address - address to read

Throws:

java.lang.IllegalArgumentException - if address is out of range, or if read failed

read

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

Read from device

Parameters:

address - address to read

size - number of bytes to read

Throws:

java.lang.IllegalArgumentException - if address is out of range, or if read failed

startupComplete

public void startupComplete()
                     throws java.lang.InterruptedException

Specified by:

startupComplete in interface ReadWriteRunnable.Callback

Throws:

java.lang.InterruptedException

readComplete

public void readComplete()
                  throws java.lang.InterruptedException

Specified by:

readComplete in interface ReadWriteRunnable.Callback

Throws:

java.lang.InterruptedException

writeComplete

public void writeComplete()
                   throws java.lang.InterruptedException

Specified by:

writeComplete in interface ReadWriteRunnable.Callback

Throws:

java.lang.InterruptedException

shutdownComplete

public void shutdownComplete()
                      throws java.lang.InterruptedException

Specified by:

shutdownComplete in interface ReadWriteRunnable.Callback

Throws:

java.lang.InterruptedException