com.qualcomm.hardware.modernrobotics

Class ModernRoboticsUsbI2cController

java.lang.Object

ArmableUsbDevice

com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice

com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbI2cController

All Implemented Interfaces:

ReadWriteRunnable.Callback, HardwareDevice, I2cController

Direct Known Subclasses:

ModernRoboticsUsbDeviceInterfaceModule, ModernRoboticsUsbLegacyModule

public abstract class ModernRoboticsUsbI2cController
extends ModernRoboticsUsbDevice
implements I2cController

This class provides a common implementation point for functionality shared amongst Modern Robotics USB I2cControllers. Not all possible shared functionality has yet been lifted here; more sharing is possible.

Nested Class Summary

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

ModernRoboticsUsbDevice.CreateReadWriteRunnable

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.I2cController

I2cController.I2cPortReadyBeginEndNotifications, I2cController.I2cPortReadyCallback

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

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
protected I2cController.I2cPortReadyBeginEndNotifications[]	i2cPortReadyBeginEndCallbacks
protected boolean	notificationsActive
protected int	numberOfI2cPorts

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

createReadWriteRunnable, readWriteRunnable, readWriteService

Fields inherited from interface com.qualcomm.robotcore.hardware.I2cController

I2C_BUFFER_START_ADDRESS

Constructor Summary

Constructors

Constructor and Description
ModernRoboticsUsbI2cController(int numberOfI2cPorts, Context context, SerialNumber serialNumber, SyncdDevice.Manager manager, OpenRobotUsbDevice openRobotUsbDevice, ModernRoboticsUsbDevice.CreateReadWriteRunnable createReadWriteRunnable)

Method Summary

Modifier and Type	Method and Description
void	deregisterForPortReadyBeginEndCallback(int port) Deregisters any existing notifications callback for the given port
I2cController.I2cPortReadyBeginEndNotifications	getPortReadyBeginEndCallback(int port) Returns the current callback registered for a given port
boolean	isArmed() Returns whether, as of this instant, this controller is alive and operational in its normally expected mode; that is, whether it is currently in communication with its underlying hardware or whether it is in some other state
void	registerForPortReadyBeginEndCallback(I2cController.I2cPortReadyBeginEndNotifications callback, int port) Registers to be notification when portIsReady callbacks begin or cease
void	shutdownComplete()
void	startupComplete()
protected void	throwIfI2cPortIsInvalid(int port)

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

armDevice, disarmDevice, getCreateReadWriteRunnable, getDeviceName, getOpenRobotUsbDevice, getPretendDevice, getReadWriteRunnable, getVersion, initializeHardware, read, read8, readComplete, readFromWriteCache, readFromWriteCache, write, write8, write8, write8, writeComplete

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.qualcomm.robotcore.hardware.I2cController

clearI2cPortActionFlag, copyBufferIntoWriteBuffer, deregisterForPortReadyCallback, enableI2cReadMode, enableI2cWriteMode, getCopyOfReadBuffer, getCopyOfWriteBuffer, getI2cPortReadyCallback, getI2cReadCache, getI2cReadCacheLock, getI2cReadCacheTimeWindow, getI2cWriteCache, getI2cWriteCacheLock, getMaxI2cWriteLatency, getSerialNumber, isI2cPortActionFlagSet, isI2cPortInReadMode, isI2cPortInWriteMode, isI2cPortReady, readI2cCacheFromController, readI2cCacheFromModule, registerForI2cPortReadyCallback, setI2cPortActionFlag, writeI2cCacheToController, writeI2cCacheToModule, writeI2cPortFlagOnlyToController, writeI2cPortFlagOnlyToModule

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

close, getConnectionInfo, getDeviceName, getManufacturer, getVersion, resetDeviceConfigurationForOpMode

Field Detail

numberOfI2cPorts

protected final int numberOfI2cPorts

i2cPortReadyBeginEndCallbacks

protected final I2cController.I2cPortReadyBeginEndNotifications[] i2cPortReadyBeginEndCallbacks

notificationsActive

protected boolean notificationsActive

Constructor Detail

ModernRoboticsUsbI2cController

public ModernRoboticsUsbI2cController(int numberOfI2cPorts,
                                      Context context,
                                      SerialNumber serialNumber,
                                      SyncdDevice.Manager manager,
                                      OpenRobotUsbDevice openRobotUsbDevice,
                                      ModernRoboticsUsbDevice.CreateReadWriteRunnable createReadWriteRunnable)
                               throws RobotCoreException,
                                      java.lang.InterruptedException

Throws:

RobotCoreException

java.lang.InterruptedException

Method Detail

throwIfI2cPortIsInvalid

protected void throwIfI2cPortIsInvalid(int port)

isArmed

public boolean isArmed()

Description copied from interface: I2cController

Returns whether, as of this instant, this controller is alive and operational in its normally expected mode; that is, whether it is currently in communication with its underlying hardware or whether it is in some other state

Specified by:

isArmed in interface I2cController

Returns:

the arming status of this controller

registerForPortReadyBeginEndCallback

public void registerForPortReadyBeginEndCallback(I2cController.I2cPortReadyBeginEndNotifications callback,
                                                 int port)

Description copied from interface: I2cController

Registers to be notification when portIsReady callbacks begin or cease

Specified by:

registerForPortReadyBeginEndCallback in interface I2cController

Parameters:

callback - the callback to register

port - the port number to register the callback on

getPortReadyBeginEndCallback

public I2cController.I2cPortReadyBeginEndNotifications getPortReadyBeginEndCallback(int port)

Description copied from interface: I2cController

Returns the current callback registered for a given port

Specified by:

getPortReadyBeginEndCallback in interface I2cController

Parameters:

port - the port in question

Returns:

the current callback for that port, or null if none presently exists

deregisterForPortReadyBeginEndCallback

public void deregisterForPortReadyBeginEndCallback(int port)

Description copied from interface: I2cController

Deregisters any existing notifications callback for the given port

Specified by:

deregisterForPortReadyBeginEndCallback in interface I2cController

Parameters:

port - the port in question

startupComplete

public void startupComplete()
                     throws java.lang.InterruptedException

Specified by:

startupComplete in interface ReadWriteRunnable.Callback

Overrides:

startupComplete in class ModernRoboticsUsbDevice

Throws:

java.lang.InterruptedException

shutdownComplete

public void shutdownComplete()
                      throws java.lang.InterruptedException

Specified by:

shutdownComplete in interface ReadWriteRunnable.Callback

Overrides:

shutdownComplete in class ModernRoboticsUsbDevice

Throws:

java.lang.InterruptedException