com.qualcomm.hardware.modernrobotics.comm

Class ReadWriteRunnableStandard

java.lang.Object

com.qualcomm.hardware.modernrobotics.comm.ReadWriteRunnableStandard

All Implemented Interfaces:

ReadWriteRunnable, java.lang.Runnable

public class ReadWriteRunnableStandard
extends java.lang.Object
implements ReadWriteRunnable

Main loop that copies the read/write buffer from/to the device

Note that this implementation is specific to Modern Robotics, as it has knowledge of the Modern Robotics datagram formats, etc.

Nested Class Summary

Nested classes/interfaces inherited from interface com.qualcomm.hardware.modernrobotics.comm.ReadWriteRunnable

ReadWriteRunnable.BlockingState, ReadWriteRunnable.Callback, ReadWriteRunnable.EmptyCallback

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	acceptingWrites
protected java.lang.Object	acceptingWritesLock
protected byte[]	activeBuffer
protected TimeWindow	activeBufferTimeWindow
protected ReadWriteRunnable.Callback	callback
protected Context	context
protected static boolean	DEBUG_SEGMENTS
protected boolean	debugLogging
protected boolean	fullWriteNeeded
protected int	ibActiveFirst
protected byte[]	localDeviceReadCache
protected byte[]	localDeviceWriteCache
protected int	monitorLength
protected RobotUsbModule	owner
protected boolean	pruneBufferAfterRead
protected java.lang.Object	readSupressionLock
protected RobotUsbDevice	robotUsbDevice
protected boolean	running
protected java.util.concurrent.CountDownLatch	runningInterlock
protected java.util.concurrent.ConcurrentLinkedQueue<java.lang.Integer>	segmentReadQueue
protected java.util.Map<java.lang.Integer,ReadWriteRunnableSegment>	segments
protected java.util.concurrent.ConcurrentLinkedQueue<java.lang.Integer>	segmentWriteQueue
protected SerialNumber	serialNumber
protected boolean	shutdownComplete
protected ShutdownReason	shutdownReason
protected int	startAddress
protected boolean	suppressReads
static java.lang.String	TAG
protected ModernRoboticsReaderWriter	usbHandler

Fields inherited from interface com.qualcomm.hardware.modernrobotics.comm.ReadWriteRunnable

MAX_BUFFER_SIZE

Constructor Summary

Constructors

Constructor and Description
ReadWriteRunnableStandard(Context context, SerialNumber serialNumber, RobotUsbDevice device, int monitorLength, int startAddress, boolean debug) Constructor

Method Summary

Modifier and Type	Method and Description
protected void	awaitRunning()
void	close() Close this read-write-runnable
ReadWriteRunnableSegment	createSegment(int key, int address, int size)
void	destroySegment(int key)
protected void	doReadCycle()
protected void	doWriteCycle()
void	drainPendingWrites()
protected void	dumpBuffers(java.lang.String name, byte[] byteArray)
void	executeUsing(java.util.concurrent.ExecutorService service)
boolean	getAcceptingWrites()
RobotUsbModule	getOwner()
ReadWriteRunnableSegment	getSegment(int key)
ShutdownReason	getShutdownReason()
protected boolean	isFullActive()
protected void	queueIfNotAlreadyQueued(int key, java.util.concurrent.ConcurrentLinkedQueue<java.lang.Integer> queue)
void	queueSegmentRead(int key)
void	queueSegmentWrite(int key)
byte[]	read(int address, int size) Read from device
byte[]	readFromWriteCache(int address, int size) Read from the device write cache
void	resetWriteNeeded()
void	run() Main read / write loop
void	setAcceptingWrites(boolean acceptingWrites)
void	setCallback(ReadWriteRunnable.Callback callback)
protected void	setFullActive()
void	setOwner(RobotUsbModule owner)
protected void	setSuffixActive()
void	suppressReads(boolean suppress)
void	write(int address, byte[] data) Write to device
boolean	writeNeeded()

Methods inherited from class java.lang.Object

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

Field Detail

TAG

public static final java.lang.String TAG

See Also:

Constant Field Values

localDeviceReadCache

protected final byte[] localDeviceReadCache

localDeviceWriteCache

protected final byte[] localDeviceWriteCache

segments

protected java.util.Map<java.lang.Integer,ReadWriteRunnableSegment> segments

segmentReadQueue

protected java.util.concurrent.ConcurrentLinkedQueue<java.lang.Integer> segmentReadQueue

segmentWriteQueue

protected java.util.concurrent.ConcurrentLinkedQueue<java.lang.Integer> segmentWriteQueue

context

protected final Context context

serialNumber

protected final SerialNumber serialNumber

robotUsbDevice

protected RobotUsbDevice robotUsbDevice

usbHandler

protected ModernRoboticsReaderWriter usbHandler

startAddress

protected int startAddress

monitorLength

protected int monitorLength

pruneBufferAfterRead

protected boolean pruneBufferAfterRead

fullWriteNeeded

protected volatile boolean fullWriteNeeded

ibActiveFirst

protected int ibActiveFirst

activeBuffer

protected byte[] activeBuffer

activeBufferTimeWindow

protected TimeWindow activeBufferTimeWindow

runningInterlock

protected java.util.concurrent.CountDownLatch runningInterlock

running

protected volatile boolean running

shutdownReason

protected volatile ShutdownReason shutdownReason

shutdownComplete

protected volatile boolean shutdownComplete

acceptingWritesLock

protected final java.lang.Object acceptingWritesLock

acceptingWrites

protected volatile boolean acceptingWrites

suppressReads

protected volatile boolean suppressReads

readSupressionLock

protected final java.lang.Object readSupressionLock

callback

protected ReadWriteRunnable.Callback callback

owner

protected RobotUsbModule owner

debugLogging

protected final boolean debugLogging

DEBUG_SEGMENTS

protected static boolean DEBUG_SEGMENTS

Constructor Detail

ReadWriteRunnableStandard

public ReadWriteRunnableStandard(Context context,
                                 SerialNumber serialNumber,
                                 RobotUsbDevice device,
                                 int monitorLength,
                                 int startAddress,
                                 boolean debug)

Constructor

Parameters:

serialNumber - USB serial number

device - FTDI device

monitorLength - length of memory map to continually monitor

startAddress - starting address of changing buffer values.

Method Detail

setCallback

public void setCallback(ReadWriteRunnable.Callback callback)

Specified by:

setCallback in interface ReadWriteRunnable

setOwner

public void setOwner(RobotUsbModule owner)

getOwner

public RobotUsbModule getOwner()

writeNeeded

public boolean writeNeeded()

Specified by:

writeNeeded in interface ReadWriteRunnable

resetWriteNeeded

public void resetWriteNeeded()

Specified by:

resetWriteNeeded in interface ReadWriteRunnable

write

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

Write to device

Specified by:

write in interface ReadWriteRunnable

Parameters:

address - address to write

data - data to write

suppressReads

public void suppressReads(boolean suppress)

Specified by:

suppressReads in interface ReadWriteRunnable

readFromWriteCache

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

Read from the device write cache

Specified by:

readFromWriteCache in interface ReadWriteRunnable

Parameters:

address - address of byte to read

size - number of bytes to read

Returns:

byte array

read

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

Read from device

Specified by:

read in interface ReadWriteRunnable

Parameters:

address - address to read

size - number of bytes to read

executeUsing

public void executeUsing(java.util.concurrent.ExecutorService service)

Specified by:

executeUsing in interface ReadWriteRunnable

close

public void close()

Close this read-write-runnable

Specified by:

close in interface ReadWriteRunnable

createSegment

public ReadWriteRunnableSegment createSegment(int key,
                                              int address,
                                              int size)

Specified by:

createSegment in interface ReadWriteRunnable

destroySegment

public void destroySegment(int key)

Specified by:

destroySegment in interface ReadWriteRunnable

getSegment

public ReadWriteRunnableSegment getSegment(int key)

Specified by:

getSegment in interface ReadWriteRunnable

queueSegmentRead

public void queueSegmentRead(int key)

Specified by:

queueSegmentRead in interface ReadWriteRunnable

queueSegmentWrite

public void queueSegmentWrite(int key)

Specified by:

queueSegmentWrite in interface ReadWriteRunnable

awaitRunning

protected void awaitRunning()

setFullActive

protected void setFullActive()

isFullActive

protected boolean isFullActive()

setSuffixActive

protected void setSuffixActive()

run

public void run()

Main read / write loop

Specified by:

run in interface ReadWriteRunnable

Specified by:

run in interface java.lang.Runnable

doReadCycle

protected void doReadCycle()
                    throws java.lang.InterruptedException,
                           RobotUsbException

Throws:

java.lang.InterruptedException

RobotUsbException

doWriteCycle

protected void doWriteCycle()
                     throws java.lang.InterruptedException,
                            RobotUsbException

Throws:

java.lang.InterruptedException

RobotUsbException

getShutdownReason

public ShutdownReason getShutdownReason()

drainPendingWrites

public void drainPendingWrites()

Specified by:

drainPendingWrites in interface ReadWriteRunnable

setAcceptingWrites

public void setAcceptingWrites(boolean acceptingWrites)

Specified by:

setAcceptingWrites in interface ReadWriteRunnable

getAcceptingWrites

public boolean getAcceptingWrites()

Specified by:

getAcceptingWrites in interface ReadWriteRunnable

dumpBuffers

protected void dumpBuffers(java.lang.String name,
                           byte[] byteArray)

queueIfNotAlreadyQueued

protected void queueIfNotAlreadyQueued(int key,
                                       java.util.concurrent.ConcurrentLinkedQueue<java.lang.Integer> queue)