com.qualcomm.hardware.modernrobotics.comm

Class RobotUsbDevicePretendModernRobotics

java.lang.Object

com.qualcomm.hardware.modernrobotics.comm.RobotUsbDevicePretendModernRobotics

All Implemented Interfaces:

RobotUsbDevice

public class RobotUsbDevicePretendModernRobotics
extends java.lang.Object
implements RobotUsbDevice

This class implements a dummy RobotUsbDevice that will apparently successfully do reads and writes but doesn't actually do anything.

Nested Class Summary

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

RobotUsbDevice.Channel, RobotUsbDevice.FirmwareVersion, RobotUsbDevice.USBIdentifiers

Field Summary

Fields

Modifier and Type	Field and Description
protected CircularByteBuffer	circularByteBuffer
protected boolean	debugRetainBuffers
protected DeviceManager.UsbDeviceType	deviceType
protected RobotUsbDevice.FirmwareVersion	firmwareVersion
protected boolean	interruptRequested
protected MarkedItemQueue	markedItemQueue
protected ModernRoboticsDatagram.AllocationContext<ModernRoboticsRequest>	requestAllocationContext
protected ModernRoboticsDatagram.AllocationContext<ModernRoboticsResponse>	responseAllocationContext
protected SerialNumber	serialNumber

Constructor Summary

Constructors

Constructor and Description
RobotUsbDevicePretendModernRobotics(SerialNumber serialNumber)

Method Summary

Modifier and Type	Method and Description
void	close() Closes the device
boolean	getDebugRetainBuffers()
DeviceManager.UsbDeviceType	getDeviceType()
RobotUsbDevice.FirmwareVersion	getFirmwareVersion() Returns the firmware version of this USB device, or null if no such version is known.
java.lang.String	getProductName()
SerialNumber	getSerialNumber()
RobotUsbDevice.USBIdentifiers	getUsbIdentifiers() Returns the USB-level vendor and product id of this device.
boolean	isAttached() Returns whether or not this USB device is known to be physically attached
boolean	isOpen() Returns whether the device is open or not
void	logRetainedBuffers(long nsOrigin, long nsTimerExpire, java.lang.String tag, java.lang.String format, java.lang.Object... args)
boolean	mightBeAtUsbPacketStart() Answers as to whether we're it's probably the case we're at the start of a Usb packet.
int	read(byte[] bytes, int ibFirst, int cbToRead, long timeout, TimeWindow timeWindow) Reads a requested number of bytes from the device.
void	requestReadInterrupt(boolean interruptRequested) Interrupts any reads that are currently pending inside the device, possibly waiting on a perhaps lengthy timeout.
void	resetAndFlushBuffers() Resets the remote USB device comm-layer as best we can.
void	setBaudRate(int i) Sets the rate of data transmission used to communicate with the device.
void	setBreak(boolean enable) Sets or unsets a break state on the communication line
void	setDataCharacteristics(byte b, byte b1, byte b2) Set the Data Characteristics
void	setDebugRetainBuffers(boolean retain)
void	setDeviceType(DeviceManager.UsbDeviceType deviceType)
void	setFirmwareVersion(RobotUsbDevice.FirmwareVersion version) Sets the firmware version of this USB device.
void	setLatencyTimer(int i) Set the latency timer
void	skipToLikelyUsbPacketStart() Skips to the beginning of a USB packet, if not already there.
void	write(byte[] bytes) Write to device

Methods inherited from class java.lang.Object

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

Field Detail

firmwareVersion

protected RobotUsbDevice.FirmwareVersion firmwareVersion

circularByteBuffer

protected CircularByteBuffer circularByteBuffer

markedItemQueue

protected MarkedItemQueue markedItemQueue

interruptRequested

protected boolean interruptRequested

serialNumber

protected SerialNumber serialNumber

deviceType

protected DeviceManager.UsbDeviceType deviceType

debugRetainBuffers

protected boolean debugRetainBuffers

requestAllocationContext

protected ModernRoboticsDatagram.AllocationContext<ModernRoboticsRequest> requestAllocationContext

responseAllocationContext

protected ModernRoboticsDatagram.AllocationContext<ModernRoboticsResponse> responseAllocationContext

Constructor Detail

RobotUsbDevicePretendModernRobotics

public RobotUsbDevicePretendModernRobotics(SerialNumber serialNumber)

Method Detail

getSerialNumber

public SerialNumber getSerialNumber()

Specified by:

getSerialNumber in interface RobotUsbDevice

getProductName

public java.lang.String getProductName()

Specified by:

getProductName in interface RobotUsbDevice

setDeviceType

public void setDeviceType(DeviceManager.UsbDeviceType deviceType)

Specified by:

setDeviceType in interface RobotUsbDevice

getDeviceType

public DeviceManager.UsbDeviceType getDeviceType()

Specified by:

getDeviceType in interface RobotUsbDevice

close

public void close()

Description copied from interface: RobotUsbDevice

Closes the device

Specified by:

close in interface RobotUsbDevice

isOpen

public boolean isOpen()

Description copied from interface: RobotUsbDevice

Returns whether the device is open or not

Specified by:

isOpen in interface RobotUsbDevice

isAttached

public boolean isAttached()

Description copied from interface: RobotUsbDevice

Returns whether or not this USB device is known to be physically attached

Specified by:

isAttached in interface RobotUsbDevice

setDebugRetainBuffers

public void setDebugRetainBuffers(boolean retain)

Specified by:

setDebugRetainBuffers in interface RobotUsbDevice

getDebugRetainBuffers

public boolean getDebugRetainBuffers()

Specified by:

getDebugRetainBuffers in interface RobotUsbDevice

logRetainedBuffers

public void logRetainedBuffers(long nsOrigin,
                               long nsTimerExpire,
                               java.lang.String tag,
                               java.lang.String format,
                               java.lang.Object... args)

Specified by:

logRetainedBuffers in interface RobotUsbDevice

setBaudRate

public void setBaudRate(int i)

Description copied from interface: RobotUsbDevice

Sets the rate of data transmission used to communicate with the device.

Specified by:

setBaudRate in interface RobotUsbDevice

Parameters:

i - baud rate

setDataCharacteristics

public void setDataCharacteristics(byte b,
                                   byte b1,
                                   byte b2)

Description copied from interface: RobotUsbDevice

Set the Data Characteristics

Specified by:

setDataCharacteristics in interface RobotUsbDevice

Parameters:

b - data bits

b1 - stop bits

b2 - parity

setLatencyTimer

public void setLatencyTimer(int i)

Description copied from interface: RobotUsbDevice

Set the latency timer

Specified by:

setLatencyTimer in interface RobotUsbDevice

Parameters:

i - latency timer

setBreak

public void setBreak(boolean enable)

Description copied from interface: RobotUsbDevice

Sets or unsets a break state on the communication line

Specified by:

setBreak in interface RobotUsbDevice

Parameters:

enable - whether or not to set a break state

skipToLikelyUsbPacketStart

public void skipToLikelyUsbPacketStart()

Description copied from interface: RobotUsbDevice

Skips to the beginning of a USB packet, if not already there. It is safe to err on the side of saying we're at the start when in fact we may not be. The point of this is that the packet start can have significance for resynchronization.

Specified by:

skipToLikelyUsbPacketStart in interface RobotUsbDevice

mightBeAtUsbPacketStart

public boolean mightBeAtUsbPacketStart()

Description copied from interface: RobotUsbDevice

Answers as to whether we're it's probably the case we're at the start of a Usb packet. No is definitive; yes is uncertain.

Specified by:

mightBeAtUsbPacketStart in interface RobotUsbDevice

write

public void write(byte[] bytes)

Description copied from interface: RobotUsbDevice

Write to device

Specified by:

write in interface RobotUsbDevice

Parameters:

bytes - byte array

read

public int read(byte[] bytes,
                int ibFirst,
                int cbToRead,
                long timeout,
                TimeWindow timeWindow)

Description copied from interface: RobotUsbDevice

Reads a requested number of bytes from the device.

Specified by:

read in interface RobotUsbDevice

Parameters:

bytes - byte array into which to read the data

ibFirst - first index in data at which to read the data

cbToRead - number of bytes to read

timeout - amount of time to wait, in ms, for data to become available to read

timeWindow - optional place to return information as to when the data was read

Returns:

number of bytes read into byte array, or 0 if the timeout was hit

resetAndFlushBuffers

public void resetAndFlushBuffers()

Description copied from interface: RobotUsbDevice

Resets the remote USB device comm-layer as best we can. Additionally, flushes any incoming or outgoing data buffers on this end of the line.

Specified by:

resetAndFlushBuffers in interface RobotUsbDevice

getFirmwareVersion

public RobotUsbDevice.FirmwareVersion getFirmwareVersion()

Description copied from interface: RobotUsbDevice

Returns the firmware version of this USB device, or null if no such version is known.

Specified by:

getFirmwareVersion in interface RobotUsbDevice

See Also:

RobotUsbDevice.setFirmwareVersion(FirmwareVersion)

setFirmwareVersion

public void setFirmwareVersion(RobotUsbDevice.FirmwareVersion version)

Description copied from interface: RobotUsbDevice

Sets the firmware version of this USB device. Note that this does not actually change the persistent firmware version inside the device, only our local copy of it here.

Specified by:

setFirmwareVersion in interface RobotUsbDevice

See Also:

RobotUsbDevice.getFirmwareVersion()

requestReadInterrupt

public void requestReadInterrupt(boolean interruptRequested)

Description copied from interface: RobotUsbDevice

Interrupts any reads that are currently pending inside the device, possibly waiting on a perhaps lengthy timeout.

Specified by:

requestReadInterrupt in interface RobotUsbDevice

getUsbIdentifiers

public RobotUsbDevice.USBIdentifiers getUsbIdentifiers()

Description copied from interface: RobotUsbDevice

Returns the USB-level vendor and product id of this device. All the devices we are interested in use FTDI chips (2018.06.01: no longer true: webcams!), which report as vendor 0x0403. Modern Robotics modules (currently?) use a product id of 0x6001 and bcdDevice of 0x0600. Lynx modules use a product id of 0x6015 and bcdDevice of 0x1000. Note that for FTDI, only the upper byte of the two-byte bcdDevice seems to be of significance. "Every Universal Serial Bus (USB) device must be able to provide a single device descriptor that contains relevant information about the device. The USB_DEVICE_DESCRIPTOR structure describes a device descriptor. Windows uses that information to derive various sets of information. For example, the idVendor and idProduct fields specify vendor and product identifiers, respectively. Windows uses those field values to construct a hardware ID for the device. To view the hardware ID of a particular device, open Device Manager and view device properties. In the Details tab, the Hardware Ids property value indicates the hardware ID ("USB\XXX") that is generated by Windows. The bcdUSB field indicates the version of the USB specification to which the device conforms. For example, 0x0200 indicates that the device is designed as per the USB 2.0 specification. The bcdDevice value indicates the device-defined revision number. The USB driver stack uses bcdDevice, along with idVendor and idProduct, to generate hardware and compatible IDs for the device. You can view the those identifiers in Device Manager. The device descriptor also indicates the total number of configurations that the device supports"

Specified by:

getUsbIdentifiers in interface RobotUsbDevice

See Also:

USB Device Descriptors