com.qualcomm.robotcore.hardware.usb.serial

Class RobotUsbDeviceTty

java.lang.Object

com.qualcomm.robotcore.hardware.usb.RobotUsbDeviceImplBase

com.qualcomm.robotcore.hardware.usb.serial.RobotUsbDeviceTty

All Implemented Interfaces:

RobotUsbDevice

public class RobotUsbDeviceTty
extends RobotUsbDeviceImplBase
implements RobotUsbDevice

RobotUsbDeviceTty is an implementation of RobotUsbDevice that sits on top of a serial file handle (such as /dev/tty) and presents the persona of a (fake) USB device.

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 int	baudRate
static boolean	DEBUG
protected boolean	debugRetainBuffers
protected java.io.File	file
protected int	msDefaultTimeout
protected java.lang.String	productName
protected java.util.Queue<java.lang.Byte>	readAhead
protected java.lang.Object	readLock
protected SerialPort	serialPort
protected java.lang.Object	startStopLock
static java.lang.String	TAG
protected RobotUsbDevice.USBIdentifiers	usbIdentifiers
protected java.lang.Object	writeLock

Fields inherited from class com.qualcomm.robotcore.hardware.usb.RobotUsbDeviceImplBase

deviceType, deviceTypes, extantDevices, firmwareVersion, serialNumber

Constructor Summary

Constructors

Constructor and Description
RobotUsbDeviceTty(SerialPort serialPort, SerialNumber serialNumber, java.io.File file)

Method Summary

Modifier and Type	Method and Description
void	close() Closes the device
boolean	getDebugRetainBuffers()
int	getMsDefaultTimeout()
java.lang.String	getProductName()
java.lang.String	getTag()
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[] data, int ibFirst, int cbToRead, long msTimeout, 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 baudRate) 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 dataBits, byte stopBits, byte parity) Set the Data Characteristics
void	setDebugRetainBuffers(boolean retain)
void	setLatencyTimer(int latencyTimer) Set the latency timer
void	setMsDefaultTimeout(int msDefaultTimeout)
void	setProductName(java.lang.String productName)
void	setUsbIdentifiers(RobotUsbDevice.USBIdentifiers usbIdentifiers)
void	skipToLikelyUsbPacketStart() Skips to the beginning of a USB packet, if not already there.
void	write(byte[] data) Write to device

Methods inherited from class com.qualcomm.robotcore.hardware.usb.RobotUsbDeviceImplBase

dumpBytesReceived, dumpBytesSent, getDeviceType, getDeviceType, getExtantDevices, getFirmwareVersion, getSerialNumber, isOpen, removeFromExtantDevices, setDeviceType, setFirmwareVersion

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.usb.RobotUsbDevice

getDeviceType, getFirmwareVersion, getSerialNumber, setDeviceType, setFirmwareVersion

Field Detail

TAG

public static final java.lang.String TAG

See Also:

Constant Field Values

DEBUG

public static boolean DEBUG

file

protected final java.io.File file

serialPort

protected SerialPort serialPort

baudRate

protected int baudRate

msDefaultTimeout

protected int msDefaultTimeout

usbIdentifiers

protected RobotUsbDevice.USBIdentifiers usbIdentifiers

startStopLock

protected final java.lang.Object startStopLock

readLock

protected final java.lang.Object readLock

writeLock

protected final java.lang.Object writeLock

readAhead

protected java.util.Queue<java.lang.Byte> readAhead

debugRetainBuffers

protected boolean debugRetainBuffers

productName

protected java.lang.String productName

Constructor Detail

RobotUsbDeviceTty

public RobotUsbDeviceTty(SerialPort serialPort,
                         SerialNumber serialNumber,
                         java.io.File file)

Method Detail

getTag

public java.lang.String getTag()

Specified by:

getTag in class RobotUsbDeviceImplBase

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

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

write

public void write(byte[] data)
           throws RobotUsbException

Description copied from interface: RobotUsbDevice

Write to device

Specified by:

write in interface RobotUsbDevice

Parameters:

data - byte array

Throws:

RobotUsbException

read

public int read(byte[] data,
                int ibFirst,
                int cbToRead,
                long msTimeout,
                TimeWindow timeWindow)
         throws RobotUsbException,
                java.lang.InterruptedException

Description copied from interface: RobotUsbDevice

Reads a requested number of bytes from the device.

Specified by:

read in interface RobotUsbDevice

Parameters:

data - 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

msTimeout - 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

Throws:

RobotUsbException

java.lang.InterruptedException

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

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

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

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 baudRate)
                 throws RobotUsbException

Description copied from interface: RobotUsbDevice

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

Specified by:

setBaudRate in interface RobotUsbDevice

Parameters:

baudRate - baud rate

Throws:

RobotUsbException

setDataCharacteristics

public void setDataCharacteristics(byte dataBits,
                                   byte stopBits,
                                   byte parity)
                            throws RobotUsbException

Description copied from interface: RobotUsbDevice

Set the Data Characteristics

Specified by:

setDataCharacteristics in interface RobotUsbDevice

Parameters:

dataBits - data bits

stopBits - stop bits

parity - parity

Throws:

RobotUsbException

setLatencyTimer

public void setLatencyTimer(int latencyTimer)
                     throws RobotUsbException

Description copied from interface: RobotUsbDevice

Set the latency timer

Specified by:

setLatencyTimer in interface RobotUsbDevice

Parameters:

latencyTimer - latency timer

Throws:

RobotUsbException

setBreak

public void setBreak(boolean enable)
              throws RobotUsbException

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

Throws:

RobotUsbException

setMsDefaultTimeout

public void setMsDefaultTimeout(int msDefaultTimeout)

getMsDefaultTimeout

public int getMsDefaultTimeout()

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

setUsbIdentifiers

public void setUsbIdentifiers(RobotUsbDevice.USBIdentifiers usbIdentifiers)

setProductName

public void setProductName(java.lang.String productName)

getProductName

public java.lang.String getProductName()

Specified by:

getProductName in interface RobotUsbDevice