AnalogInputChannel.java

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/*******************************************************************************
 * Copyright 2010 Neuron Robotics, LLC
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * 
 *   http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ******************************************************************************/
package com.neuronrobotics.sdk.dyio.peripherals;
 
import java.util.ArrayList;
 
import com.neuronrobotics.sdk.common.DeviceManager;
import com.neuronrobotics.sdk.dyio.DyIO;
import com.neuronrobotics.sdk.dyio.DyIOChannel;
import com.neuronrobotics.sdk.dyio.DyIOChannelEvent;
import com.neuronrobotics.sdk.dyio.DyIOChannelMode;
import com.neuronrobotics.sdk.dyio.IChannelEventListener;
 
// TODO: Auto-generated Javadoc
public class AnalogInputChannel extends DyIOAbstractPeripheral implements IChannelEventListener {
    
    public static final int ADCRESOLUTION = 1024;
    
    public static final int ADCVOLTAGE = 5;
    
    private ArrayList<IAnalogInputListener> listeners = new ArrayList<IAnalogInputListener>();
    
    public AnalogInputChannel(int channel){
        this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel));   
    }
    
    public AnalogInputChannel(DyIO dyio,int channel){
        this(dyio.getChannel(channel)); 
    }
    
    public AnalogInputChannel(DyIOChannel channel){
        this(channel,true); 
    }
    
    public AnalogInputChannel(DyIOChannel channel, boolean async){
        super(channel,DyIOChannelMode.ANALOG_IN,async);
        channel.addChannelEventListener(this);
        
        if(!setMode(async)) {
            throw new DyIOPeripheralException("Could not set channel " + getChannel() + " to " + DyIOChannelMode.ANALOG_IN +  " mode.");
        }   
    }
    
 
    
    public double getScaledValue() {
        return scaleValue(getValue());
    }
    
    public double getVoltage(){
        return getScaledValue() * ADCVOLTAGE;
    }
    
    public void setAsync(boolean isAsync) {
        setMode(DyIOChannelMode.ANALOG_IN, isAsync);
    }
    
    public void removeAllAnalogInputListeners() {
        listeners.clear();
    }
    
    public void removeAnalogInputListener(IAnalogInputListener l) {
        if(!listeners.contains(l)) {
            return;
        }
        
        listeners.remove(l);
    }
    
    public void addAnalogInputListener(IAnalogInputListener l) {
        if(listeners.contains(l)) {
            return;
        }
        
        listeners.add(l);
    }
    
    private void fireValueChanged(double value) {
        try{
            for(IAnalogInputListener l : listeners) {
                l.onAnalogValueChange(this, value);
            }
        }catch(Exception e){
            e.printStackTrace();
        }
    }
    
    private static double scaleValue(int value) {
        return (((double) value)/ADCRESOLUTION);
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com.neuronrobotics.sdk.dyio.DyIOChannelEvent)
     */
     
    public void onChannelEvent(DyIOChannelEvent e) {
        fireValueChanged(e.getUnsignedValue());
    }
    
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync()
     */
    public boolean hasAsync() {
        return true;
    }
}