CounterOutputChannel.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.ByteList;
import com.neuronrobotics.sdk.common.Log;
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.common.DeviceManager;
import com.neuronrobotics.sdk.dyio.IChannelEventListener;
 
 
// TODO: Auto-generated Javadoc
public class CounterOutputChannel extends DyIOAbstractPeripheral implements IChannelEventListener{
    
    private ArrayList<ICounterOutputListener> listeners = new ArrayList<ICounterOutputListener>();
    
    public CounterOutputChannel(int channel){
        this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel));   
    }
    
    public CounterOutputChannel(DyIO dyio,int channel){
        this(dyio.getChannel(channel)); 
    }
    
    public CounterOutputChannel(DyIOChannel channel){
        this(channel,true); 
    }
 
    public CounterOutputChannel(DyIOChannel channel,boolean isAsync) {
        super(channel,DyIOChannelMode.COUNT_OUT_INT,isAsync);
        init(channel,isAsync);
    }
    
    private void init(DyIOChannel channel,boolean isAsync){
        DyIOChannelMode mode = DyIOChannelMode.COUNT_OUT_INT;
        channel.addChannelEventListener(this);
        if(!channel.setMode(mode, isAsync)) {
            throw new DyIOPeripheralException("Could not set channel " + channel + " to " + mode + " mode.");
        }
        channel.resync(true);
    }
    
    public boolean SetPosition(int pos){
        return SetPosition(pos, 0);
    }
    
    public boolean SetPosition(int pos, float time){
        if(!validate()) {
            return false;
        }
        getChannel().setCachedValue(pos);
        getChannel().setCachedTime(time);
        if(getChannel().getCachedMode()) {
            return true;
        }
        return flush();
    }
    
    
    public void addCounterOutputListener(ICounterOutputListener l) {
        if(listeners.contains(l)) {
            return;
        }
        
        listeners.add(l);
    }
    
    public void removeCounterOutputListener(ICounterOutputListener l) {
        if(!listeners.contains(l)) {
            return;
        }
        
        listeners.add(l);
    }
    
    public void removeAllCounterOutputListeners() {
        listeners.clear();
    }
    
    protected void fireOnCounterOutput(int value) {
        for(ICounterOutputListener l : listeners) {
            l.onCounterValueChange(this, value);
        }
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#setValue(int)
     */
     
    public boolean setValue(int value){
        Log.info("Setting counter set point");
        ByteList b = new ByteList();
        b.addAs32(value);
        return setValue(b);
    }
    
    public void onChannelEvent(DyIOChannelEvent e) {
        fireOnCounterOutput(e.getSignedValue());
    }
     
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync()
     */
    public boolean hasAsync() {
        return true;
    }
    
    public void setAsync(boolean isAsync) {
        setMode(DyIOChannelMode.COUNT_OUT_INT, isAsync);
    }
    
    private boolean validate() {
        if(!isEnabled()) {
            //return false;
        }
        return getMode() == DyIOChannelMode.COUNT_OUT_INT;
    }
 
}