GenericPIDDevice.java

Go to the documentation of this file.

package com.neuronrobotics.sdk.pid;
 
import java.util.ArrayList;
 
import com.neuronrobotics.sdk.common.BowlerAbstractConnection;
import com.neuronrobotics.sdk.common.BowlerAbstractDevice;
import com.neuronrobotics.sdk.common.BowlerDatagram;
import com.neuronrobotics.sdk.common.IFlushable;
import com.neuronrobotics.sdk.common.Log;
import com.neuronrobotics.sdk.common.MACAddress;
import com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp;
import com.neuronrobotics.sdk.namespace.bcs.pid.IExtendedPIDControl;
import com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp;
import com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp;
 
// TODO: Auto-generated Javadoc
public class GenericPIDDevice extends BowlerAbstractDevice implements IExtendedPIDControl,IFlushable{
    
    private boolean isInit=false;
    
    private AbstractPidNamespaceImp implementation;
    
    public GenericPIDDevice() {
        setAddress(new MACAddress(MACAddress.BROADCAST));
    }
    
    public GenericPIDDevice(BowlerAbstractConnection connection) {
        setAddress(new MACAddress(MACAddress.BROADCAST));
        setConnection(connection);
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#setConnection(com.neuronrobotics.sdk.common.BowlerAbstractConnection)
     */
    @Override
    public void setConnection(BowlerAbstractConnection connection) {
        super.setConnection(connection);
        if(connection.isConnected())
            init();
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#connect()
     */
    @Override
    public boolean connect(){
        if(super.connect()){
            init();
            return true;
        }
        return false;
    }
    
    private void init(){
        if(isInit){
            return;
        }
        if(getImplementation() == null){
            
        }
        isInit = true;
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#ResetPIDChannel(int, int)
     */
    @Override
    public boolean ResetPIDChannel(int group, float valueToSetCurrentTo) {
        return getImplementation().ResetPIDChannel(group, valueToSetCurrentTo);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#ConfigurePIDController(com.neuronrobotics.sdk.pid.PIDConfiguration)
     */
    @Override
    public boolean ConfigurePIDController(PIDConfiguration config) {
        return getImplementation().ConfigurePIDController(config);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPIDConfiguration(int)
     */
    @Override
    public PIDConfiguration getPIDConfiguration(int group) {
        return getImplementation().getPIDConfiguration(group);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#ConfigurePDVelovityController(com.neuronrobotics.sdk.pid.PDVelocityConfiguration)
     */
    @Override
    public boolean ConfigurePDVelovityController(PDVelocityConfiguration config) {
        return getImplementation().ConfigurePDVelovityController(config);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPDVelocityConfiguration(int)
     */
    @Override
    public PDVelocityConfiguration getPDVelocityConfiguration(int group) {
        return getImplementation().getPDVelocityConfiguration(group);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPIDChannelCount()
     */
    @Override
    public int getPIDChannelCount() {
        return getImplementation().getNumberOfChannels();
    }
    
    //This is added for backward compatibility
    public int getNumberOfChannels(){
        return getPIDChannelCount();
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetPIDSetPoint(int, int, double)
     */
    @Override
    public boolean SetPIDSetPoint(int group, float setpoint, double seconds) {
        return getImplementation().SetPIDSetPoint(group, setpoint, seconds);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetAllPIDSetPoint(int[], double)
     */
    @Override
    public boolean SetAllPIDSetPoint(float[] setpoints, double seconds) {
        return getImplementation().SetAllPIDSetPoint(setpoints, seconds);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#GetPIDPosition(int)
     */
    @Override
    public float GetPIDPosition(int group) {
        return getImplementation().GetPIDPosition(group);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#GetAllPIDPosition()
     */
    @Override
    public float[] GetAllPIDPosition() {
        return getImplementation().GetAllPIDPosition();
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#addPIDEventListener(com.neuronrobotics.sdk.pid.IPIDEventListener)
     */
    @Override
    public void addPIDEventListener(IPIDEventListener l) {
        getImplementation().addPIDEventListener(l);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#removePIDEventListener(com.neuronrobotics.sdk.pid.IPIDEventListener)
     */
    @Override
    public void removePIDEventListener(IPIDEventListener l) {
        getImplementation().removePIDEventListener(l);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#flushPIDChannels(double)
     */
    @Override
    public void flushPIDChannels(double time) {
        getImplementation().flushPIDChannels(time);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetPIDInterpolatedVelocity(int, int, double)
     */
    @Override
    public boolean SetPIDInterpolatedVelocity(int group, int unitsPerSecond,
            double seconds) throws PIDCommandException {
        return getImplementation().SetPIDInterpolatedVelocity(group, unitsPerSecond, seconds);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetPDVelocity(int, int, double)
     */
    @Override
    public boolean SetPDVelocity(int group, int unitsPerSecond, double seconds)
            throws PIDCommandException {
        return getImplementation().SetPDVelocity(group, unitsPerSecond, seconds);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPIDChannel(int)
     */
    @Override
    public PIDChannel getPIDChannel(int group) {
        return getImplementation().getPIDChannel(group);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#killAllPidGroups()
     */
    @Override
    public boolean killAllPidGroups() {
        return getImplementation().killAllPidGroups();
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com.neuronrobotics.sdk.common.BowlerDatagram)
     */
    @Override
    public void onAsyncResponse(BowlerDatagram data) {
        getImplementation().onAsyncResponse(data);
    }
    
    protected void firePIDResetEvent(int group, float val) {
        getImplementation().firePIDResetEvent(group, val);
    }
    
    protected void firePIDEvent(PIDEvent pidEvent) {
        getImplementation().firePIDEvent(pidEvent);
    }
    
    public ArrayList<PIDChannel> getChannels() {
        return getImplementation().getChannels();
    }
    
    public void setChannels(ArrayList<PIDChannel> channels) {
        getImplementation().setChannels(channels);
    }
    
    public AbstractPidNamespaceImp getImplementation() {
        
 
        if(implementation==null){
            if(this instanceof VirtualGenericPIDDevice){
                setImplementation(new LegacyPidNamespaceImp(this));
                return implementation;
            }else{
                if(hasNamespace("bcs.pid.*;0.3;;")){
                    //Log.info("Using legacy PID namespace");
                    setImplementation(new LegacyPidNamespaceImp(this));
                }
                else{
                    //Log.info("Using new PID namespace");
                    setImplementation(new PidNamespaceImp(this));
                }
            }
        }
        return implementation;
    }
    
    public void setImplementation(AbstractPidNamespaceImp implementation) {
        this.implementation = implementation;
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.namespace.bcs.pid.IExtendedPIDControl#runOutputHysteresisCalibration(int)
     */
    @Override
    public boolean runOutputHysteresisCalibration(int group) {
        try{
            return getImplementation().runOutputHysteresisCalibration(group);
        }catch(RuntimeException e){
            Log.error(e.getMessage());
            return false;
        }
        
    }
 
    @Override
    public void flush(double seconds) {
        flushPIDChannels(seconds);
    }
    
}