NRBootLoader.java

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package com.neuronrobotics.sdk.bootloader;
 
import java.io.IOException;
 
import com.neuronrobotics.sdk.commands.neuronrobotics.bootloader.BootloaderIDCommand;
import com.neuronrobotics.sdk.commands.neuronrobotics.bootloader.EraseFlashCommand;
import com.neuronrobotics.sdk.commands.neuronrobotics.bootloader.ProgramSectionCommand;
import com.neuronrobotics.sdk.commands.neuronrobotics.bootloader.ResetChipCommand;
import com.neuronrobotics.sdk.common.BowlerAbstractConnection;
import com.neuronrobotics.sdk.common.BowlerAbstractDevice;
import com.neuronrobotics.sdk.common.BowlerDatagram;
import com.neuronrobotics.sdk.common.BowlerDatagramFactory;
import com.neuronrobotics.sdk.common.ByteList;
 
// TODO: Auto-generated Javadoc
public class NRBootLoader extends BowlerAbstractDevice {
    
    public NRBootLoader(BowlerAbstractConnection serialConnection) {
        setConnection(serialConnection);
        
        if(!connect()) {
            throw new RuntimeException("Failed to connect bootloader");
        }
        //Log.enableDebugPrint(true);
        //Log.enableSystemPrint(true);
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#connect()
     */
    @Override
    public boolean connect() {
        if(super.connect()) {
            //System.out.println("Connect OK");
            try {
                getBootloaderID();
            }catch (Exception e) {
                //System.out.println("Failed bootloader test");
                disconnect();
            }
        }
        getConnection().setSynchronusPacketTimeoutTime(3000);
        return isAvailable();
        //Log.enableDebugPrint(true);
        //Log.enableSystemPrint(true);
    }
    
    public String getBootloaderID(){
        BowlerDatagram back = send(new BootloaderIDCommand());
        if (back==null)
            return null;
        String s = new String();
        for (Byte b : back.getData()){
            s+=(char)b.byteValue();
        }   
        return s;
    }
    
    public boolean write(int core, ByteData flashData){
        BowlerDatagram b=null;
        for (int i=0;i<10;i++){
            try{
                b = send(new ProgramSectionCommand(core,(int) flashData.getStartAddress(),new ByteList(flashData.getData())));
            }catch (Exception e){
                e.printStackTrace();
                b=null;
            }
            if (b!=null){
                if(!b.getRPC().contains("_err"))
                    return true;
            }
        }
        System.err.println("\nFailed to send 10 times!\n");
        return false;
    }
    
    public boolean erase(int core){
        return send(new EraseFlashCommand(core)) != null;
    }
    
    public void reset(){
        //We expect this to fail the connection.
        //No response is expected
        //Disconnect afterwards
        BowlerDatagram bd =BowlerDatagramFactory.build(getAddress(), new ResetChipCommand());
        try {
            getConnection().sendAsync(bd);
            getConnection().getDataOuts().flush();
        } catch (IOException e) {
            // TODO Auto-generated catch block
            e.printStackTrace();
        }
        disconnect();
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAllResponse(com.neuronrobotics.sdk.common.BowlerDatagram)
     */
    public void onAllResponse(BowlerDatagram data) {
        // TODO Auto-generated method stub
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com.neuronrobotics.sdk.common.BowlerDatagram)
     */
    public void onAsyncResponse(BowlerDatagram data) {
        // TODO Auto-generated method stub
 
    }
}