NRBoot.java

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package com.neuronrobotics.sdk.bootloader;
 
 
import java.io.IOException;
import java.util.ArrayList;
 
import javax.swing.JOptionPane;
 
import com.neuronrobotics.sdk.common.BowlerAbstractConnection;
import com.neuronrobotics.sdk.common.BowlerAbstractDevice;
import com.neuronrobotics.sdk.serial.SerialConnection;
 
// TODO: Auto-generated Javadoc
public class NRBoot {
    
    private NRBootLoader boot;
    
    private CoreLoader loader;
    
    private int progressMax=0;
    
    private int progressValue=0;
    
    public NRBoot(BowlerAbstractDevice pm){
        try {
            boot=(NRBootLoader)pm;
        }catch(RuntimeException e) {
            //e.printStackTrace();
            String message = "Not a bootloader device";
            //JOptionPane.showMessageDialog(null, message, message, JOptionPane.ERROR_MESSAGE);
            throw e;
        }
        //System.out.println("Connection to bowler device ready");
    }
    
    public NRBoot(String serialPort){
        this.boot=new NRBootLoader(new SerialConnection(serialPort));
        boot.connect();
        if (boot.ping()){
            //System.out.println("Connection to bowler device ready");
            return;
        }
        //System.out.println("Not a Bowler Device");
        boot.disconnect();
        boot=null;
    }
    
    public boolean load(Core core) {
        
        String id = getDevice().getBootloaderID();
        if (id==null){
            System.err.println("Device is not a bootloader");
            return false;
        }else if (id.contains(core.getType().getReadableName())) {
            //System.out.println("Bootloader ID:"+core.getType().getReadableName());
        }else{
            System.err.println("##core is Invalid##\nExpected:"+core.getType().getReadableName()+" got: "+id);
            return false;
        }
        
        IntelHexParser parse = getParser(core);
        if(parse==null)
            return false;
        send(parse,core.getIndex());
        return true;
    }
    
    private IntelHexParser getParser(Core core) {
        try {
            return new IntelHexParser(core.getLines(),core.getType());
        } catch (IOException e) {
            return null;
        }
    }
    
    private void send(IntelHexParser parse,int core){
        boot.erase(core);
        //System.out.println("Writing to flash");
        int printLine=0;
        ByteData line = parse.getNext();
        while (line != null){
    
            if(!boot.write(core, line)){
                //System.out.println("Failed to write, is the device in bootloader mode?");
                return;
            }
 
            line = parse.getNext();
            //System.out.print(".");
            progressValue++;
            printLine++;
            if (printLine>100){
                printLine=0;
                //System.out.print("\n");
            }
        }
        //System.out.print("\n");
    }
    
    public void reset(){
        try{
            boot.reset();
        }catch(Exception e){
            boot.disconnect();
        }
    }
 
    public NRBootLoader getDevice() {
        return boot;
    }
    
    public void loadCores(ArrayList<Core> cores) {
        loader = new CoreLoader(cores);
        loader.start();
    }
    
    public boolean isLoadDone() {
        return loader.isDone;
    }
    
    private class CoreLoader extends Thread{
        
        ArrayList<Core> cores;
        
        public boolean isDone=false;
        
        public int val=0;
        
        public CoreLoader(ArrayList<Core> cores){
            this.cores=cores;
            progressMax=0;
            for (Core b:cores){
                progressMax += getParser(b).size();
            }
            progressValue=0;
        }
        
        /* (non-Javadoc)
         * @see java.lang.Thread#run()
         */
        public void run() {
            try {
                for (Core b:cores){
                    val++;
                    load(b);
                }
                reset();
            }catch(Exception e) {
                e.printStackTrace();
                String message = "This device is not a bootloader";
                JOptionPane.showMessageDialog(null, message, message, JOptionPane.ERROR_MESSAGE);
            }
            progressValue=0;
            isDone=true;
        }
    }
 
    public int getProgressMax() {
        // TODO Auto-generated method stub
        return progressMax;
    }
    
    public int getProgressValue() {
        return progressValue;
    }
 
}