PPMReaderChannel.java

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package com.neuronrobotics.sdk.dyio.peripherals;
 
import java.util.ArrayList;
 
import com.neuronrobotics.sdk.commands.bcs.io.GetValueCommand;
import com.neuronrobotics.sdk.commands.bcs.io.SetChannelValueCommand;
import com.neuronrobotics.sdk.common.BowlerDatagram;
import com.neuronrobotics.sdk.common.BowlerMethod;
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 PPMReaderChannel  extends DyIOAbstractPeripheral implements IChannelEventListener{
    
    private static final DyIOChannelMode myMode = DyIOChannelMode.PPM_IN;
 
    private int [] crossLinks =null;
    
    int [] values=null;
    
    public static final int NO_CROSSLINK = 0xff;
    
    public PPMReaderChannel() {
        this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(23));
    }
    
    public PPMReaderChannel(DyIOChannel channel) {
        super(channel,myMode,true);
        if(!getChannel().canBeMode(myMode)) {
            throw new DyIOPeripheralException("Could not ever be " + channel + " to " + myMode +  " mode");
        }
        if(!setMode()) {
            throw new DyIOPeripheralException("Could not set channel " + channel + " to " + myMode +  " mode");
        }
        getChannel().addChannelEventListener(this);
    }
    
    public void stopAllCrossLinks(){
        if(crossLinks == null)
            crossLinks = new int[6];
        for(int i=0;i<crossLinks.length;i++) {
            crossLinks[i] = NO_CROSSLINK;
        }
        setCrossLink(crossLinks);
    }
    public void setCrossLink(int [] links){
        if(links.length != 6)
            throw new IndexOutOfBoundsException("Array of cross links must be of legnth 6");
        if(crossLinks == null){
            throw new RuntimeException("Must get cross link state before setting a new one");
        }
        //System.out.print("\nSetting cross link map: [");
        for(int i=0;i<crossLinks.length;i++) {
            crossLinks[i] = links[i];
            //System.out.print(" "+crossLinks[i]);
        }
        //System.out.print("]");
        if(getChannel().getDevice().isLegacyParser()){
            getChannel().getDevice().send(new SetChannelValueCommand(23,crossLinks,myMode));
        }else{
            ByteList data  = new ByteList(crossLinks);
            getChannel().getDevice().send("bcs.io.*;0.3;;",
                    BowlerMethod.POST,
                    "strm",
                    new Object[]{23,data});
        }
    }
    
    public int [] getCrossLink(){
        if(crossLinks == null){
            updateValues();
        }
//      System.out.print("\nGetting cross link map: [");
//      for(int i=0;i<crossLinks.length;i++) {
//          System.out.print(" "+crossLinks[i]);
//      }
//      System.out.print("]");
        return crossLinks;
    }
    
    public int [] getValues(){
        if(values == null){
            updateValues();
        }
        return values;
    }
    
    private void updateValues() {
        if(getChannel().getDevice().isLegacyParser()){
            BowlerDatagram b=null;
            //System.out.println("Updating value map");
            try {
                b= getChannel().getDevice().send(new GetValueCommand(23));
            }catch (Exception e) {
                e.printStackTrace();
            }
            if(b != null) {
                crossLinks = new int[6];
                values= new int[6];
                for(int i=0;i<values.length;i++) {
                    values[i] = b.getData().getUnsigned(1+i);
                }
                for(int i=0;i<crossLinks.length;i++) {
                    crossLinks[i] = b.getData().getUnsigned(1+6+i);
                }
            }
        }else{
            Object[] args = getChannel().getDevice().send("bcs.io.*;0.3;;",
                    BowlerMethod.GET,
                    "strm",
                    new Object[]{23});
            crossLinks = new int[6];
            values= new int[6];
            ByteList data = (ByteList)args[1];
            Log.debug("PPM link data: "+data.size());
            for(int i=0;i<values.length;i++) {
                values[i] = data.getUnsigned(i);
            }
            for(int i=0;i<crossLinks.length;i++) {
                crossLinks[i] = data.getUnsigned(6+i);
            }
        }
    }
    
    ArrayList<IPPMReaderListener> listeners = new   ArrayList<IPPMReaderListener> ();
    
    public void addPPMReaderListener(IPPMReaderListener l) {
        if(!listeners.contains(l))
            listeners.add(l);
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com.neuronrobotics.sdk.dyio.DyIOChannelEvent)
     */
    public void onChannelEvent(DyIOChannelEvent e) {
        getValues();
        if(crossLinks == null){
            crossLinks = new int[6];
            ByteList data =new ByteList( e.getData().getBytes(6, 6));
            for(int i=0;i<crossLinks.length;i++) {
                crossLinks[i] = data.getUnsigned(i);
            }
        }
        for(int i=0;i<values.length;i++) {
            values[i] = e.getData().getUnsigned(i);
        }
        if(values != null) {
            for (IPPMReaderListener l:listeners) {
                l.onPPMPacket(values);
            }
        }
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync()
     */
    public boolean hasAsync() {
        return true;
    }
}