BowlerKernel
PidDeviceServerNamespace.java
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1 package com.neuronrobotics.sdk.namespace.bcs.pid;
2 
3 import com.neuronrobotics.sdk.common.BowlerDataType;
4 import com.neuronrobotics.sdk.common.BowlerMethod;
5 import com.neuronrobotics.sdk.common.Log;
6 import com.neuronrobotics.sdk.common.MACAddress;
7 import com.neuronrobotics.sdk.common.RpcEncapsulation;
8 import com.neuronrobotics.sdk.common.device.server.BowlerAbstractDeviceServerNamespace;
9 import com.neuronrobotics.sdk.common.device.server.IBowlerCommandProcessor;
10 import com.neuronrobotics.sdk.pid.IPIDEventListener;
11 import com.neuronrobotics.sdk.pid.PDVelocityConfiguration;
12 import com.neuronrobotics.sdk.pid.PIDChannel;
13 import com.neuronrobotics.sdk.pid.PIDCommandException;
14 import com.neuronrobotics.sdk.pid.PIDConfiguration;
15 
16 
17 // TODO: Auto-generated Javadoc
21 public class PidDeviceServerNamespace extends BowlerAbstractDeviceServerNamespace implements IPidControlNamespace {
22 
24  private IPidControlNamespace device;
25 
32  public PidDeviceServerNamespace(MACAddress addr,IPidControlNamespace device ) {
33  super(addr, "bcs.pid.*;1.0;;");
34  this.device = device;
35  rpc.add(new RpcEncapsulation(getNamespaceIndex(),
36  getNamespace() ,
37  "apid",
38  BowlerMethod.GET,
39  new BowlerDataType[]{},
40  BowlerMethod.POST,
41  new BowlerDataType[]{BowlerDataType.I32STR},
42  new IBowlerCommandProcessor() {
43  @Override
44  public Object[] process(Object[] data) {
45  float [] current = GetAllPIDPosition();
46  Integer [] d = new Integer[current.length];
47  for(int i=0;i<current.length;i++){
48  d[i]=new Integer((int)current[i]);
49  }
50  return new Object[]{d};
51  }
52  }));//Name
53 
54 
55 
56 
57  rpc.add(new RpcEncapsulation(getNamespaceIndex(),
58  getNamespace() ,
59  "_pid",
60  BowlerMethod.GET,
61  new BowlerDataType[]{BowlerDataType.I08},
62  BowlerMethod.POST,
63  new BowlerDataType[]{BowlerDataType.I08,BowlerDataType.I32},
64  new IBowlerCommandProcessor() {
65  @Override
66  public Object[] process(Object[] data) {
67  //anythign
68  return new Object[]{data[0],new Integer((int)GetPIDPosition((Integer) data[0]))};
69  }
70  }));//Name
71 
72 
73 
74  rpc.add(new RpcEncapsulation(getNamespaceIndex(),
75  getNamespace() ,
76  "cpid",
77  BowlerMethod.GET,
78  new BowlerDataType[]{BowlerDataType.I08},
79  BowlerMethod.POST,
80  new BowlerDataType[]{ BowlerDataType.I08,
81  BowlerDataType.I08,
82  BowlerDataType.I08,
83  BowlerDataType.I08,
84  BowlerDataType.FIXED100,
85  BowlerDataType.FIXED100,
86  BowlerDataType.FIXED100,
87  BowlerDataType.I32,
88  BowlerDataType.I08,
89  BowlerDataType.I08,
90  BowlerDataType.FIXED1k,
91  BowlerDataType.FIXED1k,
92  BowlerDataType.FIXED1k
93  },
94  new IBowlerCommandProcessor() {
95  @Override
96  public Object[] process(Object[] data) {
97  PIDConfiguration conf = getPIDConfiguration((Integer)data[0]);
98  return conf.getArgs();
99  }
100  }));//Name
101  rpc.add(new RpcEncapsulation(getNamespaceIndex(),
102  getNamespace() ,
103  "cpdv",
104  BowlerMethod.GET,
105  new BowlerDataType[]{ BowlerDataType.I08},
106  BowlerMethod.POST,
107  new BowlerDataType[]{ BowlerDataType.I08,
108  BowlerDataType.FIXED100,
109  BowlerDataType.FIXED100},
110  new IBowlerCommandProcessor() {
111  @Override
112  public Object[] process(Object[] data) {
113  PDVelocityConfiguration conf = getPDVelocityConfiguration((Integer)data[0]);
114  return conf.getArgs();
115  }
116  }));//Name
117  rpc.add(new RpcEncapsulation(getNamespaceIndex(),
118  getNamespace() ,
119  "gpdc",
120  BowlerMethod.GET,
121  new BowlerDataType[]{},
122  BowlerMethod.POST,
123  new BowlerDataType[]{BowlerDataType.I32},
124  new IBowlerCommandProcessor() {
125  @Override
126  public Object[] process(Object[] data) {
127  return new Object[]{new Integer(getPIDChannelCount())};
128  }
129  }));//Name
130  rpc.add(new RpcEncapsulation(getNamespaceIndex(),
131  getNamespace() ,
132  "apid",
133  BowlerMethod.POST,
134  new BowlerDataType[]{ BowlerDataType.I32,
135  BowlerDataType.I32STR
136  },
137  BowlerMethod.STATUS,
138  new BowlerDataType[]{ BowlerDataType.I08,
139  BowlerDataType.I08
140  },
141  new IBowlerCommandProcessor() {
142  @Override
143  public Object[] process(Object[] data) {
144  Integer time = (Integer)data[0];
145  Integer [] d = (Integer [])data[1];
146  float [] current = new float[d.length];
147  for(int i=0;i<current.length;i++){
148  current[i] = d[i];
149  }
150  SetAllPIDSetPoint(current, time);
151  return new Object[]{new Integer(66),new Integer(3)};
152  }
153  }));//Name
154  rpc.add(new RpcEncapsulation(getNamespaceIndex(),
155  getNamespace() ,
156  "_pid",
157  BowlerMethod.POST,
158  new BowlerDataType[]{ BowlerDataType.I08,
159  BowlerDataType.I32,
160  BowlerDataType.I32
161  },
162  BowlerMethod.STATUS,
163  new BowlerDataType[]{ BowlerDataType.I08,
164  BowlerDataType.I08
165  },
166  new IBowlerCommandProcessor() {
167  @Override
168  public Object[] process(Object[] data) {
169  SetPIDSetPoint((Integer)data[0],
170  (Integer)data[1],
171  (Integer)data[2]);
172 
173  return new Object[]{data[0],new Integer(5)};
174  }
175  }));//Name
176  rpc.add(new RpcEncapsulation(getNamespaceIndex(),
177  getNamespace() ,
178  "_vpd",
179  BowlerMethod.POST,
180  new BowlerDataType[]{ BowlerDataType.I08,
181  BowlerDataType.I32,
182  BowlerDataType.I32
183  },
184  BowlerMethod.STATUS,
185  new BowlerDataType[]{ BowlerDataType.I08,
186  BowlerDataType.I08
187  },
188  new IBowlerCommandProcessor() {
189  @Override
190  public Object[] process(Object[] data) {
191  try {
192  SetPDVelocity((Integer)data[0],
193  (Integer)data[1],
194  (Integer)data[2]);
195  } catch (PIDCommandException e) {
196  // TODO Auto-generated catch block
197  e.printStackTrace();
198  return new Object[]{data[0],new Integer(66)};
199  }
200 
201  return new Object[]{data[0],new Integer(4)};
202  }
203  }));//Name
204  rpc.add(new RpcEncapsulation(getNamespaceIndex(),
205  getNamespace() ,
206  "rpid",
207  BowlerMethod.POST,
208  new BowlerDataType[]{ BowlerDataType.I08,
209  BowlerDataType.I32
210  },
211  BowlerMethod.STATUS,
212  new BowlerDataType[]{ BowlerDataType.I08,
213  BowlerDataType.I08
214  },
215  new IBowlerCommandProcessor() {
216  @Override
217  public Object[] process(Object[] data) {
218  ResetPIDChannel((Integer)data[0], (Integer)data[1]);
219  return new Object[]{data[0],new Integer(6)};
220  }
221  }));//Name
222  rpc.add(new RpcEncapsulation(getNamespaceIndex(),
223  getNamespace() ,
224  "kpid",
225  BowlerMethod.CRITICAL,
226  new BowlerDataType[]{},
227  BowlerMethod.STATUS,
228  new BowlerDataType[]{ BowlerDataType.I08,
229  BowlerDataType.I08
230  },
231  new IBowlerCommandProcessor() {
232  @Override
233  public Object[] process(Object[] data) {
234  killAllPidGroups();
235  return new Object[]{new Integer(66),new Integer(0)};
236  }
237  }));//Name
238  rpc.add(new RpcEncapsulation(getNamespaceIndex(),
239  getNamespace() ,
240  "cpid",
241  BowlerMethod.CRITICAL,
242  new BowlerDataType[]{ BowlerDataType.I08,
243  BowlerDataType.I08,
244  BowlerDataType.I08,
245  BowlerDataType.I08,
246  BowlerDataType.FIXED100,
247  BowlerDataType.FIXED100,
248  BowlerDataType.FIXED100,
249  BowlerDataType.I32,
250  BowlerDataType.I08,
251  BowlerDataType.I08,
252  BowlerDataType.FIXED1k,
253  BowlerDataType.FIXED1k,
254  BowlerDataType.FIXED1k
255  },
256  BowlerMethod.STATUS,
257  new BowlerDataType[]{ BowlerDataType.I08,
258  BowlerDataType.I08
259  },
260  new IBowlerCommandProcessor() {
261  @Override
262  public Object[] process(Object[] data) {
263  PIDConfiguration conf = new PIDConfiguration(data);
264  ConfigurePIDController(conf);
265  Log.info("PID setting "+conf);
266  return new Object[]{data[0],new Integer(1)};
267  }
268  }));//Name
269  rpc.add(new RpcEncapsulation(getNamespaceIndex(),
270  getNamespace() ,
271  "cpdv",
272  BowlerMethod.CRITICAL,
273  new BowlerDataType[]{ BowlerDataType.I08,
274  BowlerDataType.FIXED100,
275  BowlerDataType.FIXED100
276  },
277  BowlerMethod.STATUS,
278  new BowlerDataType[]{ BowlerDataType.I08,
279  BowlerDataType.I08
280  },
281  new IBowlerCommandProcessor() {
282  @Override
283  public Object[] process(Object[] data) {
284  PDVelocityConfiguration conf = new PDVelocityConfiguration(data);
285  ConfigurePDVelovityController(conf);
286  Log.info("VPD setting "+conf);
287  return new Object[]{data[0],new Integer(2)};
288  }
289  }));//Name
290 // rpc.add(new RpcEncapsulation(getNamespaceIndex(),
291 // getNamespace() ,
292 // "acal",
293 // BowlerMethod.CRITICAL,
294 // new BowlerDataType[]{BowlerDataType.I08
295 // },
296 // BowlerMethod.STATUS,
297 // new BowlerDataType[]{ BowlerDataType.I08,
298 // BowlerDataType.I08
299 // },
300 // new IBowlerCommandProcessor() {
301 // @Override
302 // public Object[] process(Object[] data) {
303 // runOutputHysteresisCalibration((Integer)data[0]);
304 // return new Object[]{new Integer(37),new Integer(0)};
305 // }
306 // }));//Name
307  }
308 
309  /* (non-Javadoc)
310  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#ResetPIDChannel(int, int)
311  */
312  @Override
313  public boolean ResetPIDChannel(int group, float valueToSetCurrentTo) {
314  return device.ResetPIDChannel(group, valueToSetCurrentTo);
315  }
316 
317  /* (non-Javadoc)
318  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#ConfigurePIDController(com.neuronrobotics.sdk.pid.PIDConfiguration)
319  */
320  @Override
321  public boolean ConfigurePIDController(PIDConfiguration config) {
322  return device.ConfigurePIDController(config);
323  }
324 
325  /* (non-Javadoc)
326  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPIDConfiguration(int)
327  */
328  @Override
329  public PIDConfiguration getPIDConfiguration(int group) {
330  return device.getPIDConfiguration(group);
331  }
332 
333  /* (non-Javadoc)
334  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#ConfigurePDVelovityController(com.neuronrobotics.sdk.pid.PDVelocityConfiguration)
335  */
336  @Override
337  public boolean ConfigurePDVelovityController(PDVelocityConfiguration config) {
338  return device.ConfigurePDVelovityController(config);
339  }
340 
341  /* (non-Javadoc)
342  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPDVelocityConfiguration(int)
343  */
344  @Override
345  public PDVelocityConfiguration getPDVelocityConfiguration(int group) {
346  return device.getPDVelocityConfiguration(group);
347  }
348 
349  /* (non-Javadoc)
350  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPIDChannelCount()
351  */
352  @Override
353  public int getPIDChannelCount() {
354  return device.getPIDChannelCount();
355  }
356 
357  /* (non-Javadoc)
358  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetPIDSetPoint(int, int, double)
359  */
360  @Override
361  public boolean SetPIDSetPoint(int group, float setpoint, double seconds) {
362  return device.SetPIDSetPoint(group, setpoint, seconds);
363  }
364 
365  /* (non-Javadoc)
366  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetAllPIDSetPoint(int[], double)
367  */
368  @Override
369  public boolean SetAllPIDSetPoint(float[] setpoints, double seconds) {
370  return device.SetAllPIDSetPoint(setpoints, seconds);
371  }
372 
373  /* (non-Javadoc)
374  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#GetPIDPosition(int)
375  */
376  @Override
377  public float GetPIDPosition(int group) {
378  return device.GetPIDPosition(group);
379  }
380 
381  /* (non-Javadoc)
382  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#GetAllPIDPosition()
383  */
384  @Override
385  public float[] GetAllPIDPosition() {
386  return device.GetAllPIDPosition();
387  }
388 
389  /* (non-Javadoc)
390  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#addPIDEventListener(com.neuronrobotics.sdk.pid.IPIDEventListener)
391  */
392  @Override
393  public void addPIDEventListener(IPIDEventListener l) {
394  device.addPIDEventListener(l);
395  }
396 
397  /* (non-Javadoc)
398  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#removePIDEventListener(com.neuronrobotics.sdk.pid.IPIDEventListener)
399  */
400  @Override
401  public void removePIDEventListener(IPIDEventListener l) {
402  device.removePIDEventListener(l);
403  }
404 
405  /* (non-Javadoc)
406  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#flushPIDChannels(double)
407  */
408  @Override
409  public void flushPIDChannels(double time) {
410  device.flushPIDChannels(time);
411  }
412 
413  /* (non-Javadoc)
414  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetPIDInterpolatedVelocity(int, int, double)
415  */
416  @Override
417  public boolean SetPIDInterpolatedVelocity(int group, int unitsPerSecond,
418  double seconds) throws PIDCommandException {
419  return device.SetPIDInterpolatedVelocity(group, unitsPerSecond, seconds);
420  }
421 
422  /* (non-Javadoc)
423  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetPDVelocity(int, int, double)
424  */
425  @Override
426  public boolean SetPDVelocity(int group, int unitsPerSecond, double seconds)
427  throws PIDCommandException {
428  return device.SetPDVelocity(group, unitsPerSecond, seconds);
429  }
430 
431  /* (non-Javadoc)
432  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPIDChannel(int)
433  */
434  @Override
435  public PIDChannel getPIDChannel(int group) {
436  return device.getPIDChannel(group);
437  }
438 
439  /* (non-Javadoc)
440  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#killAllPidGroups()
441  */
442  @Override
443  public boolean killAllPidGroups() {
444  return device.killAllPidGroups();
445  }
446 
447  /* (non-Javadoc)
448  * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#isAvailable()
449  */
450  @Override
451  public boolean isAvailable() {
452  return true;
453  }
454 
455 // @Override
456 // public boolean runOutputHysteresisCalibration(int group) {
457 // return device.runOutputHysteresisCalibration(group);
458 // }
459 
460 }
com.neuronrobotics.sdk.common.Log.info
static void info(String message)
Definition: Log.java:110
com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.SetPDVelocity
boolean SetPDVelocity(int group, int unitsPerSecond, double seconds)
Definition: PidDeviceServerNamespace.java:426
com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.SetPIDSetPoint
boolean SetPIDSetPoint(int group, float setpoint, double seconds)
Definition: PidDeviceServerNamespace.java:361
com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.PidDeviceServerNamespace
PidDeviceServerNamespace(MACAddress addr, IPidControlNamespace device)
Definition: PidDeviceServerNamespace.java:32
com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.SetPIDInterpolatedVelocity
boolean SetPIDInterpolatedVelocity(int group, int unitsPerSecond, double seconds)
Definition: PidDeviceServerNamespace.java:417
com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.ConfigurePDVelovityController
boolean ConfigurePDVelovityController(PDVelocityConfiguration config)
com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.SetAllPIDSetPoint
boolean SetAllPIDSetPoint(float[]setpoints, double seconds)
com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.SetPIDSetPoint
boolean SetPIDSetPoint(int group, float setpoint, double seconds)
com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.getPDVelocityConfiguration
PDVelocityConfiguration getPDVelocityConfiguration(int group)
com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.SetPDVelocity
boolean SetPDVelocity(int group, int unitsPerSecond, double seconds)
com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.ResetPIDChannel
boolean ResetPIDChannel(int group, float valueToSetCurrentTo)
com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.SetPIDInterpolatedVelocity
boolean SetPIDInterpolatedVelocity(int group, int unitsPerSecond, double seconds)
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