SPIChannel.java

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package com.neuronrobotics.sdk.dyio.peripherals;
 
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.DyIOChannelEvent;
import com.neuronrobotics.sdk.dyio.DyIOChannelMode;
import com.neuronrobotics.sdk.common.DeviceManager;
import com.neuronrobotics.sdk.dyio.IChannelEventListener;
import com.neuronrobotics.sdk.util.ThreadUtil;
// TODO: Auto-generated Javadoc
 
public class SPIChannel implements IChannelEventListener{
    
    DyIO dyio;
    
    byte [] rx=null;
    
    public SPIChannel () {
        this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)));
    }
    
    public SPIChannel (DyIO d) {
        d.setMode(0, DyIOChannelMode.SPI_CLOCK);
        dyio = d;
        dyio.getChannel(0).addChannelEventListener(this);
    }
    @Deprecated
    private BowlerDatagram sendSPIStream(int ss, byte [] stream) {
        
        ByteList b = new ByteList();
        b.add(ss);
        b.add(stream);
        return dyio.send(new  SetChannelValueCommand(0, b));
 
    }
    public byte [] read(int ss, int numBytes) {
        byte [] stream = new byte[numBytes];
        for(int i = 0; i < numBytes; i++) {
            stream[i]=(byte) 0xff;
        }
        return write(ss,stream);
    }
    public byte [] write(int ss, byte [] stream) {
        if(dyio.isLegacyParser()){
            BowlerDatagram  b= sendSPIStream(ss,stream);
            if(b==null)
                return new byte[0];
            return b.getData().getBytes(2);
        }else{
            ByteList data  = new ByteList(stream);
            data.insert(0, (byte) ss);
            dyio.send("bcs.io.*;0.3;;",
                    BowlerMethod.POST,
                    "strm",
                    new Object[]{0,data});
            int timeout = 1000;
            rx=null;
            while(timeout-->0){
                ThreadUtil.wait(1);
                if(rx!=null){
                    return rx;
                }
            }
            return new byte [0];
        }
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com.neuronrobotics.sdk.dyio.DyIOChannelEvent)
     */
    @Override
    public void onChannelEvent(DyIOChannelEvent e) {
        //Log.error("SPI"+e);
        rx = e.getData().getBytes();
    }
}