ServoChannel.java

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/*******************************************************************************
 * Copyright 2010 Neuron Robotics, LLC
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * 
 *   http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ******************************************************************************/
package com.neuronrobotics.sdk.dyio.peripherals;
import java.util.ArrayList;
 
import com.neuronrobotics.sdk.common.BowlerAbstractCommand;
import com.neuronrobotics.sdk.common.BowlerMethod;
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 ServoChannel extends DyIOAbstractPeripheral implements IChannelEventListener {
    
    private ArrayList<IServoPositionUpdateListener >listeners = new ArrayList<IServoPositionUpdateListener >();
    
    public ServoChannel(int channel){
        this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel));   
    }
    
    public ServoChannel(DyIO dyio,int channel){
        this(dyio.getChannel(channel)); 
    }
    
    public ServoChannel(DyIOChannel channel){
        super(channel,DyIOChannelMode.SERVO_OUT,false);
        if(!setMode()) {
            throw new DyIOPeripheralException("Could not set channel " + channel + " to " + DyIOChannelMode.SERVO_OUT +  " mode");
        }
        channel.setDap(this);
        channel.addChannelEventListener(this);
    }
    
    public boolean SetPosition(int pos){
        return SetPosition(pos, 0);
    }
    public boolean SetPosition(int pos, double time){
        return SetPosition( pos, (float) time);
    }
    
    public boolean SetPosition(int pos, float time){
        if(time == 0)
            time = (float) .001;
        if(!validate()) {
            return false;
        }
        //firePositionUpdate(pos,time);
        getChannel().setCachedValue(pos);
        getChannel().setCachedTime(time);
        if(getChannel().getCachedMode()) {
            //Log.debug(getClass()+" In cached mode, NOT flushing on Set");
            return true;
        }
        
        return flush();
    }
    
    
    private boolean validate() {
        if(!isEnabled()) {
            //return false;
        }
        return getMode() == DyIOChannelMode.SERVO_OUT;
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync()
     */
    @Override
    public boolean hasAsync() {
        return false;
    }
    
    private void firePositionUpdate(int pos,double time){
        for(IServoPositionUpdateListener s:listeners){
            s.onServoPositionUpdate(this, pos,time);
        }
    }
    
    public void addIServoPositionUpdateListener(IServoPositionUpdateListener l) {
        if(listeners.contains(l))
            return;
        listeners.add(l);
    }
    
    public void removeIServoPositionUpdateListener(IServoPositionUpdateListener l) {
        if(listeners.contains(l))
            listeners.remove(l);
    }
    
    public void enablePowerOverride(){
        getChannel().getDevice().send(new powerOverridePacket(true) );
    }
    
    public void disablePowerOverride(){
        getChannel().getDevice().send(new powerOverridePacket(false) );
    }
    
    private class powerOverridePacket extends BowlerAbstractCommand{
        
        public powerOverridePacket(boolean ovr){
            setMethod(BowlerMethod.CRITICAL);
            setOpCode("povr");
            getCallingDataStorage().add(ovr?1:0);
        }
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com.neuronrobotics.sdk.dyio.DyIOChannelEvent)
     */
    @Override
    public void onChannelEvent(DyIOChannelEvent e) {
        firePositionUpdate(e.getUnsignedValue(), System.currentTimeMillis());
    }
    
}