com.qualcomm.robotcore.hardware

Class HardwareMap

java.lang.Object

com.qualcomm.robotcore.hardware.HardwareMap

All Implemented Interfaces:

java.lang.Iterable<HardwareDevice>

public class HardwareMap
extends java.lang.Object
implements java.lang.Iterable<HardwareDevice>

HardwareMap provides a means of retrieving runtime HardwareDevice instances according to the names with which the corresponding physical devices were associated during robot configuration.

A HardwareMap also contains an associated application context in which it was instantiated. Through their hardwareMap, this provides access to a Context for OpModes, as such an appropriate instance is needed by various system APIs.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	HardwareMap.DeviceMapping<DEVICE_TYPE extends HardwareDevice> A DeviceMapping contains a subcollection of the devices registered in a HardwareMap comprised of all the devices of a particular device type

Field Summary

Fields

Modifier and Type	Field and Description
HardwareMap.DeviceMapping<AccelerationSensor>	accelerationSensor
java.util.List<HardwareMap.DeviceMapping<? extends HardwareDevice>>	allDeviceMappings
protected java.util.List<HardwareDevice>	allDevicesList
protected java.util.Map<java.lang.String,java.util.List<HardwareDevice>>	allDevicesMap
HardwareMap.DeviceMapping<AnalogInput>	analogInput
HardwareMap.DeviceMapping<AnalogOutput>	analogOutput
android.content.Context	appContext
HardwareMap.DeviceMapping<ColorSensor>	colorSensor
HardwareMap.DeviceMapping<CompassSensor>	compassSensor
HardwareMap.DeviceMapping<CRServo>	crservo
HardwareMap.DeviceMapping<DcMotor>	dcMotor
HardwareMap.DeviceMapping<DcMotorController>	dcMotorController
HardwareMap.DeviceMapping<DeviceInterfaceModule>	deviceInterfaceModule
protected java.util.Map<HardwareDevice,java.util.Set<java.lang.String>>	deviceNames
HardwareMap.DeviceMapping<DigitalChannel>	digitalChannel
HardwareMap.DeviceMapping<GyroSensor>	gyroSensor
HardwareMap.DeviceMapping<I2cDevice>	i2cDevice
HardwareMap.DeviceMapping<I2cDeviceSynch>	i2cDeviceSynch
HardwareMap.DeviceMapping<IrSeekerSensor>	irSeekerSensor
HardwareMap.DeviceMapping<LED>	led
HardwareMap.DeviceMapping<LegacyModule>	legacyModule
HardwareMap.DeviceMapping<LightSensor>	lightSensor
protected java.lang.Object	lock
HardwareMap.DeviceMapping<OpticalDistanceSensor>	opticalDistanceSensor
HardwareMap.DeviceMapping<PWMOutput>	pwmOutput
protected java.util.Map<SerialNumber,HardwareDevice>	serialNumberMap
HardwareMap.DeviceMapping<Servo>	servo
HardwareMap.DeviceMapping<ServoController>	servoController
HardwareMap.DeviceMapping<TouchSensor>	touchSensor
HardwareMap.DeviceMapping<TouchSensorMultiplexer>	touchSensorMultiplexer
HardwareMap.DeviceMapping<UltrasonicSensor>	ultrasonicSensor
HardwareMap.DeviceMapping<VoltageSensor>	voltageSensor

Constructor Summary

Constructors

Constructor and Description
HardwareMap(android.content.Context appContext)

Method Summary

Modifier and Type	Method and Description
<T> T	get(java.lang.Class<? extends T> classOrInterface, SerialNumber serialNumber) (Advanced) Returns the device with the indicated SerialNumber, if it exists, cast to the indicated class or interface; otherwise, null.
<T> T	get(java.lang.Class<? extends T> classOrInterface, java.lang.String deviceName) Retrieves the (first) device with the indicated name which is also an instance of the indicated class or interface.
HardwareDevice	get(java.lang.String deviceName) Returns the (first) device with the indicated name.
<T> java.util.List<T>	getAll(java.lang.Class<? extends T> classOrInterface) Returns all the devices which are instances of the indicated class or interface.
java.util.Set<java.lang.String>	getNamesOf(HardwareDevice device) Returns all the names by which the device is known.
protected void	internalPut(SerialNumber serialNumber, java.lang.String deviceName, HardwareDevice device)
java.util.Iterator<HardwareDevice>	iterator() Returns an iterator of all the devices in the HardwareMap.
void	logDevices()
void	put(SerialNumber serialNumber, java.lang.String deviceName, HardwareDevice device) (Advanced) Puts a device in the overall map without having it also reside in a type-specific DeviceMapping.
void	put(java.lang.String deviceName, HardwareDevice device) Puts a device in the overall map without having it also reside in a type-specific DeviceMapping.
protected void	rebuildDeviceNamesIfNecessary()
protected void	recordDeviceName(java.lang.String deviceName, HardwareDevice device)
boolean	remove(SerialNumber serialNumber, java.lang.String deviceName, HardwareDevice device) (Advanced) Removes a device from the overall map, if present.
boolean	remove(java.lang.String deviceName, HardwareDevice device) (Advanced) Removes a device from the overall map, if present.
int	size() Returns the number of unique device objects currently found in this HardwareMap.
<T> T	tryGet(java.lang.Class<? extends T> classOrInterface, java.lang.String deviceName) Retrieves the (first) device with the indicated name which is also an instance of the indicated class or interface.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface java.lang.Iterable

forEach, spliterator

Field Detail

dcMotorController

public HardwareMap.DeviceMapping<DcMotorController> dcMotorController

dcMotor

public HardwareMap.DeviceMapping<DcMotor> dcMotor

servoController

public HardwareMap.DeviceMapping<ServoController> servoController

servo

public HardwareMap.DeviceMapping<Servo> servo

crservo

public HardwareMap.DeviceMapping<CRServo> crservo

legacyModule

public HardwareMap.DeviceMapping<LegacyModule> legacyModule

touchSensorMultiplexer

public HardwareMap.DeviceMapping<TouchSensorMultiplexer> touchSensorMultiplexer

deviceInterfaceModule

public HardwareMap.DeviceMapping<DeviceInterfaceModule> deviceInterfaceModule

analogInput

public HardwareMap.DeviceMapping<AnalogInput> analogInput

digitalChannel

public HardwareMap.DeviceMapping<DigitalChannel> digitalChannel

opticalDistanceSensor

public HardwareMap.DeviceMapping<OpticalDistanceSensor> opticalDistanceSensor

touchSensor

public HardwareMap.DeviceMapping<TouchSensor> touchSensor

pwmOutput

public HardwareMap.DeviceMapping<PWMOutput> pwmOutput

i2cDevice

public HardwareMap.DeviceMapping<I2cDevice> i2cDevice

i2cDeviceSynch

public HardwareMap.DeviceMapping<I2cDeviceSynch> i2cDeviceSynch

analogOutput

public HardwareMap.DeviceMapping<AnalogOutput> analogOutput

colorSensor

public HardwareMap.DeviceMapping<ColorSensor> colorSensor

led

public HardwareMap.DeviceMapping<LED> led

accelerationSensor

public HardwareMap.DeviceMapping<AccelerationSensor> accelerationSensor

compassSensor

public HardwareMap.DeviceMapping<CompassSensor> compassSensor

gyroSensor

public HardwareMap.DeviceMapping<GyroSensor> gyroSensor

irSeekerSensor

public HardwareMap.DeviceMapping<IrSeekerSensor> irSeekerSensor

lightSensor

public HardwareMap.DeviceMapping<LightSensor> lightSensor

ultrasonicSensor

public HardwareMap.DeviceMapping<UltrasonicSensor> ultrasonicSensor

voltageSensor

public HardwareMap.DeviceMapping<VoltageSensor> voltageSensor

allDevicesMap

protected java.util.Map<java.lang.String,java.util.List<HardwareDevice>> allDevicesMap

allDevicesList

protected java.util.List<HardwareDevice> allDevicesList

deviceNames

protected java.util.Map<HardwareDevice,java.util.Set<java.lang.String>> deviceNames

serialNumberMap

protected java.util.Map<SerialNumber,HardwareDevice> serialNumberMap

allDeviceMappings

public final java.util.List<HardwareMap.DeviceMapping<? extends HardwareDevice>> allDeviceMappings

appContext

public final android.content.Context appContext

lock

protected final java.lang.Object lock

Constructor Detail

HardwareMap

public HardwareMap(android.content.Context appContext)

Method Detail

get

public <T> T get(java.lang.Class<? extends T> classOrInterface,
                 java.lang.String deviceName)

Retrieves the (first) device with the indicated name which is also an instance of the indicated class or interface. If no such device is found, an exception is thrown. Example:

    DcMotor motorLeft = hardwareMap.get(DcMotor.class, "motorLeft");
    ColorSensor colorSensor = hardwareMap.get(ColorSensor.class, "myColorSensor");
 

Parameters:

classOrInterface - the class or interface indicating the type of the device object to be retrieved

deviceName - the name of the device object to be retrieved

Returns:

a device with the indicated name which is an instance of the indicated class or interface

See Also:

get(String), getAll(Class), HardwareMap.DeviceMapping.get(String), tryGet(Class, String)

tryGet

public <T> T tryGet(java.lang.Class<? extends T> classOrInterface,
                    java.lang.String deviceName)

Retrieves the (first) device with the indicated name which is also an instance of the indicated class or interface. If no such device is found, null is returned. This is not commonly used; get(java.lang.Class<? extends T>, java.lang.String) is the usual method for retreiving items from the map.

See Also:

get(Class, String)

get

public <T> T get(java.lang.Class<? extends T> classOrInterface,
                 SerialNumber serialNumber)

(Advanced) Returns the device with the indicated SerialNumber, if it exists, cast to the indicated class or interface; otherwise, null.

get

public HardwareDevice get(java.lang.String deviceName)

Returns the (first) device with the indicated name. If no such device is found, an exception is thrown. Note that the compile-time type of the return value of this method is HardwareDevice, which is usually not what is desired in user code. Thus, the programmer usually casts the return type to the target type that the programmer knows the returned value to be:

    DcMotor motorLeft = (DcMotor)hardwareMap.get("motorLeft");
    ColorSensor colorSensor = (ColorSensor)hardwareMap.get("myColorSensor");
 

Parameters:

deviceName - the name of the device object to be retrieved

Returns:

a device with the indicated name.

See Also:

get(Class, String), HardwareMap.DeviceMapping.get(String)

getAll

public <T> java.util.List<T> getAll(java.lang.Class<? extends T> classOrInterface)

Returns all the devices which are instances of the indicated class or interface.

Parameters:

classOrInterface - the class or interface indicating the type of the device object to be retrieved

Returns:

all the devices registered in the map which are instances of classOrInterface

See Also:

get(Class, String)

put

public void put(java.lang.String deviceName,
                HardwareDevice device)

Puts a device in the overall map without having it also reside in a type-specific DeviceMapping.

Parameters:

deviceName - the name by which the device is to be known (case sensitive)

device - the device to be stored by that name

put

public void put(SerialNumber serialNumber,
                java.lang.String deviceName,
                HardwareDevice device)

(Advanced) Puts a device in the overall map without having it also reside in a type-specific DeviceMapping.

Parameters:

serialNumber - the SerialNumber of the device

deviceName - the name by which the device is to be known (case sensitive)

device - the device to be stored by that name

internalPut

protected void internalPut(SerialNumber serialNumber,
                           java.lang.String deviceName,
                           HardwareDevice device)

remove

public boolean remove(java.lang.String deviceName,
                      HardwareDevice device)

(Advanced) Removes a device from the overall map, if present. If the device is also present in a DeviceMapping, then the device should be removed using HardwareMap.DeviceMapping.remove(java.lang.String) instead of calling this method.

This is normally called only by code in the SDK itself, not by user code.

Parameters:

deviceName - the name of the device to remove

device - the device to remove under that name

Returns:

whether a device was removed or not

remove

public boolean remove(SerialNumber serialNumber,
                      java.lang.String deviceName,
                      HardwareDevice device)

(Advanced) Removes a device from the overall map, if present. If the device is also present in a DeviceMapping, then the device should be removed using HardwareMap.DeviceMapping.remove(java.lang.String) instead of calling this method.

This is normally called only by code in the SDK itself, not by user code.

Parameters:

serialNumber - (optional) the serial number of the device

deviceName - the name of the device to remove

device - the device to remove under that name

Returns:

whether a device was removed or not

getNamesOf

public java.util.Set<java.lang.String> getNamesOf(HardwareDevice device)

Returns all the names by which the device is known. Virtually always, there is but a single name.

Parameters:

device - the device whose names are desired.

Returns:

the set of names by which that device is known

recordDeviceName

protected void recordDeviceName(java.lang.String deviceName,
                                HardwareDevice device)

rebuildDeviceNamesIfNecessary

protected void rebuildDeviceNamesIfNecessary()

size

public int size()

Returns the number of unique device objects currently found in this HardwareMap.

Returns:

the number of unique device objects currently found in this HardwareMap.

See Also:

iterator()

iterator

public java.util.Iterator<HardwareDevice> iterator()

Returns an iterator of all the devices in the HardwareMap.

Specified by:

iterator in interface java.lang.Iterable<HardwareDevice>

Returns:

an iterator of all the devices in the HardwareMap.

See Also:

size()

logDevices

public void logDevices()