com.qualcomm.robotcore.hardware

Class I2cDeviceImpl

java.lang.Object

com.qualcomm.robotcore.hardware.I2cControllerPortDeviceImpl

com.qualcomm.robotcore.hardware.I2cDeviceImpl

All Implemented Interfaces:

HardwareDevice, I2cController.I2cPortReadyCallback, I2cControllerPortDevice, I2cDevice

public class I2cDeviceImpl
extends I2cControllerPortDeviceImpl
implements I2cDevice, HardwareDevice, I2cController.I2cPortReadyCallback

Control a single I2C Device

Nested Class Summary

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
protected I2cController.I2cPortReadyCallback	callback
protected java.util.concurrent.atomic.AtomicInteger	callbackCount

Fields inherited from class com.qualcomm.robotcore.hardware.I2cControllerPortDeviceImpl

controller, physicalPort

Constructor Summary

Constructors

Constructor and Description
I2cDeviceImpl(I2cController controller, int port) Constructor

Method Summary

Modifier and Type	Method and Description
void	clearI2cPortActionFlag() Clears the flag that I2cDevice.setI2cPortActionFlag() sets
void	close() Closes this device
protected void	controllerNowArmedOrPretending() intended as a subclass hook
void	copyBufferIntoWriteBuffer(byte[] buffer) Copy a byte array into the buffer that is set to be written out to the device
void	deregisterForPortReadyBeginEndCallback() deregister for port-ready begin and cessation notifications
void	deregisterForPortReadyCallback() Unregister for a port-ready callback
void	enableI2cReadMode(I2cAddr i2cAddr, int memAddress, int length) Deprecated.
void	enableI2cWriteMode(I2cAddr i2cAddr, int memAddress, int length) Deprecated.
int	getCallbackCount() Returns the number of callbacks ever experienced by this I2cDevice instance, whether or not they were ever seen by a registered callback.
java.lang.String	getConnectionInfo() Get connection information about this device in a human readable format
I2cController	getController() returns the I2cController on which this device is found
byte[]	getCopyOfReadBuffer() Get a copy of the most recent data read in from the device
byte[]	getCopyOfWriteBuffer() Get a copy of the data that is set to be written out to the device
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
I2cController.I2cPortReadyCallback	getI2cPortReadyCallback() returns the currently registered port-ready callback for this device
byte[]	getI2cReadCache() Get direct access to the read cache used by this I2C device
java.util.concurrent.locks.Lock	getI2cReadCacheLock() Get access to the read cache lock.
TimeWindow	getI2cReadCacheTimeWindow() Returns the time window object into which time stamps are written when the read cache is updated
byte[]	getI2cWriteCache() Get direct access to the write cache used by this I2C device
java.util.concurrent.locks.Lock	getI2cWriteCacheLock() Get access to the write cache lock.
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
int	getMaxI2cWriteLatency() Returns the maximum interval, in milliseconds, from when the controller receives an I2c write transmission over USB to when that write is actually issued to the I2c device.
int	getPort() returns the port number on the controller on which this device is found
I2cController.I2cPortReadyBeginEndNotifications	getPortReadyBeginEndCallback() returns the currently registered callback that will receive begin and cessation notifications
int	getVersion() Version
boolean	isArmed() Returns whether, as of this instant, this I2cDevice is alive and operational in its normally expected mode; that is, whether it is currently in communication with its underlying hardware or whether it is in some other state
boolean	isI2cPortActionFlagSet() Check whether or not the action flag is set for this I2C port
boolean	isI2cPortInReadMode() Query whether or not the port is in Read mode
boolean	isI2cPortInWriteMode() Query whether or not this port is in write mode
boolean	isI2cPortReady() Query whether or not this I2c port is ready
void	portIsReady(int port)
void	readI2cCacheFromController() Trigger a read of the I2C cache
void	readI2cCacheFromModule() Deprecated.
void	registerForI2cPortReadyCallback(I2cController.I2cPortReadyCallback callback) The method used to register for a port-ready callback
void	registerForPortReadyBeginEndCallback(I2cController.I2cPortReadyBeginEndNotifications callback) registers for notifications as to when port-ready callbacks begin or cease
void	resetDeviceConfigurationForOpMode() Resets the device's configuration to that which is expected at the beginning of an OpMode.
void	setI2cPortActionFlag() Set the port action flag; this flag tells the controller to send the current data in its buffer to the I2C device
void	writeI2cCacheToController() Trigger a write of the I2C cache
void	writeI2cCacheToModule() Deprecated.
void	writeI2cPortFlagOnlyToController() Write only the action flag
void	writeI2cPortFlagOnlyToModule() Deprecated.

Methods inherited from class com.qualcomm.robotcore.hardware.I2cControllerPortDeviceImpl

controllerNowDisarmed, finishConstruction, getI2cController, onModuleStateChange

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.qualcomm.robotcore.hardware.I2cControllerPortDevice

getI2cController

Field Detail

callback

protected I2cController.I2cPortReadyCallback callback

callbackCount

protected java.util.concurrent.atomic.AtomicInteger callbackCount

Constructor Detail

I2cDeviceImpl

public I2cDeviceImpl(I2cController controller,
                     int port)

Constructor

Parameters:

controller - I2C controller this channel is attached to

port - port on the I2C controller

Method Detail

controllerNowArmedOrPretending

protected void controllerNowArmedOrPretending()

Description copied from class: I2cControllerPortDeviceImpl

intended as a subclass hook

Overrides:

controllerNowArmedOrPretending in class I2cControllerPortDeviceImpl

getController

public I2cController getController()

returns the I2cController on which this device is found

Specified by:

getController in interface I2cDevice

Returns:

the I2cController on which this device is found

getPort

public int getPort()

returns the port number on the controller on which this device is found

Specified by:

getPort in interface I2cControllerPortDevice

Overrides:

getPort in class I2cControllerPortDeviceImpl

Returns:

the port number on the controller on which this device is found

enableI2cReadMode

@Deprecated
public void enableI2cReadMode(I2cAddr i2cAddr,
                                           int memAddress,
                                           int length)

Deprecated.

Enable read mode for this I2C device

Specified by:

enableI2cReadMode in interface I2cDevice

Parameters:

memAddress - mem address at which to start reading

length - number of bytes to read

i2cAddr - the address of the device on the I2c bus which should be read

See Also:

I2cDevice.writeI2cCacheToController()

enableI2cWriteMode

@Deprecated
public void enableI2cWriteMode(I2cAddr i2cAddr,
                                            int memAddress,
                                            int length)

Deprecated.

Enable write mode for this I2C device

Specified by:

enableI2cWriteMode in interface I2cDevice

Parameters:

memAddress - mem address at which to start writing

length - number of bytes to write

i2cAddr - the address of the device on the I2c bus which should be written

See Also:

I2cDevice.writeI2cCacheToController()

getCopyOfReadBuffer

public byte[] getCopyOfReadBuffer()

Get a copy of the most recent data read in from the device

Specified by:

getCopyOfReadBuffer in interface I2cDevice

Returns:

a copy of the most recent data read in from the device

See Also:

I2cDevice.getI2cReadCache()

getCopyOfWriteBuffer

public byte[] getCopyOfWriteBuffer()

Get a copy of the data that is set to be written out to the device

Specified by:

getCopyOfWriteBuffer in interface I2cDevice

Returns:

a copy of the data set to be written out to the device

See Also:

I2cDevice.getI2cWriteCache()

copyBufferIntoWriteBuffer

public void copyBufferIntoWriteBuffer(byte[] buffer)

Copy a byte array into the buffer that is set to be written out to the device

Specified by:

copyBufferIntoWriteBuffer in interface I2cDevice

Parameters:

buffer - buffer to copy

See Also:

I2cDevice.getI2cWriteCache()

setI2cPortActionFlag

public void setI2cPortActionFlag()

Set the port action flag; this flag tells the controller to send the current data in its buffer to the I2C device

Specified by:

setI2cPortActionFlag in interface I2cDevice

See Also:

I2cDevice.clearI2cPortActionFlag()

clearI2cPortActionFlag

public void clearI2cPortActionFlag()

Description copied from interface: I2cDevice

Clears the flag that I2cDevice.setI2cPortActionFlag() sets

Specified by:

clearI2cPortActionFlag in interface I2cDevice

See Also:

I2cDevice.setI2cPortActionFlag()

isI2cPortActionFlagSet

public boolean isI2cPortActionFlagSet()

Check whether or not the action flag is set for this I2C port

Specified by:

isI2cPortActionFlagSet in interface I2cDevice

Returns:

a boolean indicating whether or not the flag is set

readI2cCacheFromController

public void readI2cCacheFromController()

Trigger a read of the I2C cache

Specified by:

readI2cCacheFromController in interface I2cDevice

writeI2cCacheToController

public void writeI2cCacheToController()

Trigger a write of the I2C cache

Specified by:

writeI2cCacheToController in interface I2cDevice

writeI2cPortFlagOnlyToController

public void writeI2cPortFlagOnlyToController()

Write only the action flag

Specified by:

writeI2cPortFlagOnlyToController in interface I2cDevice

isI2cPortInReadMode

public boolean isI2cPortInReadMode()

Query whether or not the port is in Read mode

Specified by:

isI2cPortInReadMode in interface I2cDevice

Returns:

whether or not this port is in read mode

isI2cPortInWriteMode

public boolean isI2cPortInWriteMode()

Query whether or not this port is in write mode

Specified by:

isI2cPortInWriteMode in interface I2cDevice

Returns:

whether or not this port is in write mode

isI2cPortReady

public boolean isI2cPortReady()

Query whether or not this I2c port is ready

Specified by:

isI2cPortReady in interface I2cDevice

Returns:

boolean indicating I2c port readiness

See Also:

I2cDeviceSynch, I2cDevice.registerForI2cPortReadyCallback(I2cController.I2cPortReadyCallback)

getI2cReadCacheLock

public java.util.concurrent.locks.Lock getI2cReadCacheLock()

Get access to the read cache lock.

This is needed if you are accessing the read cache directly. The read cache lock needs to be acquired before attempting to interact with the read cache

Specified by:

getI2cReadCacheLock in interface I2cDevice

Returns:

the read cache lock

getI2cWriteCacheLock

public java.util.concurrent.locks.Lock getI2cWriteCacheLock()

Get access to the write cache lock.

This is needed if you ace accessing the write cache directly. The write cache lock needs to be acquired before attempting to interact with the write cache

Specified by:

getI2cWriteCacheLock in interface I2cDevice

Returns:

write cache lock

getI2cReadCache

public byte[] getI2cReadCache()

Get direct access to the read cache used by this I2C device

Please lock the cache before accessing it.

Specified by:

getI2cReadCache in interface I2cDevice

Returns:

the read cache

See Also:

I2cDevice.getI2cReadCacheLock(), I2cDevice.getCopyOfReadBuffer()

getI2cReadCacheTimeWindow

public TimeWindow getI2cReadCacheTimeWindow()

Description copied from interface: I2cDevice

Returns the time window object into which time stamps are written when the read cache is updated

Specified by:

getI2cReadCacheTimeWindow in interface I2cDevice

Returns:

the time window object into which time stamps are written when the read cache is updated

See Also:

I2cDevice.getI2cReadCache()

getI2cWriteCache

public byte[] getI2cWriteCache()

Get direct access to the write cache used by this I2C device

Please lock the cache before accessing it.

Specified by:

getI2cWriteCache in interface I2cDevice

Returns:

the write cache

See Also:

I2cDevice.getI2cWriteCacheLock(), I2cDevice.getCopyOfWriteBuffer()

portIsReady

public void portIsReady(int port)

Specified by:

portIsReady in interface I2cController.I2cPortReadyCallback

getMaxI2cWriteLatency

public int getMaxI2cWriteLatency()

Description copied from interface: I2cDevice

Returns the maximum interval, in milliseconds, from when the controller receives an I2c write transmission over USB to when that write is actually issued to the I2c device.

Specified by:

getMaxI2cWriteLatency in interface I2cDevice

Returns:

the maximum interval, in milliseconds, from when the controller receives an I2c write transmission over USB to when that write is actually issued to the I2c device.

registerForI2cPortReadyCallback

public void registerForI2cPortReadyCallback(I2cController.I2cPortReadyCallback callback)

The method used to register for a port-ready callback

Specified by:

registerForI2cPortReadyCallback in interface I2cDevice

Parameters:

callback - pass in the I2C callback that will be called when the device is ready

See Also:

I2cDevice.getI2cPortReadyCallback(), I2cDevice.deregisterForPortReadyCallback()

getI2cPortReadyCallback

public I2cController.I2cPortReadyCallback getI2cPortReadyCallback()

returns the currently registered port-ready callback for this device

Specified by:

getI2cPortReadyCallback in interface I2cDevice

Returns:

the currently registered port-ready callback for this device

deregisterForPortReadyCallback

public void deregisterForPortReadyCallback()

Unregister for a port-ready callback

Specified by:

deregisterForPortReadyCallback in interface I2cDevice

See Also:

I2cDevice.registerForI2cPortReadyCallback(I2cController.I2cPortReadyCallback)

getCallbackCount

public int getCallbackCount()

Description copied from interface: I2cDevice

Returns the number of callbacks ever experienced by this I2cDevice instance, whether or not they were ever seen by a registered callback. This method is mostly useful for debugging and gathering of statistics.

Specified by:

getCallbackCount in interface I2cDevice

Returns:

the number of port-is-ready callbacks ever experienced by this I2cDevice instance

registerForPortReadyBeginEndCallback

public void registerForPortReadyBeginEndCallback(I2cController.I2cPortReadyBeginEndNotifications callback)

registers for notifications as to when port-ready callbacks begin or cease

Specified by:

registerForPortReadyBeginEndCallback in interface I2cDevice

Parameters:

callback - the callback which will receive such notifications

See Also:

I2cDevice.getPortReadyBeginEndCallback(), I2cDevice.deregisterForPortReadyBeginEndCallback()

getPortReadyBeginEndCallback

public I2cController.I2cPortReadyBeginEndNotifications getPortReadyBeginEndCallback()

returns the currently registered callback that will receive begin and cessation notifications

Specified by:

getPortReadyBeginEndCallback in interface I2cDevice

Returns:

the currently registered callback that will receive begin and cessation notifications

See Also:

I2cDevice.registerForPortReadyBeginEndCallback(I2cController.I2cPortReadyBeginEndNotifications)

deregisterForPortReadyBeginEndCallback

public void deregisterForPortReadyBeginEndCallback()

deregister for port-ready begin and cessation notifications

Specified by:

deregisterForPortReadyBeginEndCallback in interface I2cDevice

See Also:

I2cDevice.registerForPortReadyBeginEndCallback(I2cController.I2cPortReadyBeginEndNotifications)

isArmed

public boolean isArmed()

Description copied from interface: I2cDevice

Returns whether, as of this instant, this I2cDevice is alive and operational in its normally expected mode; that is, whether it is currently in communication with its underlying hardware or whether it is in some other state

Specified by:

isArmed in interface I2cDevice

Returns:

the arming status of this I2cDevice

getManufacturer

public HardwareDevice.Manufacturer getManufacturer()

Description copied from interface: HardwareDevice

Returns an indication of the manufacturer of this device.

Specified by:

getManufacturer in interface HardwareDevice

Returns:

the device's manufacturer

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Returns a string suitable for display to the user as to the type of device. Note that this is a device-type-specific name; it has nothing to do with the name by which a user might have configured the device in a robot configuration.

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

getConnectionInfo

public java.lang.String getConnectionInfo()

Description copied from interface: HardwareDevice

Get connection information about this device in a human readable format

Specified by:

getConnectionInfo in interface HardwareDevice

Returns:

connection info

getVersion

public int getVersion()

Description copied from interface: HardwareDevice

Version

Specified by:

getVersion in interface HardwareDevice

Returns:

get the version of this device

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

Description copied from interface: HardwareDevice

Resets the device's configuration to that which is expected at the beginning of an OpMode. For example, motors will reset the their direction to 'forward'.

Specified by:

resetDeviceConfigurationForOpMode in interface HardwareDevice

close

public void close()

Description copied from interface: HardwareDevice

Closes this device

Specified by:

close in interface HardwareDevice

readI2cCacheFromModule

@Deprecated
public void readI2cCacheFromModule()

Deprecated.

Deprecated, use readI2cCacheFromController()

Specified by:

readI2cCacheFromModule in interface I2cDevice

writeI2cCacheToModule

@Deprecated
public void writeI2cCacheToModule()

Deprecated.

Deprecated, use writeI2cCacheToController()

Specified by:

writeI2cCacheToModule in interface I2cDevice

writeI2cPortFlagOnlyToModule

@Deprecated
public void writeI2cPortFlagOnlyToModule()

Deprecated.

Deprecated, use writeI2cPortFlagOnlyToController()

Specified by:

writeI2cPortFlagOnlyToModule in interface I2cDevice