/**
* Instantiate an I2cDeviceClient instance in the indicated device with the indicated initial
* window of registers being read.
*
* @param i2cDevice the device we are to be a client of
* @param i2cAddr8Bit its 8 bit i2cAddress
* @param autoClose if true, the device client will automatically close when the associated
* SynchronousOpMode stops
*/
public I2cDeviceClient(
II2cDevice i2cDevice, int i2cAddr8Bit, boolean autoClose, IStopActionRegistrar registrar) {
i2cDevice.setI2cAddr(i2cAddr8Bit);
this.i2cDevice = i2cDevice;
this.callback = new Callback();
this.callbackThread = null;
this.callbackThreadOriginalPriority = 0; // not known
this.callbackThreadPriorityBoost = 0; // no boost
this.hardwareCycleCount = 0;
this.loggingEnabled = false;
this.loggingTag = String.format("I2cDeviceClient(%s)", i2cDevice.getDeviceName());
;
this.timeSinceLastHeartbeat = new ElapsedTime();
this.timeSinceLastHeartbeat.reset();
this.msHeartbeatInterval = 0;
this.heartbeatAction = null;
this.readCache = this.i2cDevice.getI2cReadCache();
this.readCacheLock = this.i2cDevice.getI2cReadCacheLock();
this.writeCache = this.i2cDevice.getI2cWriteCache();
this.writeCacheLock = this.i2cDevice.getI2cWriteCacheLock();
this.readWindow = null;
this.readWindowActuallyRead = null;
this.readWindowSentToController = null;
this.readWindowChanged = false;
this.readWindowSentToControllerInitialized = false;
this.nanoTimeReadCacheValid = 0;
this.readCacheStatus = READ_CACHE_STATUS.IDLE;
this.writeCacheStatus = WRITE_CACHE_STATUS.IDLE;
this.modeCacheStatus = MODE_CACHE_STATUS.IDLE;
if (autoClose) {
if (registrar == null) registrar = SynchronousOpMode.getStopActionRegistrar();
if (registrar != null) {
registrar.registerActionOnStop(
new IAction() {
@Override
public void doAction() {
I2cDeviceClient.this.close();
}
});
}
}
this.i2cDevice.registerForI2cPortReadyCallback(this.callback);
}
