private boolean setMode(int modeWord) {
boolean res = false;
if (connection.isConnected()) {
if (modeWord == Mode.YELLOW_LIGHT_DISABLE.getValue()) {
modeWord = previousModeWord;
} else if (modeWord == Mode.EXPOSITION_WITH_CALIBRATION_LIGHTS.getValue()
|| modeWord == Mode.DIAMETER_EXPOSITION.getValue()
|| modeWord == Mode.CALIBRATE_DIAMETER.getValue()
|| modeWord == Mode.LENGTH_EXPOSITION.getValue()
|| modeWord == Mode.YELLOW_LIGHT_ENABLE.getValue()) {
if ((previousModeWord & Mode.CALIBRATION_ARM_UNLOCK.getValue()) > 0) {
modeWord |= Mode.CALIBRATION.getValue();
} else {
modeWord |= previousModeWord;
}
} else {
previousModeWord = modeWord;
}
dlog.d("setMode: " + modeWord);
res =
connection.writeRegister(MEMORY_AREA_B2, Register.MODE.getValue(), new int[] {modeWord});
}
return res;
}
private boolean setFrequencies(int trackFrequency, int cylinderFrequency) {
boolean res = false;
if (connection.isConnected()) {
dlog.d("setFrequencies: " + trackFrequency + ", " + cylinderFrequency);
TrackDirection trackDir = (trackFrequency > 0 ? TrackDirection.FORWARD : TrackDirection.STOP);
boolean r1 =
connection.writeRegister(
MEMORY_AREA_B2,
Register.FREQCHANGER1.getValue(),
new int[] {trackDir.getValue(), trackFrequency});
TrackDirection cylinderDir =
(cylinderFrequency > 0 ? TrackDirection.FORWARD : TrackDirection.STOP);
boolean r2 =
connection.writeRegister(
MEMORY_AREA_B2,
Register.FREQCHANGER2.getValue(),
new int[] {cylinderDir.getValue(), cylinderFrequency});
res = r1 && r2;
if (res) {
frequencyChangeListener.onMotor1FrequencyChanged(trackFrequency);
frequencyChangeListener.onMotor2FrequencyChanged(cylinderFrequency);
}
}
return res;
}
public boolean connect() {
boolean res = false;
if (connection != null && !connection.isConnected()) {
dlog.d("connect");
res = connection.connect();
}
return res;
}
public boolean reconnect() {
boolean res = false;
dlog.d("reconnect");
disconnect();
res = connect();
return res;
}
public boolean disconnect() {
boolean res = false;
if (connection.isConnected()) {
dlog.d("disconnect");
res = connection.disconnect();
}
return res;
}
private boolean setDelay(Register delayRegister, int delay) {
boolean res = false;
if (connection.isConnected()) {
dlog.d("setDelay " + delayRegister.name() + "(" + delayRegister.getValue() + "): " + delay);
res =
connection.writeBcdRegister(MEMORY_AREA_B2, delayRegister.getValue(), new int[] {delay});
}
return res;
}
private boolean setLights(Lights l) {
boolean res = false;
if (connection.isConnected()) {
dlog.d("setLights: " + l.getValue());
res =
connection.writeRegister(
MEMORY_AREA_B2, Register.LIGHTS.getValue(), new int[] {l.getValue()});
}
return res;
}
private boolean setServoNullPosition(int position) {
boolean res = false;
if (connection.isConnected()) {
dlog.d("setServoNullPosition: " + position);
res =
connection.writeRegister(
MEMORY_AREA_B2, Register.SERVO_NULL_POSITION.getValue(), new int[] {position});
}
return res;
}
private boolean setCylinderDistanceWithoutModeChanging(int distance) {
boolean res = false;
if (connection.isConnected()) {
dlog.d("setCylinderDistanceWithoutModeChanging: " + distance);
res =
connection.writeRegister(
MEMORY_AREA_B2, Register.CYLINDER_DISTANCE.getValue(), new int[] {distance});
}
return res;
}
private boolean setCylinderDistance(int distance) {
boolean res = false;
if (connection.isConnected()) {
dlog.d("setCylinderDistance: " + distance);
boolean r1 =
connection.writeRegister(
MEMORY_AREA_B2, Register.CYLINDER_DISTANCE.getValue(), new int[] {distance});
boolean r2 = setMode(Mode.DIAMETER_SETTING.getValue());
res = r1 && r2;
}
return res;
}