/** * Sound class. Usage: SoundSensor.playTone(500, 1000); * * @author <a href="mailto:[email protected]">Brian Bagnall</a> */ public class Sound { private static final NXTCommand nxtCommand = NXTCommandConnector.getSingletonOpen(); // Make sure no one tries to instantiate this. private Sound() {} public static int playTone(int frequency, int duration) { try { return nxtCommand.playTone(frequency, duration); } catch (IOException ioe) { System.out.println(ioe.getMessage()); return -1; } } /** * Plays a sound file from the NXT. SoundSensor files use the .rso extension. The filename is not * case sensitive. Filenames on the NXT Bricks display do now show the filename extension. * * @param fileName e.g. "Woops.rso" * @param repeat true = repeat, false = play once. * @return If you receive a non-zero number, the filename is probably wrong or the file is not * uploaded to the NXT brick. */ public static byte playSoundFile(String fileName, boolean repeat) { try { return nxtCommand.playSoundFile(fileName, repeat); } catch (IOException ioe) { System.out.println(ioe.getMessage()); return -1; } } /** * Plays a sound file once from the NXT. SoundSensor files use the .rso extension. The filename is * not case sensitive. Filenames on the NXT Bricks display do now show the filename extension. * * @param fileName e.g. "Woops.rso" * @return If you receive a non-zero number, the filename is probably wrong or the file is not * uploaded to the NXT brick. */ public static byte playSoundFile(String fileName) { return Sound.playSoundFile(fileName, false); } /** * Stops a sound file that has been playing/repeating. * * @return Error code. */ public static int stopSoundPlayback() { try { return nxtCommand.stopSoundPlayback(); } catch (IOException ioe) { System.out.println(ioe.getMessage()); return -1; } } }
/**
* A sensor wrapper to allow easy access to I2C sensors, like the ultrasonic sensor.
*
* <p>This version of this class supports remote execution of I2C.
*
* @author Brian Bagnall and Lawrie Griffiths
*/
public class I2CSensor implements SensorConstants {
private static final NXTCommand nxtCommand = NXTCommandConnector.getSingletonOpen();
protected byte address =
0x02; // the default I2C address for a port. You can change address of compass sensor (see
// docs) and then communicate with multiple sensors on same physical port.
protected static byte STOP = 0x00; // Commands don't seem to use this?
protected static String BLANK = " ";
// Port information (constants)
/** Returns the version number of the sensor. e.g. "V1.0" Reply length = 8. */
protected static byte VERSION = 0x00;
/** Returns the product ID of the sensor. e.g. "LEGO" Reply length = 8. */
protected static byte PRODUCT_ID = 0x08;
/** Returns the sensor type. e.g. "Sonar" Reply length = 8. */
protected static byte SENSOR_TYPE = 0x10;
/** Returns the "zero position" set at the factory for this sensor. e.g. 0 Reply length = 1. */
byte port;
/** @param s A sensor. e.g. Port.S1 */
public I2CSensor(I2CPort s, byte sensorType) {
port = (byte) s.getId();
s.setTypeAndMode(sensorType, NXTProtocol.RAWMODE);
// Flushes out any existing data
try {
nxtCommand.LSGetStatus(this.port);
nxtCommand.LSRead(this.port);
} catch (IOException ioe) {
System.out.println(ioe.getMessage());
}
}
public I2CSensor(I2CPort s) {
this(s, NXTProtocol.LOWSPEED);
}
public int getId() {
return port;
}
/**
* Method for retrieving data values from the sensor. BYTE0 ( is usually the primary data value
* for the sensor. Data is read from registers in the sensor, usually starting at 0x00 and ending
* around 0x49. Just supply the register to start reading at, and the length of bytes to read (16
* maximum). NOTE: The NXT supplies UBYTE (unsigned byte) values but Java converts them into
* signed bytes (probably more practical to return short/int?)
*
* @param register e.g. FACTORY_SCALE_DIVISOR, BYTE0, etc....
* @param length Length of data to read (minimum 1, maximum 16)
* @return the status
*/
public int getData(int register, byte[] buf, int length) {
byte[] txData = {address, (byte) register};
try {
nxtCommand.LSWrite(port, txData, (byte) length);
} catch (IOException ioe) {
System.out.println(ioe.getMessage());
}
byte[] status = null;
do {
try {
status = nxtCommand.LSGetStatus(port);
} catch (IOException ioe) {
System.out.println(ioe.getMessage());
return -1;
}
} while (status[0] == ErrorMessages.PENDING_COMMUNICATION_TRANSACTION_IN_PROGRESS
| status[0] == ErrorMessages.SPECIFIED_CHANNEL_CONNECTION_NOT_CONFIGURED_OR_BUSY);
try {
byte[] ret = nxtCommand.LSRead(port);
if (ret != null) System.arraycopy(ret, 0, buf, 0, ret.length);
} catch (IOException ioe) {
System.out.println(ioe.getMessage());
return -1;
}
return status[0];
}
/**
* Helper method to return a single register byte.
*
* @param register
* @return the byte of data
*/
public int getData(int register) {
byte[] buf1 = new byte[1];
return getData(register, buf1, 1);
}
/**
* Sets a single byte in the I2C sensor.
*
* @param register A data register in the I2C sensor. e.g. ACTUAL_ZERO
* @param value The data value.
*/
public int sendData(int register, byte value) {
byte[] txData = {address, (byte) register, value};
try {
int ret = nxtCommand.LSWrite(this.port, txData, (byte) 0);
return ret;
} catch (IOException ioe) {
System.out.println(ioe.getMessage());
return -1;
}
}
/**
* Send data top the sensor
*
* @param register A data register in the I2C sensor.
* @param data The byte to send.
* @param length the number of bytes
*/
public int sendData(int register, byte[] data, int length) {
byte[] txData = {address, (byte) register};
byte[] sendData = new byte[length + 2];
System.arraycopy(txData, 0, sendData, 0, 2);
System.arraycopy(data, 0, sendData, 2, length);
try {
return nxtCommand.LSWrite(this.port, sendData, (byte) 0);
} catch (IOException ioe) {
System.out.println(ioe.getMessage());
return -1;
}
}
/**
* Returns the version number of the sensor hardware. NOTE: A little unreliable at the moment due
* to a bug in firmware. Keep trying if it doesn't get it the first time.
*
* @return The version number. e.g. "V1.0"
*/
public String getVersion() {
return fetchString(VERSION, 8);
}
/**
* Returns the Product ID as a string. NOTE: A little unreliable at the moment due to a bug in
* firmware. Keep trying if it doesn't get it the first time.
*
* @return The product ID. e.g. "LEGO"
*/
public String getProductID() {
return fetchString(PRODUCT_ID, 8);
}
/**
* Returns the type of sensor as a string. NOTE: A little unreliable at the moment due to a bug in
* firmware. Keep trying if it doesn't get it the first time.
*
* @return The sensor type. e.g. "Sonar"
*/
public String getSensorType() {
return fetchString(SENSOR_TYPE, 8);
}
/**
* Helper method for retrieving string constants using I2C protocol.
*
* @param constantEnumeration e.g. I2CProtocol.VERSION
* @param rxLength
* @return the string
*/
protected String fetchString(int constantEnumeration, int rxLength) {
byte[] stringBytes = new byte[rxLength];
getData(constantEnumeration, stringBytes, rxLength);
// Get rid of everything after 0.
int zeroPos = 0;
for (zeroPos = 0; zeroPos < rxLength; zeroPos++) {
if (stringBytes[zeroPos] == 0) break;
}
String s = new String(stringBytes).substring(0, zeroPos);
return s;
}
/**
* Set the address of the port Note that addresses are from 0x01 to 0x7F not even numbers from
* 0x02 to 0xFE as given in some I2C device specifications. They are 7-bit addresses not 8-bit
* addresses.
*
* @param addr 1 to 0x7F
*/
public void setAddress(int addr) {
address = (byte) (addr << 1);
}
}
