private void stopThread() { isRunning = false; try { joinX(500); } catch (InterruptedException ex) { } if (NxtRobot.getDebugLevel() >= DEBUG_LEVEL_LOW) if (isAlive()) DebugConsole.show( "DEBUG: PrototypeSendorThread stopping failed (port: " + getPortLabel() + ")"); else DebugConsole.show( "DEBUG: PrototypeSensorThread successfully stopped (port: " + getPortLabel() + ")"); }
private synchronized void read(boolean check, int[] ain, int[] din) { if (check) checkConnect(); if (ain.length != 5) { new ShowError("Error in PrototypeSensor.read().\n" + "Parameter ain must have length 5."); return; } if (din.length != 6) { new ShowError("Error in PrototypeSensor.read().\n" + "Parameter din must have length 6."); return; } byte[] in = getData(REGISTERBASE, 11); // Convert to int int[] data = new int[11]; for (int i = 0; i < 11; i++) data[i] = in[i] & 0xFF; // Analog inputs: base -> upper 8 bits, base+1 -> lower 2 bits for (int i = 0; i < 5; i++) ain[i] = 4 * data[2 * i] + data[2 * i + 1]; // Digital inputs int bitValue = 1; for (int i = 0; i < 6; i++) { if ((control & bitValue) != 0) din[i] = -1; else din[i] = (data[10] & bitValue) / bitValue; bitValue *= 2; } if (NxtRobot.getDebugLevel() >= DEBUG_LEVEL_MEDIUM) DebugConsole.show("DEBUG: read() values:\n" + getAnalogValues(ain) + getDigitalValues(din)); }
protected void init() { if (NxtRobot.getDebugLevel() >= DEBUG_LEVEL_MEDIUM) DebugConsole.show("DEBUG: Prototype.init() called (Port: " + getPortLabel() + ")"); super.init(); sendData(IOCONTROL, (byte) 0); // All inputs sendData(SAMPLING, (byte) 4); // minimum sampling period }
private static void runToolBus(final ToolBus toolbus) { try { toolbus.parsecup(); toolbus.prepare(); Thread thread = new Thread( new Runnable() { public void run() { toolbus.execute(); } }); thread.setName(PLUGIN_ID); thread.start(); DebugConsole debugConsole = new DebugConsole(toolbus); debugConsole.show(); } catch (Exception rex) { rex.printStackTrace(); throw new RuntimeException(rex); } }
/** * Writes the given bit state (low/high) to the digital output channels. Only channels set as * output will be affected. Input channel bits are ignored. * * @param dout an integer array of length 6 that holds the bit state: 0->low, 1->high */ public synchronized void write(int[] dout) { checkConnect(); if (dout.length != 6) { new ShowError("Error in PrototypeSensor.write().\n" + "Parameter dout must have length 6."); return; } for (int i = 0; i < 6; i++) { if (dout[i] < 0 || dout[i] > 1) { new ShowError("Error in PrototypeSensor.read().\n" + "Parameter values must be 0 or 1."); return; } } int bitValue = 1; int value = 0; for (int i = 0; i < 6; i++) { if (dout[i] == 1) value = value + dout[i] * bitValue; bitValue *= 2; } sendData(DIGITALOUT, (byte) value); if (NxtRobot.getDebugLevel() >= DEBUG_LEVEL_MEDIUM) DebugConsole.show("DEBUG: write():\n" + value); }
public void run() { if (NxtRobot.getDebugLevel() >= DEBUG_LEVEL_LOW) DebugConsole.show("PrTh started"); int[] ain = new int[5]; int[] din = new int[6]; for (int i = 0; i < 5; i++) ain[i] = 0; for (int i = 0; i < 6; i++) din[i] = 0; int[] ain_new = new int[5]; int[] din_new = new int[6]; isRunning = true; while (isRunning) { if (prototypeListener != null) { Tools.delay(pollDelay); boolean rc = readSensor(ain_new, din_new); if (!rc) // Error continue; boolean isAnalogChanged = false; for (int i = 0; i < 5; i++) { if (ain_new[i] == ain[i]) ain_new[i] = -1; else { ain[i] = ain_new[i]; isAnalogChanged = true; } } boolean isDigitalChanged = false; for (int i = 0; i < 6; i++) { if (din_new[i] == din[i]) din_new[i] = -1; else { din[i] = din_new[i]; isDigitalChanged = true; } } if (isAnalogChanged) { if (inAnalogCallback) { if (NxtRobot.getDebugLevel() >= DEBUG_LEVEL_LOW) DebugConsole.show( "DEBUG: Prototype event 'ainChanged' (port: " + getPortLabel() + ") -------- rejected: Other callback underway!"); } else { inAnalogCallback = true; if (NxtRobot.getDebugLevel() >= DEBUG_LEVEL_LOW) DebugConsole.show( "DEBUG: Prototype event 'ainChanged' (port: " + getPortLabel() + ")"); prototypeListener.ainChanged(getPort(), ain_new); inAnalogCallback = false; } } if (isDigitalChanged) { if (inDigitalCallback) { if (NxtRobot.getDebugLevel() >= DEBUG_LEVEL_LOW) DebugConsole.show( "DEBUG: Prototype event 'dinChanged' (port: " + getPortLabel() + ") -------- rejected: Other callback underway!"); } else { inDigitalCallback = true; if (NxtRobot.getDebugLevel() >= DEBUG_LEVEL_LOW) DebugConsole.show( "DEBUG: Prototype event 'dinChanged' (port: " + getPortLabel() + ")"); prototypeListener.dinChanged(getPort(), din_new); inDigitalCallback = false; } } } } }
private PrototypeSensorThread() { if (NxtRobot.getDebugLevel() >= DEBUG_LEVEL_LOW) DebugConsole.show("PrTh created"); }
protected void cleanup() { if (NxtRobot.getDebugLevel() >= DEBUG_LEVEL_MEDIUM) DebugConsole.show("DEBUG: Prototype.cleanup() called (Port: " + getPortLabel() + ")"); if (pst != null) pst.stopThread(); sendData(IOCONTROL, (byte) 0); // All inputs }