com.qualcomm.hardware.bosch

Class BNO055IMUImpl

java.lang.Object

<any>

com.qualcomm.hardware.bosch.BNO055IMUImpl

All Implemented Interfaces:

BNO055IMU

Direct Known Subclasses:

AdafruitBNO055IMU, LynxEmbeddedIMU

public abstract class BNO055IMUImpl
extends <any>
implements BNO055IMU

BNO055IMUImpl provides support for communicating with a BNO055 inertial motion unit. Sensors using this integrated circuit are available from several manufacturers.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
protected static class	BNO055IMUImpl.VectorData

Nested classes/interfaces inherited from interface com.qualcomm.hardware.bosch.BNO055IMU

BNO055IMU.AccelBandwidth, BNO055IMU.AccelerationIntegrator, BNO055IMU.AccelPowerMode, BNO055IMU.AccelRange, BNO055IMU.AccelUnit, BNO055IMU.AngleUnit, BNO055IMU.CalibrationData, BNO055IMU.CalibrationStatus, BNO055IMU.GyroBandwidth, BNO055IMU.GyroPowerMode, BNO055IMU.GyroRange, BNO055IMU.MagOpMode, BNO055IMU.MagPowerMode, BNO055IMU.MagRate, BNO055IMU.Parameters, BNO055IMU.PitchMode, BNO055IMU.Register, BNO055IMU.SensorMode, BNO055IMU.SystemError, BNO055IMU.SystemStatus, BNO055IMU.TempUnit

Field Summary

Fields

Modifier and Type	Field and Description
protected BNO055IMU.AccelerationIntegrator	accelerationAlgorithm
protected java.util.concurrent.ExecutorService	accelerationMananger
static byte	bCHIP_ID_VALUE
protected BNO055IMU.SensorMode	currentMode
protected java.lang.Object	dataLock
protected float	delayScale
protected static I2cDeviceSynch.ReadWindow	lowerWindow One of two primary register windows we use for reading from the BNO055.
protected static int	msAwaitChipId
protected static int	msAwaitSelfTest
protected static int	msExtra
protected static I2cDeviceSynch.ReadMode	readMode
protected java.lang.Object	startStopLock
protected static I2cDeviceSynch.ReadWindow	upperWindow A second of two primary register windows we use for reading from the BNO055.

Fields inherited from interface com.qualcomm.hardware.bosch.BNO055IMU

I2CADDR_ALTERNATE, I2CADDR_DEFAULT, I2CADDR_UNSPECIFIED

Constructor Summary

Constructors

Constructor and Description
BNO055IMUImpl(I2cDeviceSynch deviceClient) This constructor is used by UserConfigurationType#createInstance(I2cController, int)

Method Summary

Modifier and Type	Method and Description
void	close() Shut down the sensor.
protected void	delay(int ms) delay() implements delays which are known to be necessary according to the BNO055 specification
protected void	delayExtra(int ms)
protected void	delayLore(int ms) delayLore() implements a delay that only known by lore and mythology to be necessary.
protected void	delayLoreExtra(int ms)
protected static BNO055IMU.Parameters	disabledParameters()
protected void	ensureReadWindow(I2cDeviceSynch.ReadWindow needed)
protected <T> T	enterConfigModeFor(<any> lambda)
protected void	enterConfigModeFor(java.lang.Runnable action)
Acceleration	getAcceleration() Returns the last observed acceleration of the sensor.
protected float	getAccelerationScale() Return the number by which we need to divide a raw acceleration as read from the device in order to convert it to our current acceleration units.
Orientation	getAngularOrientation() Returns the absolute orientation of the sensor as a set three angles
Orientation	getAngularOrientation(AxesReference reference, AxesOrder order, org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit) Returns the absolute orientation of the sensor as a set three angles with indicated parameters.
java.util.Set<Axis>	getAngularOrientationAxes()
protected float	getAngularScale() Return the number by which we need to divide a raw angle as read from the device in order to convert it to our current angular units.
AngularVelocity	getAngularVelocity() Returns the rate of change of the absolute orientation of the sensor.
AngularVelocity	getAngularVelocity(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit unit)
java.util.Set<Axis>	getAngularVelocityAxes()
BNO055IMU.CalibrationStatus	getCalibrationStatus() Returns the calibration status of the IMU
abstract java.lang.String	getDeviceName()
protected float	getFluxScale() Return the number by which we need to divide a raw acceleration as read from the device in order to convert it to our current angular units.
Acceleration	getGravity() Returns the direction of the force of gravity relative to the sensor.
I2cAddr	getI2cAddress()
Acceleration	getLinearAcceleration() Returns the acceleration experienced by the sensor due to the movement of the sensor.
protected java.lang.String	getLoggingTag()
MagneticFlux	getMagneticFieldStrength() Returns the magnetic field strength experienced by the sensor.
abstract Manufacturer	getManufacturer()
protected float	getMetersAccelerationScale()
Acceleration	getOverallAcceleration() Returns the overall acceleration experienced by the sensor.
Position	getPosition() Returns the current position of the sensor as calculated by doubly integrating the observed sensor accelerations.
Quaternion	getQuaternionOrientation() Returns the absolute orientation of the sensor as a quaternion.
BNO055IMU.SystemError	getSystemError() If BNO055IMU.getSystemStatus() is 'system error' (1), returns particulars regarding that error.
BNO055IMU.SystemStatus	getSystemStatus() Returns the current status of the system.
Temperature	getTemperature() Returns the current temperature.
protected BNO055IMUImpl.VectorData	getVector(com.qualcomm.hardware.bosch.BNO055IMUImpl.VECTOR vector, float scale)
Velocity	getVelocity() Returns the current velocity of the sensor as calculated by integrating the observed sensor accelerations.
static boolean	imuIsPresent(I2cDeviceSynchSimple deviceClient, boolean retryAfterWaiting) The deviceClient parameter needs to already have its I2C address set.
boolean	internalInitialize(BNO055IMU.Parameters parameters) Initialize the device to be running in the indicated operation mode
protected boolean	internalInitializeOnce(BNO055IMU.SystemStatus expectedStatus) Do one attempt at initializing the device to be running in the indicated operation mode
boolean	isAccelerometerCalibrated() Answers as to whether the accelerometer is fully calibrated.
boolean	isGyroCalibrated() Answers as to whether the gyro is fully calibrated.
boolean	isMagnetometerCalibrated() Answers as to whether the magnetometer is fully calibrated.
boolean	isSystemCalibrated() Answers as to whether the system is fully calibrated.
protected void	log_d(java.lang.String format, java.lang.Object... args)
protected void	log_e(java.lang.String format, java.lang.Object... args)
protected void	log_v(java.lang.String format, java.lang.Object... args)
protected void	log_w(java.lang.String format, java.lang.Object... args)
protected static I2cDeviceSynch.ReadWindow	newWindow(BNO055IMU.Register regFirst, BNO055IMU.Register regMax)
void	onOpModePostStop(OpMode opMode)
void	onOpModePreInit(OpMode opMode)
void	onOpModePreStart(OpMode opMode)
byte[]	read(BNO055IMU.Register reg, int cb) Low level: read data starting at the indicated register
byte	read8(BNO055IMU.Register reg) Low level: read the byte starting at the indicated register
BNO055IMU.CalibrationData	readCalibrationData() Read calibration data from the IMU which later can be restored with writeCalibrationData().
protected short	readShort(BNO055IMU.Register reg)
void	resetDeviceConfigurationForOpMode()
void	setI2cAddress(I2cAddr newAddress)
protected void	setSensorMode(BNO055IMU.SensorMode mode)
void	startAccelerationIntegration(Position initalPosition, Velocity initialVelocity, int msPollInterval) Start (or re-start) a thread that continuously at intervals polls the current linear acceleration of the sensor and integrates it to provide velocity and position information.
void	stopAccelerationIntegration() Stop the integration thread if it is currently running.
protected void	waitForWriteCompletions()
void	write(BNO055IMU.Register reg, byte[] data) Low level: write data starting at the indicated register
void	write(BNO055IMU.Register reg, byte[] data, I2cWaitControl waitControl)
void	write8(BNO055IMU.Register reg, int data) Low level: write a byte to the indicated register
void	write8(BNO055IMU.Register reg, int data, I2cWaitControl waitControl)
void	writeCalibrationData(BNO055IMU.CalibrationData data) Write calibration data previously retrieved.
protected void	writeShort(BNO055IMU.Register reg, short value)

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.qualcomm.hardware.bosch.BNO055IMU

getParameters, initialize

Field Detail

currentMode

protected BNO055IMU.SensorMode currentMode

dataLock

protected final java.lang.Object dataLock

accelerationAlgorithm

protected BNO055IMU.AccelerationIntegrator accelerationAlgorithm

startStopLock

protected final java.lang.Object startStopLock

accelerationMananger

protected java.util.concurrent.ExecutorService accelerationMananger

delayScale

protected float delayScale

msAwaitChipId

protected static final int msAwaitChipId

See Also:

Constant Field Values

msAwaitSelfTest

protected static final int msAwaitSelfTest

See Also:

Constant Field Values

readMode

protected static final I2cDeviceSynch.ReadMode readMode

lowerWindow

protected static final I2cDeviceSynch.ReadWindow lowerWindow

One of two primary register windows we use for reading from the BNO055. Given the maximum allowable size of a register window, the set of registers on a BNO055 can be usefully divided into two windows, which we here call lowerWindow and upperWindow. When we find the need to change register windows depending on what data is being requested from the sensor, we try to use these two windows so as to reduce the number of register window switching that might be required as other data is read in the future.

upperWindow

protected static final I2cDeviceSynch.ReadWindow upperWindow

A second of two primary register windows we use for reading from the BNO055. We'd like to include the temperature register, too, but that would make a 27-byte window, and those don't (currently) work in the CDIM.

See Also:

lowerWindow

msExtra

protected static final int msExtra

See Also:

Constant Field Values

bCHIP_ID_VALUE

public static final byte bCHIP_ID_VALUE

See Also:

Constant Field Values

Constructor Detail

BNO055IMUImpl

public BNO055IMUImpl(I2cDeviceSynch deviceClient)

This constructor is used by UserConfigurationType#createInstance(I2cController, int)

See Also:

UserConfigurationType#createInstance(I2cController, int), I2cDeviceType

Method Detail

imuIsPresent

public static boolean imuIsPresent(I2cDeviceSynchSimple deviceClient,
                                   boolean retryAfterWaiting)

The deviceClient parameter needs to already have its I2C address set.

newWindow

protected static I2cDeviceSynch.ReadWindow newWindow(BNO055IMU.Register regFirst,
                                                     BNO055IMU.Register regMax)

disabledParameters

protected static BNO055IMU.Parameters disabledParameters()

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

onOpModePreInit

public void onOpModePreInit(OpMode opMode)

onOpModePreStart

public void onOpModePreStart(OpMode opMode)

onOpModePostStop

public void onOpModePostStop(OpMode opMode)

getI2cAddress

public I2cAddr getI2cAddress()

setI2cAddress

public void setI2cAddress(I2cAddr newAddress)

internalInitialize

public boolean internalInitialize(BNO055IMU.Parameters parameters)

Initialize the device to be running in the indicated operation mode

internalInitializeOnce

protected boolean internalInitializeOnce(BNO055IMU.SystemStatus expectedStatus)

Do one attempt at initializing the device to be running in the indicated operation mode

setSensorMode

protected void setSensorMode(BNO055IMU.SensorMode mode)

getSystemStatus

public BNO055IMU.SystemStatus getSystemStatus()

Description copied from interface: BNO055IMU

Returns the current status of the system.

Specified by:

getSystemStatus in interface BNO055IMU

Returns:

the current status of the system See section 4.3.58 of the BNO055 specification.

See Also:

Result	Meaning
0	idle
1	system error
2	initializing peripherals
3	system initialization
4	executing self-test
5	sensor fusion algorithm running
6	system running without fusion algorithms

getSystemError

public BNO055IMU.SystemError getSystemError()

Description copied from interface: BNO055IMU

If BNO055IMU.getSystemStatus() is 'system error' (1), returns particulars regarding that error. See section 4.3.58 of the BNO055 specification.

Specified by:

getSystemError in interface BNO055IMU

Returns:

the current error status

See Also:

Result	Meaning
0	no error
1	peripheral initialization error
2	system initialization error
3	self test result failed
4	register map value out of range
5	register map address out of range
6	register map write error
7	BNO low power mode not available for selected operation mode
8	accelerometer power mode not available
9	fusion algorithm configuration error
A	sensor configuration error

getCalibrationStatus

public BNO055IMU.CalibrationStatus getCalibrationStatus()

Description copied from interface: BNO055IMU

Returns the calibration status of the IMU

Specified by:

getCalibrationStatus in interface BNO055IMU

Returns:

the calibration status of the IMU

close

public void close()

Description copied from interface: BNO055IMU

Shut down the sensor. This doesn't do anything in the hardware device itself, but rather shuts down any resources (threads, etc) that we use to communicate with it. It is rare that user code has a need to call this method.

Specified by:

close in interface BNO055IMU

getDeviceName

public abstract java.lang.String getDeviceName()

getManufacturer

public abstract Manufacturer getManufacturer()

getAngularVelocityAxes

public java.util.Set<Axis> getAngularVelocityAxes()

getAngularOrientationAxes

public java.util.Set<Axis> getAngularOrientationAxes()

getAngularVelocity

public AngularVelocity getAngularVelocity(org.firstinspires.ftc.robotcore.external.navigation.AngleUnit unit)

getAngularOrientation

public Orientation getAngularOrientation(AxesReference reference,
                                         AxesOrder order,
                                         org.firstinspires.ftc.robotcore.external.navigation.AngleUnit angleUnit)

Description copied from interface: BNO055IMU

Returns the absolute orientation of the sensor as a set three angles with indicated parameters.

Specified by:

getAngularOrientation in interface BNO055IMU

Parameters:

reference - the axes reference in which the result will be expressed

order - the axes order in which the result will be expressed

angleUnit - the angle units in which the result will be expressed

Returns:

the absolute orientation of the sensor

See Also:

Orientation, BNO055IMU.getAngularOrientation()

isSystemCalibrated

public boolean isSystemCalibrated()

Description copied from interface: BNO055IMU

Answers as to whether the system is fully calibrated. The system is fully calibrated if the gyro, accelerometer, and magnetometer are fully calibrated.

Specified by:

isSystemCalibrated in interface BNO055IMU

Returns:

whether the system is fully calibrated.

isGyroCalibrated

public boolean isGyroCalibrated()

Description copied from interface: BNO055IMU

Answers as to whether the gyro is fully calibrated.

Specified by:

isGyroCalibrated in interface BNO055IMU

Returns:

whether the gyro is fully calibrated.

isAccelerometerCalibrated

public boolean isAccelerometerCalibrated()

Description copied from interface: BNO055IMU

Answers as to whether the accelerometer is fully calibrated.

Specified by:

isAccelerometerCalibrated in interface BNO055IMU

Returns:

whether the accelerometer is fully calibrated.

isMagnetometerCalibrated

public boolean isMagnetometerCalibrated()

Description copied from interface: BNO055IMU

Answers as to whether the magnetometer is fully calibrated.

Specified by:

isMagnetometerCalibrated in interface BNO055IMU

Returns:

whether the magnetometer is fully calibrated.

readCalibrationData

public BNO055IMU.CalibrationData readCalibrationData()

Description copied from interface: BNO055IMU

Read calibration data from the IMU which later can be restored with writeCalibrationData(). This might be persistently stored, and reapplied at a later power-on. For greatest utility, full calibration should be achieved before reading the calibration data.

Specified by:

readCalibrationData in interface BNO055IMU

Returns:

the calibration data

See Also:

BNO055IMU.writeCalibrationData(CalibrationData)

writeCalibrationData

public void writeCalibrationData(BNO055IMU.CalibrationData data)

Description copied from interface: BNO055IMU

Write calibration data previously retrieved.

Specified by:

writeCalibrationData in interface BNO055IMU

Parameters:

data - the calibration data to write

See Also:

BNO055IMU.readCalibrationData()

getTemperature

public Temperature getTemperature()

Description copied from interface: BNO055IMU

Returns the current temperature.

Specified by:

getTemperature in interface BNO055IMU

Returns:

the current temperature

getMagneticFieldStrength

public MagneticFlux getMagneticFieldStrength()

Description copied from interface: BNO055IMU

Returns the magnetic field strength experienced by the sensor. See Section 3.6.5.2 of the BNO055 specification.

Specified by:

getMagneticFieldStrength in interface BNO055IMU

Returns:

the magnetic field strength experienced by the sensor

getOverallAcceleration

public Acceleration getOverallAcceleration()

Description copied from interface: BNO055IMU

Returns the overall acceleration experienced by the sensor. This is composed of a component due to the movement of the sensor and a component due to the force of gravity.

Specified by:

getOverallAcceleration in interface BNO055IMU

Returns:

the overall acceleration vector experienced by the sensor

See Also:

BNO055IMU.getLinearAcceleration(), BNO055IMU.getGravity()

getLinearAcceleration

public Acceleration getLinearAcceleration()

Description copied from interface: BNO055IMU

Returns the acceleration experienced by the sensor due to the movement of the sensor.

Specified by:

getLinearAcceleration in interface BNO055IMU

Returns:

the acceleration vector of the sensor due to its movement

See Also:

BNO055IMU.getOverallAcceleration(), BNO055IMU.getGravity()

getGravity

public Acceleration getGravity()

Description copied from interface: BNO055IMU

Returns the direction of the force of gravity relative to the sensor.

Specified by:

getGravity in interface BNO055IMU

Returns:

the acceleration vector of gravity relative to the sensor

See Also:

BNO055IMU.getOverallAcceleration(), BNO055IMU.getLinearAcceleration()

getAngularVelocity

public AngularVelocity getAngularVelocity()

Description copied from interface: BNO055IMU

Returns the rate of change of the absolute orientation of the sensor.

Specified by:

getAngularVelocity in interface BNO055IMU

Returns:

the rate at which the orientation of the sensor is changing.

See Also:

BNO055IMU.getAngularOrientation()

getAngularOrientation

public Orientation getAngularOrientation()

Description copied from interface: BNO055IMU

Returns the absolute orientation of the sensor as a set three angles

Specified by:

getAngularOrientation in interface BNO055IMU

Returns:

the absolute orientation of the sensor

See Also:

BNO055IMU.getQuaternionOrientation(), Orientation, BNO055IMU.getAngularOrientation(AxesReference, AxesOrder, org.firstinspires.ftc.robotcore.external.navigation.AngleUnit)

getQuaternionOrientation

public Quaternion getQuaternionOrientation()

Description copied from interface: BNO055IMU

Returns the absolute orientation of the sensor as a quaternion.

Specified by:

getQuaternionOrientation in interface BNO055IMU

Returns:

the absolute orientation of the sensor

See Also:

BNO055IMU.getAngularOrientation()

getAngularScale

protected float getAngularScale()

Return the number by which we need to divide a raw angle as read from the device in order to convert it to our current angular units. See Table 3-22 of the BNO055 spec

getAccelerationScale

protected float getAccelerationScale()

Return the number by which we need to divide a raw acceleration as read from the device in order to convert it to our current acceleration units. See Table 3-17 of the BNO055 spec.

getMetersAccelerationScale

protected float getMetersAccelerationScale()

getFluxScale

protected float getFluxScale()

Return the number by which we need to divide a raw acceleration as read from the device in order to convert it to our current angular units. See Table 3-19 of the BNO055 spec. Note that the BNO055 natively uses micro Teslas; we instead use Teslas.

getVector

protected BNO055IMUImpl.VectorData getVector(com.qualcomm.hardware.bosch.BNO055IMUImpl.VECTOR vector,
                                             float scale)

getAcceleration

public Acceleration getAcceleration()

Description copied from interface: BNO055IMU

Returns the last observed acceleration of the sensor. Note that this does not communicate with the sensor, but rather returns the most recent value reported to the acceleration integration algorithm.

Specified by:

getAcceleration in interface BNO055IMU

Returns:

the last observed acceleration of the sensor

See Also:

BNO055IMU.getLinearAcceleration(), BNO055IMU.Parameters.accelerationIntegrationAlgorithm, BNO055IMU.startAccelerationIntegration(Position, Velocity, int)

getVelocity

public Velocity getVelocity()

Description copied from interface: BNO055IMU

Returns the current velocity of the sensor as calculated by integrating the observed sensor accelerations.

Specified by:

getVelocity in interface BNO055IMU

Returns:

the current velocity of the sensor

See Also:

BNO055IMU.Parameters.accelerationIntegrationAlgorithm, BNO055IMU.startAccelerationIntegration(Position, Velocity, int)

getPosition

public Position getPosition()

Description copied from interface: BNO055IMU

Returns the current position of the sensor as calculated by doubly integrating the observed sensor accelerations.

Specified by:

getPosition in interface BNO055IMU

Returns:

the current position of the sensor.

See Also:

BNO055IMU.Parameters.accelerationIntegrationAlgorithm, BNO055IMU.startAccelerationIntegration(Position, Velocity, int)

startAccelerationIntegration

public void startAccelerationIntegration(Position initalPosition,
                                         Velocity initialVelocity,
                                         int msPollInterval)

Description copied from interface: BNO055IMU

Start (or re-start) a thread that continuously at intervals polls the current linear acceleration of the sensor and integrates it to provide velocity and position information.

Specified by:

startAccelerationIntegration in interface BNO055IMU

Parameters:

initalPosition - If non-null, the current sensor position is set to this value. If null, the current sensor position is unchanged.

initialVelocity - If non-null, the current sensor velocity is set to this value. If null, the current sensor velocity is unchanged.

msPollInterval - the interval to use, in milliseconds, between successive calls to BNO055IMU.getLinearAcceleration()

See Also:

BNO055IMU.stopAccelerationIntegration(), BNO055IMU.AccelerationIntegrator

stopAccelerationIntegration

public void stopAccelerationIntegration()

Description copied from interface: BNO055IMU

Stop the integration thread if it is currently running.

Specified by:

stopAccelerationIntegration in interface BNO055IMU

See Also:

BNO055IMU.startAccelerationIntegration(Position, Velocity, int)

read8

public byte read8(BNO055IMU.Register reg)

Description copied from interface: BNO055IMU

Low level: read the byte starting at the indicated register

Specified by:

read8 in interface BNO055IMU

Parameters:

reg - the location from which to read the data

Returns:

the data that was read

read

public byte[] read(BNO055IMU.Register reg,
                   int cb)

Description copied from interface: BNO055IMU

Low level: read data starting at the indicated register

Specified by:

read in interface BNO055IMU

Parameters:

reg - the location from which to read the data

cb - the number of bytes to read

Returns:

the data that was read

readShort

protected short readShort(BNO055IMU.Register reg)

write8

public void write8(BNO055IMU.Register reg,
                   int data)

Description copied from interface: BNO055IMU

Low level: write a byte to the indicated register

Specified by:

write8 in interface BNO055IMU

Parameters:

reg - the location at which to write the data

data - the data to write

write8

public void write8(BNO055IMU.Register reg,
                   int data,
                   I2cWaitControl waitControl)

write

public void write(BNO055IMU.Register reg,
                  byte[] data)

Description copied from interface: BNO055IMU

Low level: write data starting at the indicated register

Specified by:

write in interface BNO055IMU

Parameters:

reg - the location at which to write the data

data - the data to write

write

public void write(BNO055IMU.Register reg,
                  byte[] data,
                  I2cWaitControl waitControl)

writeShort

protected void writeShort(BNO055IMU.Register reg,
                          short value)

waitForWriteCompletions

protected void waitForWriteCompletions()

getLoggingTag

protected java.lang.String getLoggingTag()

log_v

protected void log_v(java.lang.String format,
                     java.lang.Object... args)

log_d

protected void log_d(java.lang.String format,
                     java.lang.Object... args)

log_w

protected void log_w(java.lang.String format,
                     java.lang.Object... args)

log_e

protected void log_e(java.lang.String format,
                     java.lang.Object... args)

ensureReadWindow

protected void ensureReadWindow(I2cDeviceSynch.ReadWindow needed)

delayExtra

protected void delayExtra(int ms)

delayLoreExtra

protected void delayLoreExtra(int ms)

delayLore

protected void delayLore(int ms)

delayLore() implements a delay that only known by lore and mythology to be necessary.

See Also:

delay(int)

delay

protected void delay(int ms)

delay() implements delays which are known to be necessary according to the BNO055 specification

See Also:

delayLore(int)

enterConfigModeFor

protected void enterConfigModeFor(java.lang.Runnable action)

enterConfigModeFor

protected <T> T enterConfigModeFor(<any> lambda)