com.qualcomm.hardware.lynx

Class LynxModule

java.lang.Object

com.qualcomm.hardware.lynx.LynxCommExceptionHandler

com.qualcomm.hardware.lynx.LynxModule

All Implemented Interfaces:

LynxModuleIntf

public class LynxModule
extends LynxCommExceptionHandler
implements LynxModuleIntf

LynxModule represents the connection between the host and a particular Lynx controller module. Multiple Lynx controller modules may be chained together over RS-485 and share a common USB connection.

See Also:

LynxUsbDeviceImpl

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static interface	LynxModule.BlinkerPolicy LynxModule.BlinkerPolicy embodies the various blinker patterns exhibited by LynxModules The policy can be changed, globally, by setting the variable blinkerPolicy.
static class	LynxModule.BreathingBlinkerPolicy
static class	LynxModule.BulkCachingMode Bulk caching mode that controls the behavior of certain read commands.
static class	LynxModule.BulkData Container for the values retrieved with a bulk read.
static class	LynxModule.CountModuleAddressBlinkerPolicy
static class	LynxModule.DebugGroup
static class	LynxModule.DebugVerbosity
protected static class	LynxModule.MessageClassAndCtor A Class for one of the Lynx messages together with a cached constructor thereto

Field Summary

Fields

Modifier and Type	Field and Description
protected java.util.concurrent.Future<?>	attentionRequiredFuture
static LynxModule.BlinkerPolicy	blinkerPolicy
protected java.util.Map<java.lang.String,java.util.List<LynxDekaInterfaceCommand<?>>>	bulkCachingHistory
protected java.lang.Object	bulkCachingLock
protected LynxModule.BulkCachingMode	bulkCachingMode
protected java.util.concurrent.ConcurrentHashMap<java.lang.Integer,LynxModule.MessageClassAndCtor>	commandClasses for all the commands we know about (standard + QueryInterface), maps command number to class which implements same.
protected java.util.List<LynxController>	controllers
protected java.util.ArrayList<Step>	currentSteps State for maintaining stack of blinker patterns
protected java.lang.Object	engagementLock
protected java.util.concurrent.ScheduledExecutorService	executor
protected boolean	ftdiResetWatchdogActive
protected boolean	ftdiResetWatchdogActiveWhenEngaged
protected java.lang.Object	futureLock
protected java.lang.Object	i2cLock This lock prevents concurrency problems that would arrive from interleaving messages of the (asynchronous) i2c protocol.
protected java.util.concurrent.ConcurrentHashMap<java.lang.String,LynxInterface>	interfacesQueried
protected boolean	isEngaged
protected boolean	isNotResponding
protected boolean	isOpen
protected boolean	isParent
protected boolean	isSystemSynthetic
protected boolean	isUserModule
protected boolean	isVisuallyIdentifying
protected LynxModule.BulkData	lastBulkData
protected LynxUsbDevice	lynxUsbDevice
protected int	moduleAddress
protected SerialNumber	moduleSerialNumber
protected static int	msInitialContact
protected static int	msKeepAliveTimeout
protected java.util.concurrent.atomic.AtomicInteger	nextMessageNumber
protected java.util.concurrent.Future<?>	pingFuture
protected java.util.Deque<java.util.ArrayList<Step>>	previousSteps
protected static java.util.Map<java.lang.Class<? extends LynxCommand>,LynxModule.MessageClassAndCtor>	responseClasses
protected static java.util.Map<java.lang.Integer,LynxModule.MessageClassAndCtor>	standardMessages
protected java.lang.Object	startStopLock
protected java.util.Set<java.lang.Class<? extends LynxCommand>>	supportedCommands
static java.lang.String	TAG
protected java.util.concurrent.ConcurrentHashMap<java.lang.Integer,LynxRespondable>	unfinishedCommands maps message number to command we've issued with said number

Fields inherited from class com.qualcomm.hardware.lynx.LynxCommExceptionHandler

tag

Constructor Summary

Constructors

Constructor and Description
LynxModule(LynxUsbDevice lynxUsbDevice, int moduleAddress, boolean isParent, boolean isUserModule)

Method Summary

Modifier and Type	Method and Description
void	abandonUnfinishedCommands()
<T> T	acquireI2cLockWhile(Supplier<T> supplier)
void	acquireNetworkTransmissionLock(LynxMessage message)
protected static void	addStandardMessage(java.lang.Class<? extends LynxMessage> clazz)
void	clearBulkCache() Clears the bulk read cache.
void	close()
static void	correlateResponse(java.lang.Class<? extends LynxCommand> commandClass, java.lang.Class<? extends LynxResponse> responseClass)
protected static void	correlateStandardResponse(java.lang.Class<? extends LynxCommand> commandClass)
void	disengage()
void	enablePhoneCharging(boolean enable)
void	engage()
void	failSafe()
void	finishedWithMessage(LynxMessage message)
protected void	forgetLastKnown()
ARMINGSTATE	getArmingState()
double	getAuxiliaryVoltage(VoltageUnit unit) Returns the auxiliary (5V) voltage.
int	getBlinkerPatternMaxLength()
LynxModule.BulkCachingMode	getBulkCachingMode() Returns the current bulk caching mode.
LynxModule.BulkData	getBulkData() Gets the bulk data for this module and clears the cache.
java.lang.String	getConnectionInfo()
double	getCurrent(CurrentUnit unit) Returns the current consumption of the whole module.
java.lang.String	getDeviceName()
java.lang.String	getFirmwareVersionString()
java.util.List<java.lang.String>	getGlobalWarnings() Returns any global warnings from this device.
double	getGpioBusCurrent(CurrentUnit unit) Returns the current consumption of the GPIO bus.
static java.lang.String	getHealthStatusWarningMessage(HardwareDeviceHealth hardwareDeviceHealth) Returns a status warning message indicative of the health of the indicated device, or an empty string if no such message is currently applicable.
double	getI2cBusCurrent(CurrentUnit unit) Returns the current consumption of the I2C bus.
double	getInputVoltage(VoltageUnit unit) Returns the input (battery) voltage.
LynxInterface	getInterface(java.lang.String interfaceName) Returns null if the interface has not been queried or is not supported
Manufacturer	getManufacturer()
int	getModuleAddress()
SerialNumber	getModuleSerialNumber()
protected int	getMsModulePingInterval()
protected byte	getNewMessageNumber()
java.lang.String	getNullableFirmwareVersionString()
java.util.Collection<Step>	getPattern()
SerialNumber	getSerialNumber()
protected java.lang.String	getTag()
double	getTemperature(TempUnit unit) Returns the module temperature.
int	getVersion()
protected void	initializeDebugLogging()
protected void	initializeLEDS()
protected void	internalPushPattern(java.util.Collection<Step> steps)
boolean	isCommandSupported(java.lang.Class<? extends LynxCommand> clazz) Answers as to whether the command is actively supported by the module, at least in SOME interface, or as a standard command
boolean	isEngaged()
boolean	isNotResponding()
boolean	isOpen()
boolean	isParent()
boolean	isPhoneChargingEnabled()
boolean	isSystemSynthetic()
boolean	isUserModule()
protected void	nackUnfinishedCommands()
void	noteAttentionRequired()
void	noteController(LynxController controller)
void	noteDatagramReceived()
void	noteNotResponding()
void	onIncomingDatagramReceived(LynxDatagram datagram)
void	onModuleStateChange(RobotArmingStateNotifier module, ARMINGSTATE state)
boolean	patternStackNotEmpty()
protected void	ping()
protected void	ping(boolean initialPing)
void	pingAndQueryKnownInterfacesAndEtc() Do all the stuff we need to do when we've become aware that this module is in fact attached to its USB device.
protected void	pingInitialContact()
boolean	popPattern()
void	pretendFinishExtantCommands()
void	pushPattern(java.util.Collection<Step> steps)
protected boolean	queryInterface(LynxInterface theInterface) Issues a query interface for the indicated interface and processes the results.
void	registerCallback(Callback callback, boolean doInitialCallback)
void	releaseNetworkTransmissionLock(LynxMessage message)
protected void	resendCurrentPattern()
void	resetDeviceConfigurationForOpMode()
void	resetPingTimer(LynxMessage message)
void	retransmit(LynxMessage message)
void	sendCommand(LynxMessage command) Sends a command to the module, scheduling retransmissions as necessary.
protected void	sendGetModuleStatusAndProcessResponse(boolean clearStatus)
void	setBulkCachingMode(LynxModule.BulkCachingMode mode) Sets the bulk caching mode.
void	setConstant(int color)
void	setDebug(LynxModule.DebugGroup group, LynxModule.DebugVerbosity verbosity)
protected void	setFtdiResetWatchdog(boolean enabled)
void	setNewModuleAddress(int newModuleAddress)
void	setPattern(java.util.Collection<Step> steps)
void	setSystemSynthetic(boolean systemSynthetic)
void	setUserModule(boolean isUserModule)
protected void	startExecutor()
protected void	startFtdiResetWatchdog()
protected void	startPingTimer()
protected void	stopAttentionRequired()
void	stopBlinking()
protected void	stopExecutor()
protected void	stopFtdiResetWatchdog()
protected void	stopFtdiResetWatchdog(boolean disengaging)
protected void	stopPingTimer(boolean wait)
java.lang.String	toString()
void	unregisterCallback(Callback callback)
void	validateCommand(LynxMessage lynxMessage)
void	visuallyIdentify(boolean shouldIdentify)

Methods inherited from class com.qualcomm.hardware.lynx.LynxCommExceptionHandler

handleException, handleSpecificException, handleSpecificException

Methods inherited from class java.lang.Object

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

Field Detail

TAG

public static final java.lang.String TAG

See Also:

Constant Field Values

blinkerPolicy

public static LynxModule.BlinkerPolicy blinkerPolicy

msInitialContact

protected static final int msInitialContact

See Also:

Constant Field Values

msKeepAliveTimeout

protected static final int msKeepAliveTimeout

See Also:

Constant Field Values

standardMessages

protected static java.util.Map<java.lang.Integer,LynxModule.MessageClassAndCtor> standardMessages

responseClasses

protected static java.util.Map<java.lang.Class<? extends LynxCommand>,LynxModule.MessageClassAndCtor> responseClasses

lynxUsbDevice

protected LynxUsbDevice lynxUsbDevice

controllers

protected java.util.List<LynxController> controllers

moduleAddress

protected int moduleAddress

moduleSerialNumber

protected SerialNumber moduleSerialNumber

nextMessageNumber

protected java.util.concurrent.atomic.AtomicInteger nextMessageNumber

isParent

protected boolean isParent

isSystemSynthetic

protected volatile boolean isSystemSynthetic

isUserModule

protected volatile boolean isUserModule

isEngaged

protected boolean isEngaged

engagementLock

protected final java.lang.Object engagementLock

isOpen

protected volatile boolean isOpen

isNotResponding

protected volatile boolean isNotResponding

startStopLock

protected final java.lang.Object startStopLock

unfinishedCommands

protected final java.util.concurrent.ConcurrentHashMap<java.lang.Integer,LynxRespondable> unfinishedCommands

maps message number to command we've issued with said number

commandClasses

protected final java.util.concurrent.ConcurrentHashMap<java.lang.Integer,LynxModule.MessageClassAndCtor> commandClasses

for all the commands we know about (standard + QueryInterface), maps command number to class which implements same. Only commands known to be supported by the module are populated

supportedCommands

protected final java.util.Set<java.lang.Class<? extends LynxCommand>> supportedCommands

interfacesQueried

protected final java.util.concurrent.ConcurrentHashMap<java.lang.String,LynxInterface> interfacesQueried

i2cLock

protected final java.lang.Object i2cLock

This lock prevents concurrency problems that would arrive from interleaving messages of the (asynchronous) i2c protocol. In particular it makes sure that once we issue a read, we can actually read that data before we get back in there and, say, issue a write on another bus.

currentSteps

protected java.util.ArrayList<Step> currentSteps

State for maintaining stack of blinker patterns

previousSteps

protected java.util.Deque<java.util.ArrayList<Step>> previousSteps

isVisuallyIdentifying

protected boolean isVisuallyIdentifying

executor

protected java.util.concurrent.ScheduledExecutorService executor

pingFuture

protected java.util.concurrent.Future<?> pingFuture

attentionRequiredFuture

protected java.util.concurrent.Future<?> attentionRequiredFuture

futureLock

protected final java.lang.Object futureLock

ftdiResetWatchdogActive

protected boolean ftdiResetWatchdogActive

ftdiResetWatchdogActiveWhenEngaged

protected boolean ftdiResetWatchdogActiveWhenEngaged

bulkCachingLock

protected final java.lang.Object bulkCachingLock

bulkCachingMode

protected LynxModule.BulkCachingMode bulkCachingMode

bulkCachingHistory

protected java.util.Map<java.lang.String,java.util.List<LynxDekaInterfaceCommand<?>>> bulkCachingHistory

lastBulkData

protected LynxModule.BulkData lastBulkData

Constructor Detail

LynxModule

public LynxModule(LynxUsbDevice lynxUsbDevice,
                  int moduleAddress,
                  boolean isParent,
                  boolean isUserModule)

Method Detail

getTag

protected java.lang.String getTag()

Overrides:

getTag in class LynxCommExceptionHandler

addStandardMessage

protected static void addStandardMessage(java.lang.Class<? extends LynxMessage> clazz)

correlateStandardResponse

protected static void correlateStandardResponse(java.lang.Class<? extends LynxCommand> commandClass)

correlateResponse

public static void correlateResponse(java.lang.Class<? extends LynxCommand> commandClass,
                                     java.lang.Class<? extends LynxResponse> responseClass)
                              throws java.lang.NoSuchMethodException

Throws:

java.lang.NoSuchMethodException

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

close

public void close()

isOpen

public boolean isOpen()

Specified by:

isOpen in interface LynxModuleIntf

isUserModule

public boolean isUserModule()

setUserModule

public void setUserModule(boolean isUserModule)

isSystemSynthetic

public boolean isSystemSynthetic()

setSystemSynthetic

public void setSystemSynthetic(boolean systemSynthetic)

noteController

public void noteController(LynxController controller)

getModuleAddress

public int getModuleAddress()

setNewModuleAddress

public void setNewModuleAddress(int newModuleAddress)

getNewMessageNumber

protected byte getNewMessageNumber()

noteAttentionRequired

public void noteAttentionRequired()

Specified by:

noteAttentionRequired in interface LynxModuleIntf

noteDatagramReceived

public void noteDatagramReceived()

Specified by:

noteDatagramReceived in interface LynxModuleIntf

noteNotResponding

public void noteNotResponding()

Specified by:

noteNotResponding in interface LynxModuleIntf

isNotResponding

public boolean isNotResponding()

Specified by:

isNotResponding in interface LynxModuleIntf

stopAttentionRequired

protected void stopAttentionRequired()

sendGetModuleStatusAndProcessResponse

protected void sendGetModuleStatusAndProcessResponse(boolean clearStatus)

forgetLastKnown

protected void forgetLastKnown()

getManufacturer

public Manufacturer getManufacturer()

getDeviceName

public java.lang.String getDeviceName()

getFirmwareVersionString

public java.lang.String getFirmwareVersionString()

getNullableFirmwareVersionString

public java.lang.String getNullableFirmwareVersionString()

getConnectionInfo

public java.lang.String getConnectionInfo()

getVersion

public int getVersion()

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

getGlobalWarnings

public java.util.List<java.lang.String> getGlobalWarnings()

Returns any global warnings from this device. Currently, such warnings are culled from the health status of the controllers attached to this module. If no warnings are currently relevant, then an empty list is returned.

getHealthStatusWarningMessage

public static java.lang.String getHealthStatusWarningMessage(HardwareDeviceHealth hardwareDeviceHealth)

Returns a status warning message indicative of the health of the indicated device, or an empty string if no such message is currently applicable.

getModuleSerialNumber

public SerialNumber getModuleSerialNumber()

getSerialNumber

public SerialNumber getSerialNumber()

getArmingState

public ARMINGSTATE getArmingState()

registerCallback

public void registerCallback(Callback callback,
                             boolean doInitialCallback)

unregisterCallback

public void unregisterCallback(Callback callback)

onModuleStateChange

public void onModuleStateChange(RobotArmingStateNotifier module,
                                ARMINGSTATE state)

engage

public void engage()

disengage

public void disengage()

isEngaged

public boolean isEngaged()

visuallyIdentify

public void visuallyIdentify(boolean shouldIdentify)

getBlinkerPatternMaxLength

public int getBlinkerPatternMaxLength()

setConstant

public void setConstant(int color)

stopBlinking

public void stopBlinking()

setPattern

public void setPattern(java.util.Collection<Step> steps)

getPattern

public java.util.Collection<Step> getPattern()

resendCurrentPattern

protected void resendCurrentPattern()

pushPattern

public void pushPattern(java.util.Collection<Step> steps)

internalPushPattern

protected void internalPushPattern(java.util.Collection<Step> steps)

patternStackNotEmpty

public boolean patternStackNotEmpty()

popPattern

public boolean popPattern()

isParent

public boolean isParent()

pingAndQueryKnownInterfacesAndEtc

public void pingAndQueryKnownInterfacesAndEtc()
                                       throws RobotCoreException,
                                              java.lang.InterruptedException

Do all the stuff we need to do when we've become aware that this module is in fact attached to its USB device. Throws a RobotCoreException if we were unable to communicate with the module.

Throws:

RobotCoreException

java.lang.InterruptedException

initializeLEDS

protected void initializeLEDS()

initializeDebugLogging

protected void initializeDebugLogging()
                               throws RobotCoreException,
                                      java.lang.InterruptedException

Throws:

RobotCoreException

java.lang.InterruptedException

pingInitialContact

protected void pingInitialContact()
                           throws RobotCoreException,
                                  java.lang.InterruptedException

Throws:

RobotCoreException

java.lang.InterruptedException

validateCommand

public void validateCommand(LynxMessage lynxMessage)
                     throws LynxUnsupportedCommandException

Specified by:

validateCommand in interface LynxModuleIntf

Throws:

LynxUnsupportedCommandException

isCommandSupported

public boolean isCommandSupported(java.lang.Class<? extends LynxCommand> clazz)

Answers as to whether the command is actively supported by the module, at least in SOME interface, or as a standard command

Specified by:

isCommandSupported in interface LynxModuleIntf

queryInterface

protected boolean queryInterface(LynxInterface theInterface)
                          throws java.lang.InterruptedException

Issues a query interface for the indicated interface and processes the results. This method is idempotent, and copes with a module changing its mind about command numbering.

Returns:

whether or not the interface is supported

Throws:

java.lang.InterruptedException

getInterface

public LynxInterface getInterface(java.lang.String interfaceName)

Returns null if the interface has not been queried or is not supported

Specified by:

getInterface in interface LynxModuleIntf

ping

protected void ping()

ping

protected void ping(boolean initialPing)
             throws RobotCoreException,
                    java.lang.InterruptedException,
                    LynxNackException

Throws:

RobotCoreException

java.lang.InterruptedException

LynxNackException

getMsModulePingInterval

protected int getMsModulePingInterval()

resetPingTimer

public void resetPingTimer(LynxMessage message)

Specified by:

resetPingTimer in interface LynxModuleIntf

startPingTimer

protected void startPingTimer()

stopPingTimer

protected void stopPingTimer(boolean wait)

startFtdiResetWatchdog

protected void startFtdiResetWatchdog()

stopFtdiResetWatchdog

protected void stopFtdiResetWatchdog()

stopFtdiResetWatchdog

protected void stopFtdiResetWatchdog(boolean disengaging)

setFtdiResetWatchdog

protected void setFtdiResetWatchdog(boolean enabled)

startExecutor

protected void startExecutor()

stopExecutor

protected void stopExecutor()

getBulkData

public LynxModule.BulkData getBulkData()

Gets the bulk data for this module and clears the cache. A bulk read command is *always* issued regardless of the bulk caching mode.

Returns:

bulk data

See Also:

getBulkCachingMode()

getBulkCachingMode

public LynxModule.BulkCachingMode getBulkCachingMode()

Returns the current bulk caching mode.

Returns:

current bulk caching mode

setBulkCachingMode

public void setBulkCachingMode(LynxModule.BulkCachingMode mode)

Sets the bulk caching mode. Cache is cleared if new mode is OFF.

Parameters:

mode - new bulk caching mode

clearBulkCache

public void clearBulkCache()

Clears the bulk read cache.

failSafe

public void failSafe()
              throws RobotCoreException,
                     java.lang.InterruptedException,
                     LynxNackException

Throws:

RobotCoreException

java.lang.InterruptedException

LynxNackException

enablePhoneCharging

public void enablePhoneCharging(boolean enable)
                         throws RobotCoreException,
                                java.lang.InterruptedException,
                                LynxNackException

Throws:

RobotCoreException

java.lang.InterruptedException

LynxNackException

isPhoneChargingEnabled

public boolean isPhoneChargingEnabled()
                               throws RobotCoreException,
                                      java.lang.InterruptedException,
                                      LynxNackException

Throws:

RobotCoreException

java.lang.InterruptedException

LynxNackException

getCurrent

public double getCurrent(CurrentUnit unit)

Returns the current consumption of the whole module.

Parameters:

unit - current units

Returns:

module current consumption

getGpioBusCurrent

public double getGpioBusCurrent(CurrentUnit unit)

Returns the current consumption of the GPIO bus.

Parameters:

unit - current units

Returns:

GPIO bus current consumption

getI2cBusCurrent

public double getI2cBusCurrent(CurrentUnit unit)

Returns the current consumption of the I2C bus.

Parameters:

unit - current units

Returns:

I2C bus current consumption

getInputVoltage

public double getInputVoltage(VoltageUnit unit)

Returns the input (battery) voltage.

Parameters:

unit - voltage units

Returns:

input voltage

getAuxiliaryVoltage

public double getAuxiliaryVoltage(VoltageUnit unit)

Returns the auxiliary (5V) voltage.

Parameters:

unit - voltage units

Returns:

auxiliary voltage

getTemperature

public double getTemperature(TempUnit unit)

Returns the module temperature.

Parameters:

unit - temperature units

Returns:

module temperature

setDebug

public void setDebug(LynxModule.DebugGroup group,
                     LynxModule.DebugVerbosity verbosity)
              throws java.lang.InterruptedException

Throws:

java.lang.InterruptedException

acquireI2cLockWhile

public <T> T acquireI2cLockWhile(Supplier<T> supplier)
                          throws java.lang.InterruptedException,
                                 RobotCoreException,
                                 LynxNackException

Specified by:

acquireI2cLockWhile in interface LynxModuleIntf

Throws:

java.lang.InterruptedException

RobotCoreException

LynxNackException

acquireNetworkTransmissionLock

public void acquireNetworkTransmissionLock(LynxMessage message)
                                    throws java.lang.InterruptedException

Specified by:

acquireNetworkTransmissionLock in interface LynxModuleIntf

Throws:

java.lang.InterruptedException

releaseNetworkTransmissionLock

public void releaseNetworkTransmissionLock(LynxMessage message)
                                    throws java.lang.InterruptedException

Specified by:

releaseNetworkTransmissionLock in interface LynxModuleIntf

Throws:

java.lang.InterruptedException

sendCommand

public void sendCommand(LynxMessage command)
                 throws java.lang.InterruptedException,
                        LynxUnsupportedCommandException

Sends a command to the module, scheduling retransmissions as necessary.

Specified by:

sendCommand in interface LynxModuleIntf

Throws:

java.lang.InterruptedException

LynxUnsupportedCommandException

retransmit

public void retransmit(LynxMessage message)
                throws java.lang.InterruptedException

Specified by:

retransmit in interface LynxModuleIntf

Throws:

java.lang.InterruptedException

finishedWithMessage

public void finishedWithMessage(LynxMessage message)

Specified by:

finishedWithMessage in interface LynxModuleIntf

pretendFinishExtantCommands

public void pretendFinishExtantCommands()
                                 throws java.lang.InterruptedException

Throws:

java.lang.InterruptedException

onIncomingDatagramReceived

public void onIncomingDatagramReceived(LynxDatagram datagram)

abandonUnfinishedCommands

public void abandonUnfinishedCommands()

nackUnfinishedCommands

protected void nackUnfinishedCommands()