com.qualcomm.hardware.lynx

Class LynxUsbDeviceImpl

java.lang.Object

ArmableUsbDevice

com.qualcomm.hardware.lynx.LynxUsbDeviceImpl

All Implemented Interfaces:

LynxUsbDevice

public class LynxUsbDeviceImpl
extends ArmableUsbDevice
implements LynxUsbDevice

LynxUsbDeviceImpl controls the USB communication to one or more Lynx Modules. It polls for incoming traffic and sorts same according to the module address involved.

Field Summary

Fields

Modifier and Type	Field and Description
protected static int	cbusBothAsserted
protected static int	cbusMask
protected static int	cbusNeitherAsserted
protected static int	cbusNProg
protected static int	cbusNReset
protected static int	cbusProgAsserted
protected static int	cbusResetAsserted
static boolean	DEBUG_LOG_DATAGRAMS
static boolean	DEBUG_LOG_DATAGRAMS_FINISH
static boolean	DEBUG_LOG_DATAGRAMS_LOCK
static boolean	DEBUG_LOG_MESSAGES
protected java.util.concurrent.ConcurrentHashMap<java.lang.Integer,LynxModuleMeta>	discoveredModules
protected java.lang.Object	engageLock
protected static LynxCommExceptionHandler	exceptionHandler
protected static <any>	extantDevices
protected boolean	hasShutdownAbnormally
protected java.util.concurrent.ExecutorService	incomingDatagramPoller
protected boolean	isEngaged
protected boolean	isSystemSynthetic
protected java.util.concurrent.ConcurrentHashMap<java.lang.Integer,LynxModule>	knownModules
protected java.util.concurrent.ConcurrentHashMap<java.lang.Integer,LynxModule>	knownModulesChanging
protected com.qualcomm.hardware.lynx.LynxFirmwareUpdater	lynxFirmwareUpdater
protected java.util.concurrent.ConcurrentHashMap<java.lang.Integer,java.lang.String>	missingModules
protected static int	msCbusWiggle
protected static int	msNetworkTransmissionLockAcquisitionTimeMax
protected static int	msResetRecovery
protected MessageKeyedLock	networkTransmissionLock
protected boolean	resetAttempted
protected static java.lang.String	SEPARATOR
static java.lang.String	TAG
protected boolean	wasPollingWhenEngaged

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	LynxUsbDeviceImpl(android.content.Context context, SerialNumber serialNumber, SyncdDevice.Manager manager, com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice.OpenRobotUsbDevice openRobotUsbDevice) Use findOrCreateAndArm(android.content.Context, SerialNumber, SyncdDevice.Manager, com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice.OpenRobotUsbDevice) instead

Method Summary

Modifier and Type	Method and Description
protected void	abandonUnfinishedCommands()
protected static RobotUsbDeviceFtdi	accessCBus(RobotUsbDevice robotUsbDevice) A simple, cursory test to see whether we can get access to the cbus FTDI functionality.
void	acquireNetworkTransmissionLock(LynxMessage message)
LynxModule	addConfiguredModule(LynxModule module) Returns a LynxModule instance that is equivalent to (but not guaranteed to be the same as) the one passed in as a parameter, which is registered with this LynxUsbDevice.
protected void	armDevice(RobotUsbDevice device)
void	changeModuleAddress(LynxModule module, int newAddress, java.lang.Runnable runnable)
protected void	closeModules()
protected java.lang.String	composeGlobalWarning() For lynx modules, in addition to reporting arming issues, we also need to report any issues having to do with configured modules which are absent.
protected void	disarmDevice()
LynxModuleMetaList	discoverModules(boolean checkForImus) Discover all the lynx modules that are accessible through this Lynx USB device.
void	disengage()
protected void	doClose()
protected void	doCloseFromArmed()
protected void	doCloseFromOther()
protected void	doPretend()
void	engage()
void	failSafe()
protected LynxModule	findKnownModule(int moduleAddress)
static LynxUsbDevice	findOrCreateAndArm(android.content.Context context, SerialNumber serialNumber, SyncdDevice.Manager manager, com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice.OpenRobotUsbDevice openRobotUsbDevice) Either finds an already-open device with the indicated serial number and returns same, as-is, or creates a new device and arms or pretends it, as the case may be.
java.util.List<java.lang.String>	getAllModuleFirmwareVersions() getAllModuleFirmwareVersions
LynxModule	getConfiguredModule(int moduleAddress)
java.lang.String	getConnectionInfo()
LynxUsbDeviceImpl	getDelegationTarget()
java.lang.String	getDeviceName()
protected java.util.Collection<LynxModule>	getKnownModules()
Manufacturer	getManufacturer()
RobotUsbModule	getOwner()
ShutdownReason	getShutdownReason()
protected java.lang.String	getTag()
int	getVersion()
protected boolean	hasShutdownAbnormally()
boolean	isEngaged()
boolean	isSystemSynthetic()
void	lockNetworkLockAcquisitions()
void	noteMissingModule(LynxModule module, java.lang.String moduleName)
protected void	onLynxDiscoveryResponseReceived(LynxDatagram datagram)
void	performSystemOperationOnConnectedModule(int moduleAddress, boolean isParent, <any> moduleConsumer)
protected void	pingAndQueryKnownInterfaces()
protected void	pretendFinishExtantCommands()
void	releaseNetworkTransmissionLock(LynxMessage message)
void	removeConfiguredModule(LynxModule module) Should ONLY be called by LynxModule.close()
static void	resetDevice(RobotUsbDevice robotUsbDevice) Issues a hardware reset to the lynx module.
void	resetDeviceConfigurationForOpMode()
protected void	resetNetworkTransmissionLock()
void	setOwner(RobotUsbModule owner)
void	setSystemSynthetic(boolean systemSynthetic)
void	setThrowOnNetworkLockAcquisition(boolean shouldThrow)
boolean	setupControlHubEmbeddedModule() Verifies that we can communicate with the Control Hub's embedded module, and that its address is set to LynxConstants#CH_EMBEDDED_MODULE_ADDRESS.
protected void	shutdownAbnormally()
protected void	startPollingForIncomingDatagrams()
protected void	startRegularPinging()
protected boolean	stopPollingForIncomingDatagrams()
void	transmit(LynxMessage message)
RobotCoreCommandList.LynxFirmwareUpdateResp	updateFirmware(RobotCoreCommandList.FWImage image, java.lang.String requestId, <any> progressConsumer)

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.lynx.LynxUsbDevice

getRobotUsbDevice

Field Detail

TAG

public static final java.lang.String TAG

See Also:

Constant Field Values

DEBUG_LOG_MESSAGES

public static boolean DEBUG_LOG_MESSAGES

DEBUG_LOG_DATAGRAMS

public static boolean DEBUG_LOG_DATAGRAMS

DEBUG_LOG_DATAGRAMS_FINISH

public static boolean DEBUG_LOG_DATAGRAMS_FINISH

DEBUG_LOG_DATAGRAMS_LOCK

public static boolean DEBUG_LOG_DATAGRAMS_LOCK

extantDevices

protected static final <any> extantDevices

exceptionHandler

protected static final LynxCommExceptionHandler exceptionHandler

knownModules

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

knownModulesChanging

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

discoveredModules

protected final java.util.concurrent.ConcurrentHashMap<java.lang.Integer,LynxModuleMeta> discoveredModules

missingModules

protected final java.util.concurrent.ConcurrentHashMap<java.lang.Integer,java.lang.String> missingModules

networkTransmissionLock

protected final MessageKeyedLock networkTransmissionLock

incomingDatagramPoller

protected java.util.concurrent.ExecutorService incomingDatagramPoller

resetAttempted

protected boolean resetAttempted

hasShutdownAbnormally

protected boolean hasShutdownAbnormally

isSystemSynthetic

protected boolean isSystemSynthetic

isEngaged

protected boolean isEngaged

wasPollingWhenEngaged

protected boolean wasPollingWhenEngaged

engageLock

protected final java.lang.Object engageLock

lynxFirmwareUpdater

protected final com.qualcomm.hardware.lynx.LynxFirmwareUpdater lynxFirmwareUpdater

cbusNReset

protected static final int cbusNReset

See Also:

Constant Field Values

cbusNProg

protected static final int cbusNProg

See Also:

Constant Field Values

cbusMask

protected static final int cbusMask

See Also:

Constant Field Values

cbusNeitherAsserted

protected static final int cbusNeitherAsserted

See Also:

Constant Field Values

cbusBothAsserted

protected static final int cbusBothAsserted

See Also:

Constant Field Values

cbusProgAsserted

protected static final int cbusProgAsserted

See Also:

Constant Field Values

cbusResetAsserted

protected static final int cbusResetAsserted

See Also:

Constant Field Values

msNetworkTransmissionLockAcquisitionTimeMax

protected static final int msNetworkTransmissionLockAcquisitionTimeMax

See Also:

Constant Field Values

msCbusWiggle

protected static final int msCbusWiggle

See Also:

Constant Field Values

msResetRecovery

protected static final int msResetRecovery

See Also:

Constant Field Values

SEPARATOR

protected static final java.lang.String SEPARATOR

See Also:

Constant Field Values

Constructor Detail

LynxUsbDeviceImpl

protected LynxUsbDeviceImpl(android.content.Context context,
                            SerialNumber serialNumber,
                            SyncdDevice.Manager manager,
                            com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice.OpenRobotUsbDevice openRobotUsbDevice)

Use findOrCreateAndArm(android.content.Context, SerialNumber, SyncdDevice.Manager, com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice.OpenRobotUsbDevice) instead

Method Detail

getTag

protected java.lang.String getTag()

findOrCreateAndArm

public static LynxUsbDevice findOrCreateAndArm(android.content.Context context,
                                               SerialNumber serialNumber,
                                               SyncdDevice.Manager manager,
                                               com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice.OpenRobotUsbDevice openRobotUsbDevice)
                                        throws RobotCoreException,
                                               java.lang.InterruptedException

Either finds an already-open device with the indicated serial number and returns same, as-is, or creates a new device and arms or pretends it, as the case may be. We wrap with delegates so that we can do reference counting (allowing multiple opens of the same device) while at the same time maintaining the semantic that close() must be idempotent on a given instance.

Throws:

RobotCoreException

java.lang.InterruptedException

getDelegationTarget

public LynxUsbDeviceImpl getDelegationTarget()

Specified by:

getDelegationTarget in interface LynxUsbDevice

isSystemSynthetic

public boolean isSystemSynthetic()

Specified by:

isSystemSynthetic in interface LynxUsbDevice

setSystemSynthetic

public void setSystemSynthetic(boolean systemSynthetic)

Specified by:

setSystemSynthetic in interface LynxUsbDevice

doClose

protected void doClose()

getManufacturer

public Manufacturer getManufacturer()

getDeviceName

public java.lang.String getDeviceName()

getConnectionInfo

public java.lang.String getConnectionInfo()

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

getVersion

public int getVersion()

getShutdownReason

public ShutdownReason getShutdownReason()

hasShutdownAbnormally

protected boolean hasShutdownAbnormally()

setOwner

public void setOwner(RobotUsbModule owner)

getOwner

public RobotUsbModule getOwner()

engage

public void engage()

disengage

public void disengage()

isEngaged

public boolean isEngaged()

doPretend

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

Throws:

RobotCoreException

java.lang.InterruptedException

armDevice

protected void armDevice(RobotUsbDevice device)
                  throws RobotCoreException,
                         java.lang.InterruptedException

Throws:

RobotCoreException

java.lang.InterruptedException

disarmDevice

protected void disarmDevice()
                     throws java.lang.InterruptedException

Throws:

java.lang.InterruptedException

doCloseFromArmed

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

Throws:

RobotCoreException

java.lang.InterruptedException

doCloseFromOther

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

Throws:

RobotCoreException

java.lang.InterruptedException

closeModules

protected void closeModules()

failSafe

public void failSafe()

Specified by:

failSafe in interface LynxUsbDevice

getKnownModules

protected java.util.Collection<LynxModule> getKnownModules()

findKnownModule

protected LynxModule findKnownModule(int moduleAddress)

getAllModuleFirmwareVersions

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

getAllModuleFirmwareVersions

Returns:

A list of firmware versions for all known modules in the form of "id / version"

changeModuleAddress

public void changeModuleAddress(LynxModule module,
                                int newAddress,
                                java.lang.Runnable runnable)

Specified by:

changeModuleAddress in interface LynxUsbDevice

noteMissingModule

public void noteMissingModule(LynxModule module,
                              java.lang.String moduleName)

Specified by:

noteMissingModule in interface LynxUsbDevice

composeGlobalWarning

protected java.lang.String composeGlobalWarning()

For lynx modules, in addition to reporting arming issues, we also need to report any issues having to do with configured modules which are absent. However, we avoid being *too* verbose, choosing instead to prioritize our messages.

addConfiguredModule

public LynxModule addConfiguredModule(LynxModule module)
                               throws java.lang.InterruptedException,
                                      RobotCoreException

Returns a LynxModule instance that is equivalent to (but not guaranteed to be the same as) the one passed in as a parameter, which is registered with this LynxUsbDevice. After calling this method, you MUST use the return value, not the instance you passed in as a parameter.

Specified by:

addConfiguredModule in interface LynxUsbDevice

Throws:

RobotCoreException - if trying to communicate with this module was unsuccessful.

java.lang.InterruptedException

getConfiguredModule

public LynxModule getConfiguredModule(int moduleAddress)

Specified by:

getConfiguredModule in interface LynxUsbDevice

removeConfiguredModule

public void removeConfiguredModule(LynxModule module)

Should ONLY be called by LynxModule.close()

Specified by:

removeConfiguredModule in interface LynxUsbDevice

performSystemOperationOnConnectedModule

public void performSystemOperationOnConnectedModule(int moduleAddress,
                                                    boolean isParent,
                                                    <any> moduleConsumer)
                                             throws RobotCoreException,
                                                    java.lang.InterruptedException

Specified by:

performSystemOperationOnConnectedModule in interface LynxUsbDevice

Throws:

RobotCoreException

java.lang.InterruptedException

discoverModules

public LynxModuleMetaList discoverModules(boolean checkForImus)
                                   throws RobotCoreException,
                                          java.lang.InterruptedException

Discover all the lynx modules that are accessible through this Lynx USB device. One of these will be the 'parent', which is the one directly USB connected. The others are accessible over the RS485 bus.

Specified by:

discoverModules in interface LynxUsbDevice

Parameters:

checkForImus - Whether we should check if each discovered module has an onboard BNO055 IMU

Throws:

RobotCoreException

java.lang.InterruptedException

setupControlHubEmbeddedModule

public boolean setupControlHubEmbeddedModule()
                                      throws java.lang.InterruptedException,
                                             RobotCoreException

Verifies that we can communicate with the Control Hub's embedded module, and that its address is set to LynxConstants#CH_EMBEDDED_MODULE_ADDRESS. If we can't communicate with it, an attempt will be made to flash new firmware to it. If its address is incorrect, it will be set to the correct value.

Specified by:

setupControlHubEmbeddedModule in interface LynxUsbDevice

Returns:

true if the Control Hub's embedded parent module address was changed

Throws:

java.lang.InterruptedException

RobotCoreException

onLynxDiscoveryResponseReceived

protected void onLynxDiscoveryResponseReceived(LynxDatagram datagram)

pingAndQueryKnownInterfaces

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

Throws:

RobotCoreException

java.lang.InterruptedException

lockNetworkLockAcquisitions

public void lockNetworkLockAcquisitions()

setThrowOnNetworkLockAcquisition

public void setThrowOnNetworkLockAcquisition(boolean shouldThrow)

resetNetworkTransmissionLock

protected void resetNetworkTransmissionLock()
                                     throws java.lang.InterruptedException

Throws:

java.lang.InterruptedException

acquireNetworkTransmissionLock

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

Specified by:

acquireNetworkTransmissionLock in interface LynxUsbDevice

Throws:

java.lang.InterruptedException

releaseNetworkTransmissionLock

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

Specified by:

releaseNetworkTransmissionLock in interface LynxUsbDevice

Throws:

java.lang.InterruptedException

startPollingForIncomingDatagrams

protected void startPollingForIncomingDatagrams()

stopPollingForIncomingDatagrams

protected boolean stopPollingForIncomingDatagrams()

startRegularPinging

protected void startRegularPinging()

transmit

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

Specified by:

transmit in interface LynxUsbDevice

Throws:

java.lang.InterruptedException

shutdownAbnormally

protected void shutdownAbnormally()

pretendFinishExtantCommands

protected void pretendFinishExtantCommands()
                                    throws java.lang.InterruptedException

Throws:

java.lang.InterruptedException

abandonUnfinishedCommands

protected void abandonUnfinishedCommands()

accessCBus

protected static RobotUsbDeviceFtdi accessCBus(RobotUsbDevice robotUsbDevice)

A simple, cursory test to see whether we can get access to the cbus FTDI functionality. Currently not very robust

resetDevice

public static void resetDevice(RobotUsbDevice robotUsbDevice)

Issues a hardware reset to the lynx module.

updateFirmware

public RobotCoreCommandList.LynxFirmwareUpdateResp updateFirmware(RobotCoreCommandList.FWImage image,
                                                                  java.lang.String requestId,
                                                                  <any> progressConsumer)

Specified by:

updateFirmware in interface LynxUsbDevice