/*******************************************************************************
* Copyright (c) 2016 Julien Louette & Gaël Wittorski
*
* This file is part of Raspoid.
*
* Raspoid is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Raspoid is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with Raspoid. If not, see <http://www.gnu.org/licenses/>.
******************************************************************************/
/*
* Copyright ErgoTech Systems, Inc 2014
*
* This file is made available online through a Creative Commons Attribution-ShareAlike 3.0 license.
* (http://creativecommons.org/licenses/by-sa/3.0/)
*
* This is a library of functions for the RPi to communicate with the BrickPi.
*/
package com.raspoid.brickpi;
import com.raspoid.brickpi.nxt.sensor.RawSensor;
/**
* BrickPi implementation providing an interface to use motors and sensors
*
* @author Julien Louette & Gaël Wittorski
* @version 1.0
*/
public class BrickPi {
/**
* Number of Atmel chips (AtMega328).
*/
public static final int NB_ATMEGA_TARGETS = 2;
/**
* Number of sensors for each AtMega328.
*/
public static final int NB_SENSORS_BY_ATMEGA = 2;
/**
* Number of motors for each AtMega328.
*/
public static final int NB_MOTORS_BY_ATMEGA = 2;
/**
* Use when a motor is connected on port A to control it
*/
public static Motor MA; // NOSONAR
/**
* Use when a motor is connected on port B to control it
*/
public static Motor MB; // NOSONAR
/**
* Use when a motor is connected on port C to control it
*/
public static Motor MC; // NOSONAR
/**
* Use when a motor is connected on port D to control it
*/
public static Motor MD; // NOSONAR
/**
* Use when a sensor is connected on port 1 to control it.
* It is and should be a RawSensor when not used.
*/
public static Sensor S1 = new RawSensor(); // NOSONAR
/**
* Use when a sensor is connected on port 2 to control it.
* It is and should be a RawSensor when not used.
*/
public static Sensor S2 = new RawSensor(); // NOSONAR
/**
* Use when a sensor is connected on port 3 to control it.
* It is and should be a RawSensor when not used.
*/
public static Sensor S3 = new RawSensor(); // NOSONAR
/**
* Use when a sensor is connected on port 4 to control it.
* It is and should be a RawSensor when not used.
*/
public static Sensor S4 = new RawSensor(); // NOSONAR
/**
* Contains the connector to communicate with the BrickPi card
*/
private static BrickPiConnector brickPiConnector = new BrickPiConnector();
/**
* Use when the LED 1 need to be controlled
*/
public static final Led LED1 = new Led(1);
/**
* Use when the LED 2 need to be controlled
*/
public static final Led LED2 = new Led(2);
/**
* Constructor is private
*/
private BrickPi() {/* only use static methods */}
/**
* Once sensors and motors are configured, this method is used to run the BrickPi.
* This launches the polling threads that update motors encoders and fetches fresh sensor values.
*/
public static void start() {
brickPiConnector.start();
}
/**
* Once the program is over, this method should be called to release the
* resources properly
*/
public static void stop() {
brickPiConnector.stop();
}
/**
* Convenient getter for all the motors
* @return an array with the motors references in order MA, MB, MC, MD
*/
public static Motor[] getMotors() {
return new Motor[] {MA, MB, MC, MD};
}
/**
* Convenient getter for all the sensors
* @return an array with the sensors references in order S1,S2,S3,S4
*/
public static Sensor[] getSensors() {
return new Sensor[] {S1, S2, S3, S4};
}
/**
* Convenient method to configure motors and sensors in an atomic fashion.
* This should only be used to set some values for motors or sensors and it should never
* block. The settings are committed in the caller's thread.
* @param transaction the transaction code to execute
*/
public static synchronized void commitSettings(Runnable transaction) {
transaction.run();
brickPiConnector.flush();
}
}