Examples with LynxModule com.qualcomm.hardware.lynx.LynxModule used on opensource projects

Example 1 with LynxModule

use of com.qualcomm.hardware.lynx.LynxModule in project robotcode by OutoftheBoxFTC.

the class HardwareFactory method mapLynxUsbDevice.

private void mapLynxUsbDevice(HardwareMap map, DeviceManager deviceMgr, LynxUsbDeviceConfiguration lynxUsbDeviceConfiguration) throws RobotCoreException, InterruptedException {
    if (!lynxUsbDeviceConfiguration.isEnabled()) {
        return;
    }
    // Make a new LynxUsbDevice
    LynxUsbDevice lynxUsbDevice = (LynxUsbDevice) deviceMgr.createLynxUsbDevice(lynxUsbDeviceConfiguration.getSerialNumber(), lynxUsbDeviceConfiguration.getName());
    try {
        // If the system made up this device, let the live device know that too
        if (lynxUsbDeviceConfiguration.isSystemSynthetic()) {
            lynxUsbDevice.setSystemSynthetic(true);
        }
        // Are we the first USB-attached (as opposed to embedded) LynxUsbDevice?
        boolean isFirstLynxUsbDevice = !LynxConstants.isEmbeddedSerialNumber(lynxUsbDeviceConfiguration.getSerialNumber());
        for (LynxUsbDevice usbDevice : map.getAll(LynxUsbDevice.class)) {
            if (!LynxConstants.isEmbeddedSerialNumber(usbDevice.getSerialNumber())) {
                isFirstLynxUsbDevice = false;
                break;
            }
        }
        // Make all the modules first, since we need to ping the parent before pinging anyone else,
        // and so we need to figure out who that is.
        // 
        List<LynxModule> potentialModules = new ArrayList<LynxModule>();
        Map<Integer, String> moduleNames = new HashMap<Integer, String>();
        final int parentModuleAddress = lynxUsbDeviceConfiguration.getParentModuleAddress();
        for (DeviceConfiguration moduleConfiguration : lynxUsbDeviceConfiguration.getModules()) {
            int moduleAddress = moduleConfiguration.getPort();
            moduleNames.put(moduleAddress, moduleConfiguration.getName());
            // 
            LynxModule module = (LynxModule) deviceMgr.createLynxModule(lynxUsbDevice, moduleAddress, parentModuleAddress == moduleAddress, moduleConfiguration.getName());
            potentialModules.add(module);
            // If the system made up this device, let the live device know that too
            if (((LynxModuleConfiguration) moduleConfiguration).isSystemSynthetic()) {
                module.setSystemSynthetic(true);
            }
        }
        // Attach all the LynxModules to that LynxUsbDevice, parents first, so that parents get pinged first. Note that if some
        // modules aren't actually there, or are there but are wedged, these may throw exceptions.
        Map<Integer, LynxModule> connectedModules = new HashMap<Integer, LynxModule>();
        for (LynxModule module : potentialModules) {
            if (module.isParent()) {
                // nb: there should be only one parent
                connectModule(lynxUsbDevice, module, moduleNames, connectedModules, isFirstLynxUsbDevice && connectedModules.isEmpty());
            }
        }
        for (LynxModule module : potentialModules) {
            if (!module.isParent()) {
                connectModule(lynxUsbDevice, module, moduleNames, connectedModules, false);
            }
        }
        // Finish adding all the pieces to the modules we successfully talked to
        mapLynxModuleComponents(map, deviceMgr, lynxUsbDeviceConfiguration, lynxUsbDevice, connectedModules);
        // For the things that worked, remember the module names in the hwmap
        for (Map.Entry<Integer, LynxModule> pair : connectedModules.entrySet()) {
            int moduleAddress = pair.getKey();
            map.put(moduleNames.get(moduleAddress), pair.getValue());
        }
        // Remember the LynxUsbDevice too, so we we'll only enable one to charge the RC battery
        map.put(lynxUsbDeviceConfiguration.getName(), lynxUsbDevice);
    } catch (LynxNackException e) {
        throw e.wrap();
    } catch (RobotCoreException | RuntimeException e) {
        lynxUsbDevice.close();
        map.remove(lynxUsbDeviceConfiguration.getName(), lynxUsbDevice);
        throw e;
    }
}

Example 2 with LynxModule

use of com.qualcomm.hardware.lynx.LynxModule in project robotcode by OutoftheBoxFTC.

the class HardwareFactory method mapLynxModuleComponents.

private void mapLynxModuleComponents(HardwareMap map, DeviceManager deviceMgr, LynxUsbDeviceConfiguration lynxUsbDeviceConfiguration, LynxUsbDevice lynxUsbDevice, Map<Integer, LynxModule> connectedModules) throws LynxNackException, RobotCoreException, InterruptedException {
    // Hook up the pieces to each module
    for (DeviceConfiguration moduleConfiguration : lynxUsbDeviceConfiguration.getModules()) {
        LynxModule module = connectedModules.get(moduleConfiguration.getPort());
        // Ignore modules that ultimately didn't connect
        if (module == null) {
            continue;
        }
        LynxModuleConfiguration lynxModuleConfiguration = (LynxModuleConfiguration) moduleConfiguration;
        // For each module, hook up motor controller and motors
        LynxDcMotorController mc = new LynxDcMotorController(context, module);
        map.dcMotorController.put(moduleConfiguration.getName(), mc);
        for (MotorConfiguration motorConf : lynxModuleConfiguration.getMotors()) {
            if (motorConf.isEnabled()) {
                DcMotor m = deviceMgr.createDcMotorEx(mc, motorConf.getPort(), motorConf.getMotorType(), motorConf.getName());
                map.dcMotor.put(motorConf.getName(), m);
            }
        }
        // And hook up servo controller and servos
        LynxServoController sc = new LynxServoController(context, module);
        map.servoController.put(moduleConfiguration.getName(), sc);
        for (DeviceConfiguration servoConf : lynxModuleConfiguration.getServos()) {
            mapServoEx(map, deviceMgr, servoConf, sc);
        }
        // And a voltage sensor
        LynxVoltageSensor voltageSensor = new LynxVoltageSensor(context, module);
        map.voltageSensor.put(moduleConfiguration.getName(), voltageSensor);
        // Also a PWM Output Controller
        LynxPwmOutputController pwmOutputController = new LynxPwmOutputController(context, module);
        map.put(moduleConfiguration.getName(), pwmOutputController);
        buildLynxDevices(lynxModuleConfiguration.getPwmOutputs(), map, deviceMgr, pwmOutputController);
        // Also an AnalogInputController
        LynxAnalogInputController analogInputController = new LynxAnalogInputController(context, module);
        map.put(moduleConfiguration.getName(), analogInputController);
        buildLynxDevices(lynxModuleConfiguration.getAnalogInputs(), map, deviceMgr, analogInputController);
        // And a digital channel controller
        LynxDigitalChannelController digitalChannelController = new LynxDigitalChannelController(context, module);
        map.put(moduleConfiguration.getName(), digitalChannelController);
        buildLynxDevices(lynxModuleConfiguration.getDigitalDevices(), map, deviceMgr, digitalChannelController);
        // And I2c devices
        buildLynxI2cDevices(lynxModuleConfiguration.getI2cDevices(), map, deviceMgr, module);
    }
}