Examples with LynxDiscoveryCommand com.qualcomm.hardware.lynx.commands.standard.LynxDiscoveryCommand used on opensource projects

Example 1 with LynxDiscoveryCommand

use of com.qualcomm.hardware.lynx.commands.standard.LynxDiscoveryCommand in project robotcode by OutoftheBoxFTC.

the class LynxUsbDeviceImpl method discoverModules.

@Override
public LynxModuleMetaList discoverModules() throws RobotCoreException, InterruptedException {
    RobotLog.vv(TAG, "lynx discovery beginning...transmitting LynxDiscoveryCommand()...");
    // Initialize our set of known modules and send out discovery requests
    this.discoveredModules.clear();
    // Make ourselves a fake module so that we can (mostly) use the normal transmission infrastructure
    LynxModule fakeModule = new LynxModule(this, 0, /*ignored*/
    false);
    try {
        // Make a discovery command and send it out
        LynxDiscoveryCommand discoveryCommand = new LynxDiscoveryCommand(fakeModule);
        discoveryCommand.send();
        // Wait an interval sufficient so as to guarantee that we'll see all the replies
        // that are there to see
        long nsPerModuleInterval = 3 * ElapsedTime.MILLIS_IN_NANO;
        int maxNumberOfModules = 254;
        // "entire packet must be received within 50ms from the first Frame Byte"
        long nsPacketTimeMax = 50 * ElapsedTime.MILLIS_IN_NANO;
        // should be oodles
        long nsSlop = 200 * ElapsedTime.MILLIS_IN_NANO;
        long nsWait = nsPerModuleInterval * maxNumberOfModules + nsPacketTimeMax + nsSlop;
        long msWait = (nsWait / ElapsedTime.MILLIS_IN_NANO);
        nsWait = nsWait - msWait * ElapsedTime.MILLIS_IN_NANO;
        RobotLog.vv(TAG, "discovery waiting %dms and %dns", msWait, nsWait);
        Thread.sleep(msWait, (int) nsWait);
        RobotLog.vv(TAG, "discovery waiting complete: #modules=%d", discoveredModules.size());
    } catch (LynxNackException e) {
        throw e.wrap();
    } finally {
        // Tidy up
        fakeModule.close();
    }
    LynxModuleMetaList result = new LynxModuleMetaList(serialNumber, discoveredModules.values());
    RobotLog.vv(TAG, "...lynx discovery completed");
    return result;
}