Examples with ControllerConfiguration com.qualcomm.robotcore.hardware.configuration.ControllerConfiguration used on opensource projects

Example 6 with ControllerConfiguration

use of com.qualcomm.robotcore.hardware.configuration.ControllerConfiguration in project robotcode by OutoftheBoxFTC.

the class RobotConfigMap method bindUnboundControllers.

/**
 * For each controller in this map that currently lacks a real serial number, try to choose
 * an unused selection from the scanned devices to associate with same.
 */
public void bindUnboundControllers(ScannedDevices scannedDevices) {
    // First, find out whom we have to choose from that's not already used
    ScannedDevices extraDevices = new ScannedDevices(scannedDevices);
    for (ControllerConfiguration controllerConfiguration : this.controllerConfigurations()) {
        extraDevices.remove(controllerConfiguration.getSerialNumber());
    }
    // Invert the map, so we can easily lookup (ConfigurationType -> extra controllers)
    Map<ConfigurationType, List<SerialNumber>> extraByType = new HashMap<ConfigurationType, List<SerialNumber>>();
    for (Map.Entry<SerialNumber, DeviceManager.DeviceType> pair : extraDevices.entrySet()) {
        ConfigurationType configurationType = BuiltInConfigurationType.fromUSBDeviceType(pair.getValue());
        if (configurationType != BuiltInConfigurationType.UNKNOWN) {
            List<SerialNumber> list = extraByType.get(configurationType);
            if (list == null) {
                list = new LinkedList<SerialNumber>();
                extraByType.put(configurationType, list);
            }
            list.add(pair.getKey());
        }
    }
    // Figure out who's missing, and assign. Be careful about updating while iterating.
    for (ControllerConfiguration controllerConfiguration : this.controllerConfigurations()) {
        if (controllerConfiguration.getSerialNumber().isFake()) {
            List<SerialNumber> list = extraByType.get(controllerConfiguration.getConfigurationType());
            if (list != null && !list.isEmpty()) {
                // Use the first available controller of the right type, and bind to it
                SerialNumber newSerialNumber = list.remove(0);
                controllerConfiguration.setSerialNumber(newSerialNumber);
            }
        }
    }
    // Make sure we're accurate on the way out
    Collection<ControllerConfiguration> controllers = new ArrayList<ControllerConfiguration>(this.controllerConfigurations());
    map.clear();
    for (ControllerConfiguration controllerConfiguration : controllers) {
        put(controllerConfiguration.getSerialNumber(), controllerConfiguration);
    }
}

Example 7 with ControllerConfiguration

use of com.qualcomm.robotcore.hardware.configuration.ControllerConfiguration in project robotcode by OutoftheBoxFTC.

the class RobotConfigMap method getEligibleSwapTargets.

/**
 * Returns a list of the candidate configurations with which the target may be swapped.
 * Candidates must be of the same configuration type as the target but must not be the
 * target itself. We pull candidates both from what's in this {@link RobotConfigMap} and
 * what's currently attached to the USB bus: those are possibly intersecting sets, but each
 * may have members which are not in the other.
 */
public List<ControllerConfiguration> getEligibleSwapTargets(ControllerConfiguration target, ScannedDevices scannedDevices, Context context) {
    List<ControllerConfiguration> result = new LinkedList<ControllerConfiguration>();
    // Only our USB-attached devices are swappable
    ConfigurationType type = target.getConfigurationType();
    if (!(type == BuiltInConfigurationType.MOTOR_CONTROLLER || type == BuiltInConfigurationType.SERVO_CONTROLLER || type == BuiltInConfigurationType.DEVICE_INTERFACE_MODULE || type == BuiltInConfigurationType.LEGACY_MODULE_CONTROLLER)) {
        return result;
    }
    if (target.getSerialNumber().isFake()) {
        return result;
    }
    // First snarf candidates that are already in this robot configuration
    for (ControllerConfiguration other : this.controllerConfigurations()) {
        SerialNumber serialNumber = other.getSerialNumber();
        if (serialNumber.isFake()) {
            continue;
        }
        if (serialNumber.equals(target.getSerialNumber())) {
            continue;
        }
        if (containsSerialNumber(result, serialNumber)) {
            // shouldn't need this test, but it's harmless
            continue;
        }
        if (other.getConfigurationType() == target.getConfigurationType()) {
            result.add(other);
        }
    }
    // Then add others we know about from scanning but haven't added yet
    for (Map.Entry<SerialNumber, DeviceManager.DeviceType> entry : scannedDevices.entrySet()) {
        SerialNumber serialNumber = entry.getKey();
        if (serialNumber.isFake()) {
            continue;
        }
        if (serialNumber.equals(target.getSerialNumber())) {
            continue;
        }
        if (containsSerialNumber(result, serialNumber)) {
            continue;
        }
        if (entry.getValue() == target.toUSBDeviceType()) {
            String name = generateName(context, target.getConfigurationType(), result);
            ControllerConfiguration controllerConfiguration = ControllerConfiguration.forType(name, entry.getKey(), target.getConfigurationType());
            controllerConfiguration.setKnownToBeAttached(scannedDevices.containsKey(controllerConfiguration.getSerialNumber()));
            result.add(controllerConfiguration);
        }
    }
    return result;
}

Example 8 with ControllerConfiguration

use of com.qualcomm.robotcore.hardware.configuration.ControllerConfiguration in project robotcode by OutoftheBoxFTC.

the class HardwareFactory method createHardwareMap.

// ------------------------------------------------------------------------------------------------
// Hardware management
// ------------------------------------------------------------------------------------------------
/**
 * Create a hardware map
 *
 * @return HardwareMap
 */
public HardwareMap createHardwareMap(EventLoopManager manager) throws RobotCoreException, InterruptedException {
    // We synchronize with scanning so that there's only one thread trying to open *new* FTDI devices at a time
    synchronized (HardwareDeviceManager.scanDevicesLock) {
        RobotLog.vv(TAG, "createHardwareMap()");
        // Clear notion of embedded lynx module that we currently have. We'll discovery a new one,
        // if he's there, when we go through the below.
        WifiDirectInviteDialogMonitor.clearUILynxModule();
        HardwareMap map = new HardwareMap(context);
        if (xmlPullParser != null) {
            DeviceManager deviceMgr = new HardwareDeviceManager(context, manager);
            ReadXMLFileHandler readXmlFileHandler = new ReadXMLFileHandler();
            List<ControllerConfiguration> ctrlConfList = readXmlFileHandler.parse(xmlPullParser);
            for (ControllerConfiguration ctrlConf : ctrlConfList) {
                ConfigurationType type = ctrlConf.getConfigurationType();
                if (type == BuiltInConfigurationType.MOTOR_CONTROLLER) {
                    mapUsbMotorController(map, deviceMgr, (MotorControllerConfiguration) ctrlConf);
                } else if (type == BuiltInConfigurationType.SERVO_CONTROLLER) {
                    mapUsbServoController(map, deviceMgr, (ServoControllerConfiguration) ctrlConf);
                } else if (type == BuiltInConfigurationType.LEGACY_MODULE_CONTROLLER) {
                    mapUsbLegacyModule(map, deviceMgr, (LegacyModuleControllerConfiguration) ctrlConf);
                } else if (type == BuiltInConfigurationType.DEVICE_INTERFACE_MODULE) {
                    mapCoreInterfaceDeviceModule(map, deviceMgr, (DeviceInterfaceModuleConfiguration) ctrlConf);
                } else if (type == BuiltInConfigurationType.LYNX_USB_DEVICE) {
                    mapLynxUsbDevice(map, deviceMgr, (LynxUsbDeviceConfiguration) ctrlConf);
                } else {
                    RobotLog.ee(TAG, "Unexpected controller type while parsing XML: " + type.toString());
                }
            }
        } else {
            // no XML to parse, just return empty map
            RobotLog.vv(TAG, "no xml to parse: using empty map");
        }
        return map;
    }
}

Example 9 with ControllerConfiguration

use of com.qualcomm.robotcore.hardware.configuration.ControllerConfiguration in project robotcode by OutoftheBoxFTC.

the class FtcConfigurationActivity method populateList.

/**
 * Populates the list with the relevant controllers from the deviceControllers variable.
 * That variable is either from scanned devices, or read in from an xml file.
 */
private void populateList() {
    ListView controllerListView = (ListView) findViewById(R.id.controllersList);
    // Before we launch, we want the scan to have completed
    try {
        scannedDevices = usbScanManager.awaitScannedDevices();
    } catch (InterruptedException e) {
        Thread.currentThread().interrupt();
    }
    // Make sure we'll report serial numbers correctly as attached or not
    tellControllersAboutAttachment();
    DeviceInfoAdapter adapter = new DeviceInfoAdapter(this, android.R.layout.simple_list_item_2, new LinkedList<ControllerConfiguration>(getRobotConfigMap().controllerConfigurations()));
    controllerListView.setAdapter(adapter);
    controllerListView.setOnItemClickListener(new AdapterView.OnItemClickListener() {

        @Override
        public void onItemClick(AdapterView<?> adapterView, View v, int pos, long arg3) {
            ControllerConfiguration controllerConfiguration = (ControllerConfiguration) adapterView.getItemAtPosition(pos);
            ConfigurationType itemType = controllerConfiguration.getConfigurationType();
            if (itemType == BuiltInConfigurationType.MOTOR_CONTROLLER) {
                EditParameters parameters = initParameters(ModernRoboticsConstants.INITIAL_MOTOR_PORT, MotorConfiguration.class, controllerConfiguration, ((MotorControllerConfiguration) controllerConfiguration).getMotors());
                parameters.setConfigurationTypes(MotorConfiguration.getAllMotorConfigurationTypes());
                handleLaunchEdit(EditMotorControllerActivity.requestCode, EditMotorControllerActivity.class, parameters);
            } else if (itemType == BuiltInConfigurationType.SERVO_CONTROLLER) {
                EditParameters parameters = initParameters(ModernRoboticsConstants.INITIAL_SERVO_PORT, ServoConfiguration.class, controllerConfiguration, ((ServoControllerConfiguration) controllerConfiguration).getServos());
                handleLaunchEdit(EditServoControllerActivity.requestCode, EditServoControllerActivity.class, parameters);
            } else if (itemType == BuiltInConfigurationType.LEGACY_MODULE_CONTROLLER) {
                EditParameters parameters = initParameters(0, DeviceConfiguration.class, controllerConfiguration, ((LegacyModuleControllerConfiguration) controllerConfiguration).getDevices());
                handleLaunchEdit(EditLegacyModuleControllerActivity.requestCode, EditLegacyModuleControllerActivity.class, parameters);
            } else if (itemType == BuiltInConfigurationType.DEVICE_INTERFACE_MODULE) {
                EditParameters parameters = initParameters(0, DeviceConfiguration.class, controllerConfiguration, ((DeviceInterfaceModuleConfiguration) controllerConfiguration).getDevices());
                handleLaunchEdit(EditDeviceInterfaceModuleActivity.requestCode, EditDeviceInterfaceModuleActivity.class, parameters);
            } else if (itemType == BuiltInConfigurationType.LYNX_USB_DEVICE) {
                EditParameters parameters = initParameters(0, LynxModuleConfiguration.class, controllerConfiguration, ((LynxUsbDeviceConfiguration) controllerConfiguration).getDevices());
                handleLaunchEdit(EditLynxUsbDeviceActivity.requestCode, EditLynxUsbDeviceActivity.class, parameters);
            }
        }
    });
}

Example 10 with ControllerConfiguration

use of com.qualcomm.robotcore.hardware.configuration.ControllerConfiguration in project robotcode by OutoftheBoxFTC.

the class FtcConfigurationActivity method readFile.

/**
 * This method parses the XML of the active configuration file, and calls methods to populate
 * the appropriate data structures to the configuration information can be displayed to the
 * user.
 */
private void readFile() {
    try {
        XmlPullParser xmlPullParser = currentCfgFile.getXml();
        if (xmlPullParser == null) {
            throw new RobotCoreException("can't access configuration");
        }
        // 
        ReadXMLFileHandler parser = new ReadXMLFileHandler();
        List<ControllerConfiguration> controllerList = parser.parse(xmlPullParser);
        buildControllersFromXMLResults(controllerList);
        populateListAndWarnDevices();
    // 
    } catch (Exception e) {
        String message = String.format(getString(R.string.errorParsingConfiguration), currentCfgFile.getName());
        RobotLog.ee(TAG, e, message);
        appUtil.showToast(UILocation.ONLY_LOCAL, context, message);
    }
}