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

Example 1 with DeviceInterfaceModuleConfiguration

use of com.qualcomm.robotcore.hardware.configuration.DeviceInterfaceModuleConfiguration 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;
    }
}