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Commit1334b59

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authored
Merge pull request#781 from dwalend/channelRewriter
Channel rewriter
2 parents40bc3fe +d38df3b commit1334b59

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5 files changed

+231
-50
lines changed

5 files changed

+231
-50
lines changed

‎src/main/java/ev3dev/actuators/ev3/EV3Led.java‎

Lines changed: 43 additions & 33 deletions
Original file line numberDiff line numberDiff line change
@@ -2,17 +2,20 @@
22

33
importev3dev.hardware.EV3DevDevice;
44
importev3dev.hardware.EV3DevPlatform;
5-
importev3dev.utils.Sysfs;
5+
importev3dev.utils.DataChannelRewriter;
66
importlejos.hardware.LED;
77
importorg.slf4j.Logger;
88
importorg.slf4j.LoggerFactory;
99

10+
importjava.io.Closeable;
11+
importjava.io.IOException;
12+
1013
/**
1114
* This class provides methods for interacting with the LEDs on the EV3Brick.
1215
*
1316
* <p><i>Only EV3Bricks are supported.</i>
1417
*/
15-
publicclassEV3LedextendsEV3DevDeviceimplementsLED {
18+
publicclassEV3LedextendsEV3DevDeviceimplementsLED,Closeable {
1619

1720
/**
1821
* Directions of the LED.
@@ -21,16 +24,26 @@ public enum Direction {
2124
LEFT,
2225
RIGHT
2326
}
27+
28+
privatestaticfinalDirection[]directionArray = {Direction.LEFT,Direction.RIGHT};
2429

2530
privatestaticfinalLoggerlog =LoggerFactory.getLogger(EV3Led.class);
2631

32+
/**
33+
* @deprecated Use EV3LedDirection.LEFT instead.
34+
*/
35+
@Deprecated
2736
publicstaticfinalintLEFT =0;
37+
/**
38+
* @deprecated Use EV3Led.Direction.RIGHT instead.
39+
*/
40+
@Deprecated
2841
publicstaticfinalintRIGHT =1;
2942

3043
privatefinalDirectiondirection;
3144

32-
privatefinalStringLED_RED;
33-
privatefinalStringLED_GREEN;
45+
privatefinalDataChannelRewriterredWriter;
46+
privatefinalDataChannelRewritergreenWriter;
3447

3548
/**
3649
* Create an EV3LED object associated with the LED of the specified direction.
@@ -50,11 +63,11 @@ public EV3Led(final Direction direction) {
5063
this.direction =direction;
5164

5265
if (direction ==Direction.LEFT) {
53-
LED_RED =ev3DevProperties.getProperty("ev3.led.left.red");
54-
LED_GREEN =ev3DevProperties.getProperty("ev3.led.left.green");
66+
redWriter =newDataChannelRewriter(ev3DevProperties.getProperty("ev3.led.left.red"));
67+
greenWriter =newDataChannelRewriter(ev3DevProperties.getProperty("ev3.led.left.green"));
5568
}else {
56-
LED_RED =ev3DevProperties.getProperty("ev3.led.right.red");
57-
LED_GREEN =ev3DevProperties.getProperty("ev3.led.right.green");
69+
redWriter =newDataChannelRewriter(ev3DevProperties.getProperty("ev3.led.right.red"));
70+
greenWriter =newDataChannelRewriter(ev3DevProperties.getProperty("ev3.led.right.green"));
5871
}
5972
}
6073

@@ -65,22 +78,9 @@ public EV3Led(final Direction direction) {
6578
* @throws RuntimeException if LED feature is not supported on the current platform.
6679
* @deprecated Use {@link #EV3Led(Direction)} instead.
6780
*/
81+
@Deprecated
6882
publicEV3Led(finalintbutton) {
69-
checkPlatform();
70-
71-
if (button ==LEFT) {
72-
LED_RED =ev3DevProperties.getProperty("ev3.led.left.red");
73-
LED_GREEN =ev3DevProperties.getProperty("ev3.led.left.green");
74-
direction =Direction.LEFT;
75-
}elseif (button ==RIGHT) {
76-
LED_RED =ev3DevProperties.getProperty("ev3.led.right.red");
77-
LED_GREEN =ev3DevProperties.getProperty("ev3.led.right.green");
78-
direction =Direction.RIGHT;
79-
}else {
80-
log.error("You are not specifying any button.");
81-
thrownewIllegalArgumentException("You are not specifying any button.");
82-
}
83-
83+
this(directionArray[button]);
8484
}
8585

8686
/**
@@ -96,7 +96,6 @@ private void checkPlatform() {
9696
}
9797

9898
//TODO Add Enums for patterns
99-
10099
/**
101100
* Sets the pattern of light to be shown with this LED.
102101
*
@@ -109,19 +108,22 @@ private void checkPlatform() {
109108
*/
110109
@Override
111110
publicvoidsetPattern(finalintpattern) {
112-
//Off
111+
112+
finalStringoff =Integer.toString(0);
113+
finalStringon =Integer.toString(255);
114+
113115
if (pattern ==0) {
114-
Sysfs.writeInteger(LED_RED,0);
115-
Sysfs.writeInteger(LED_GREEN,0);
116+
greenWriter.writeString(off);
117+
redWriter.writeString(off);
116118
}elseif (pattern ==1) {
117-
Sysfs.writeInteger(LED_RED,0);
118-
Sysfs.writeInteger(LED_GREEN,255);
119+
greenWriter.writeString(on);
120+
redWriter.writeString(off);
119121
}elseif (pattern ==2) {
120-
Sysfs.writeInteger(LED_RED,255);
121-
Sysfs.writeInteger(LED_GREEN,0);
122+
greenWriter.writeString(off);
123+
redWriter.writeString(on);
122124
}elseif (pattern ==3) {
123-
Sysfs.writeInteger(LED_RED,255);
124-
Sysfs.writeInteger(LED_GREEN,255);
125+
greenWriter.writeString(on);
126+
redWriter.writeString(on);
125127
}elseif (pattern >3) {
126128
log.debug("This feature is not implemented");
127129
}
@@ -135,4 +137,12 @@ public void setPattern(final int pattern) {
135137
publicDirectiongetDirection() {
136138
returndirection;
137139
}
140+
141+
@Override
142+
publicvoidclose()throwsIOException {
143+
greenWriter.close();
144+
redWriter.close();
145+
}
146+
147+
138148
}

‎src/main/java/ev3dev/sensors/Battery.java‎

Lines changed: 9 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -67,38 +67,37 @@ private Battery() {
6767
currentRereader =newDataChannelRereader(batteryPath +"/" +batteryEv3 +"/" +current);
6868
}
6969

70-
publicintgetVoltageMicroVolts() {
70+
publicintgetVoltageMicroVolt() {
7171
returnInteger.parseInt(voltageRereader.readString());
7272
}
7373

74+
/**
75+
* @return voltage of the battery in millivolts.
76+
*/
7477
@Override
7578
publicintgetVoltageMilliVolt() {
76-
returngetVoltageMicroVolts() /1000;
79+
returngetVoltageMicroVolt() /1000;
7780
}
7881

7982
/**
80-
* Returns voltage of the battery in microvolts.
81-
*
82-
* @return voltage
83+
* @return voltage of the battery in microvolts.
8384
*/
8485
publicfloatgetVoltage() {
85-
returngetVoltageMicroVolts() /1000000f;
86+
returngetVoltageMicroVolt() /1000000f;
8687
}
8788

8889
//TODO Review output
8990
//TODO Review units
9091

9192
/**
92-
* Returns the current of the battery in amps.
93-
*
94-
* @return current
93+
* @return current from the battery in amps, or Float.NaN if run on something other than EV3BRICK
9594
*/
9695
publicfloatgetBatteryCurrent() {
9796
if (CURRENT_PLATFORM.equals(EV3DevPlatform.EV3BRICK)) {
9897
returnFloat.parseFloat(currentRereader.readString());
9998
}else {
10099
LOGGER.warn("This method is not available for {} & {}",EV3DevPlatform.PISTORMS,EV3DevPlatform.BRICKPI);
101-
return-1f;
100+
returnFloat.NaN;
102101
}
103102
}
104103

Lines changed: 75 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,75 @@
1+
packageev3dev.utils;
2+
3+
importjava.io.Closeable;
4+
importjava.io.IOException;
5+
importjava.nio.ByteBuffer;
6+
importjava.nio.channels.FileChannel;
7+
importjava.nio.charset.StandardCharsets;
8+
importjava.nio.file.Path;
9+
importjava.nio.file.Paths;
10+
importjava.nio.file.StandardOpenOption;
11+
12+
/**
13+
* Writer of streams that can rewrite the same channel for structured data of
14+
* known length. The focus of this class is on performance.
15+
*
16+
* @author David Walend
17+
*/
18+
publicclassDataChannelRewriterimplementsCloseable {
19+
20+
privatefinalPathpath;
21+
privatefinalByteBufferbyteBuffer;
22+
privatefinalFileChannelchannel;
23+
24+
/**
25+
* Create a DataChannelRewriter for path with a bufferLength byte buffer
26+
*
27+
* @param path path to the file to reread
28+
* @param bufferLength length of the buffer to hold the structure
29+
*/
30+
publicDataChannelRewriter(Pathpath,intbufferLength) {
31+
this.path =path;
32+
this.byteBuffer =ByteBuffer.allocate(bufferLength);
33+
try {
34+
this.channel =FileChannel.open(path,StandardOpenOption.WRITE);
35+
}catch (IOExceptione) {
36+
thrownewRuntimeException("While opening " +path,e);
37+
}
38+
}
39+
40+
/**
41+
* Create a DataChannelRewriter for pathString with the default 32-byte buffer.
42+
*
43+
* @param pathString Path to the file to reread
44+
*/
45+
publicDataChannelRewriter(StringpathString) {
46+
this(Paths.get(pathString),32);
47+
}
48+
49+
/**
50+
* @param string to write. A new line character
51+
*/
52+
publicsynchronizedvoidwriteString(Stringstring) {
53+
try {
54+
byteBuffer.clear();
55+
byteBuffer.put(string.getBytes(StandardCharsets.UTF_8));
56+
byteBuffer.put(((byte)'\n'));
57+
byteBuffer.flip();
58+
channel.truncate(0);
59+
channel.write(byteBuffer,0);
60+
channel.force(false);
61+
}catch (IOExceptione) {
62+
thrownewRuntimeException("Problem writing path: " +path,e);
63+
}
64+
}
65+
66+
publicPathgetPath() {
67+
returnpath;
68+
}
69+
70+
@Override
71+
publicsynchronizedvoidclose()throwsIOException {
72+
channel.close();
73+
}
74+
}
75+

‎src/test/java/ev3dev/actuators/ev3/EV3LedTest.java‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -35,7 +35,7 @@ public void constructorLeftTest() throws Exception {
3535

3636
finalFakeBatteryfakeBattery =newFakeBattery(EV3DevPlatform.EV3BRICK);
3737

38-
LEDled =newEV3Led(EV3Led.LEFT);
38+
@SuppressWarnings("deprecation")LEDled =newEV3Led(EV3Led.LEFT);
3939
led =newEV3Led(EV3Led.Direction.LEFT);
4040
}
4141

@@ -44,7 +44,7 @@ public void constructorRightTest() throws Exception {
4444

4545
finalFakeBatteryfakeBattery =newFakeBattery(EV3DevPlatform.EV3BRICK);
4646

47-
LEDled =newEV3Led(EV3Led.RIGHT);
47+
@SuppressWarnings("deprecation")LEDled =newEV3Led(EV3Led.RIGHT);
4848
led =newEV3Led(EV3Led.Direction.RIGHT);
4949
}
5050

@@ -56,7 +56,7 @@ public void usingLedOnEV3BrickPlatformTest() throws Exception {
5656

5757
finalFakeBatteryfakeBattery =newFakeBattery(EV3DevPlatform.BRICKPI);
5858

59-
LEDled =newEV3Led(EV3Led.LEFT);
59+
LEDled =newEV3Led(EV3Led.Direction.LEFT);
6060
}
6161

6262
@Test
@@ -66,7 +66,7 @@ public void badButtonTest() throws Exception {
6666

6767
finalFakeBatteryfakeBattery =newFakeBattery(EV3DevPlatform.EV3BRICK);
6868

69-
LEDled =newEV3Led(2);
69+
@SuppressWarnings("deprecation")LEDled =newEV3Led(4);
7070
}
7171

7272
@Test
@@ -85,7 +85,7 @@ public void leftLedPatternsTest() throws Exception {
8585
finalFakeBatteryfakeBattery =newFakeBattery(EV3DevPlatform.EV3BRICK);
8686
finalFakeLedfakeLed =newFakeLed(EV3DevPlatform.EV3BRICK);
8787

88-
LEDled =newEV3Led(EV3Led.LEFT);
88+
LEDled =newEV3Led(EV3Led.Direction.LEFT);
8989
led.setPattern(1);
9090
led.setPattern(2);
9191
led.setPattern(3);
@@ -104,7 +104,7 @@ public void rightLedPatternsTest() throws Exception {
104104
finalFakeBatteryfakeBattery =newFakeBattery(EV3DevPlatform.EV3BRICK);
105105
finalFakeLedfakeLed =newFakeLed(EV3DevPlatform.EV3BRICK);
106106

107-
LEDled =newEV3Led(EV3Led.RIGHT);
107+
@SuppressWarnings("deprecation")LEDled =newEV3Led(EV3Led.RIGHT);
108108
led.setPattern(1);
109109
led.setPattern(2);
110110
led.setPattern(3);
@@ -123,7 +123,7 @@ public void getDirectionTest() throws Exception {
123123
finalFakeBatteryfakeBattery =newFakeBattery(EV3DevPlatform.EV3BRICK);
124124
finalFakeLedfakeLed =newFakeLed(EV3DevPlatform.EV3BRICK);
125125

126-
EV3Ledled =newEV3Led(EV3Led.RIGHT);
126+
@SuppressWarnings("deprecation")EV3Ledled =newEV3Led(EV3Led.RIGHT);
127127
Assert.assertEquals(EV3Led.Direction.RIGHT,led.getDirection());
128128

129129
led =newEV3Led(EV3Led.Direction.RIGHT);

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