Jan 18, 2021 · Jan 18, 2021
diff --git a/src/main/java/ev3dev/sensors/GenericMode.java b/src/main/java/ev3dev/sensors/GenericMode.java
 package ev3dev.sensors;

 import ev3dev.utils.Sysfs;
 import ev3dev.utils.DataChannelRereader;
 import lejos.hardware.sensor.SensorMode;

 import java.io.Closeable;
 import java.io.File;
 import java.io.IOException;
 import java.nio.file.Path;

 /**
 * Generic ev3dev sensor handler.
 * are valid only when the sensor itself is in the correct mode.
 * Otherwise, wrong data will be returned.</p>
 */
 public class GenericMode implements SensorMode {

    protected final File pathDevice;
 public class GenericMode implements SensorMode, Closeable {

    private final int sampleSize;
    private final String modeName;

    private final float correctMin;
    private final float correctMax;
    private final float correctFactor;

    private final DataChannelRereader[] rereaders;

    /**
     * Create new generic sensor handler.
     * @param pathDevice Reference to the object responsible for mode setting and value reading.
     * @param sampleSize Number of returned samples.
     * @param modeName Human-readable sensor mode name.
     */
    public GenericMode(
 final File pathDevice,
 final int sampleSize,
 final String modeName) {
        final File pathDevice,
        final int sampleSize,
        final String modeName) {
        this(pathDevice, sampleSize, modeName,
 Float.MIN_VALUE, Float.MAX_VALUE, 1.0f);
            Float.MIN_VALUE, Float.MAX_VALUE, 1.0f);
    }

    /**
     * @param pathDevice Reference to the object responsible for mode setting and value reading.
     * @param sampleSize Number of returned samples.
     * @param modeName Human-readable sensor mode name.
     * @param correctMin Minimum value measured by the sensor. If the reading is lower,zerois returned.
     * @param correctMin Minimum value measured by the sensor. If the reading is lower,negative infinityis returned
     * @param correctMax Maximum value measured by the sensor. If the reading is higher, positive infinity is returned.
     * @param correctFactor Scaling factor applied to the sensor reading.
     */
    public GenericMode(
            final File pathDevice,
            final int sampleSize,
            final String modeName,
            final float correctMin,
            final float correctMax,
            final float correctFactor) {
        this.pathDevice = pathDevice;
        final File pathDevice,
        final int sampleSize,
        final String modeName,
        final float correctMin,
        final float correctMax,
        final float correctFactor) {
        this.sampleSize = sampleSize;
        this.modeName = modeName;
        this.correctMin = correctMin;
        this.correctMax = correctMax;
        this.correctFactor = correctFactor;

        this.rereaders = new DataChannelRereader[sampleSize];
        for (int n = 0; n < sampleSize; n++) {
            rereaders[n] = new DataChannelRereader(Path.of(pathDevice.toString(),"value" + n),32);
        }
    }

    @Override
        return sampleSize;
    }


    /**
     * Fetches a sample from the sensor.
     *
        // for all values
        for (int n = 0; n < sampleSize; n++) {
            // read
            float reading =Sysfs.readFloat(this.pathDevice + "/" + "value" + n);
            float reading =Float.parseFloat(rereaders[n].readString());

            // apply correction
            reading *= correctFactor;
            sample[offset + n] = reading;
        }
    }

    @Override
    public void close() throws IOException {
        for (DataChannelRereader rereader: rereaders) {
            rereader.close();
        }
    }
 }
diff --git a/src/main/java/ev3dev/sensors/nxt/NXTTemperatureSensor.java b/src/main/java/ev3dev/sensors/nxt/NXTTemperatureSensor.java
        private final float correctMin;
        private final float correctMax;
        private final float correctFactor;
        private final File pathDevice;

        public InternalMode(File pathDevice, int sampleSize, String modeName,
                            float correctMin, float correctMax, float correctFactor) {
            this.correctMin = correctMin;
            this.correctMax = correctMax;
            this.correctFactor = correctFactor;
            this.pathDevice = pathDevice;
        }

        @Override
Original file line number	Diff line number	Diff line change
		@@ -1,9 +1,12 @@
		package ev3dev.sensors;

		import ev3dev.utils.Sysfs;
		import ev3dev.utils.DataChannelRereader;
		import lejos.hardware.sensor.SensorMode;

		import java.io.Closeable;
		import java.io.File;
		import java.io.IOException;
		import java.nio.file.Path;

		/**
		* Generic ev3dev sensor handler.
Expand All		@@ -12,28 +15,30 @@
		* are valid only when the sensor itself is in the correct mode.
		* Otherwise, wrong data will be returned.</p>
		*/
		public class GenericMode implements SensorMode {

		protected final File pathDevice;
		public class GenericMode implements SensorMode, Closeable {

		private final int sampleSize;
		private final String modeName;

		private final float correctMin;
		private final float correctMax;
		private final float correctFactor;

		private final DataChannelRereader[] rereaders;

		/**
		* Create new generic sensor handler.
		* @param pathDevice Reference to the object responsible for mode setting and value reading.
		* @param sampleSize Number of returned samples.
		* @param modeName Human-readable sensor mode name.
		*/
		public GenericMode(
		final File pathDevice,
		final int sampleSize,
		final String modeName) {
		final File pathDevice,
		final int sampleSize,
		final String modeName) {
		this(pathDevice, sampleSize, modeName,
		Float.MIN_VALUE, Float.MAX_VALUE, 1.0f);
		Float.MIN_VALUE, Float.MAX_VALUE, 1.0f);
		}

		/**
Expand All		@@ -42,23 +47,27 @@ public GenericMode(
		* @param pathDevice Reference to the object responsible for mode setting and value reading.
		* @param sampleSize Number of returned samples.
		* @param modeName Human-readable sensor mode name.
		* @param correctMin Minimum value measured by the sensor. If the reading is lower,zerois returned.
		* @param correctMin Minimum value measured by the sensor. If the reading is lower,negative infinityis returned
		* @param correctMax Maximum value measured by the sensor. If the reading is higher, positive infinity is returned.
		* @param correctFactor Scaling factor applied to the sensor reading.
		*/
		public GenericMode(
		final File pathDevice,
		final int sampleSize,
		final String modeName,
		final float correctMin,
		final float correctMax,
		final float correctFactor) {
		this.pathDevice = pathDevice;
		final File pathDevice,
		final int sampleSize,
		final String modeName,
		final float correctMin,
		final float correctMax,
		final float correctFactor) {
		this.sampleSize = sampleSize;
		this.modeName = modeName;
		this.correctMin = correctMin;
		this.correctMax = correctMax;
		this.correctFactor = correctFactor;

		this.rereaders = new DataChannelRereader[sampleSize];
		for (int n = 0; n < sampleSize; n++) {
		rereaders[n] = new DataChannelRereader(Path.of(pathDevice.toString(),"value" + n),32);
		}
		}

		@Override
Expand All		@@ -71,7 +80,6 @@ public int sampleSize() {
		return sampleSize;
		}


		/**
		* Fetches a sample from the sensor.
		*
Expand All		@@ -88,7 +96,7 @@ public void fetchSample(float[] sample, int offset) {
		// for all values
		for (int n = 0; n < sampleSize; n++) {
		// read
		float reading =Sysfs.readFloat(this.pathDevice + "/" + "value" + n);
		float reading =Float.parseFloat(rereaders[n].readString());

		// apply correction
		reading *= correctFactor;
Expand All		@@ -102,4 +110,11 @@ public void fetchSample(float[] sample, int offset) {
		sample[offset + n] = reading;
		}
		}

		@Override
		public void close() throws IOException {
		for (DataChannelRereader rereader: rereaders) {
		rereader.close();
		}
		}
		}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -51,6 +51,7 @@ private class InternalMode extends GenericMode {
		private final float correctMin;
		private final float correctMax;
		private final float correctFactor;
		private final File pathDevice;

		public InternalMode(File pathDevice, int sampleSize, String modeName,
		float correctMin, float correctMax, float correctFactor) {
Expand All		@@ -59,6 +60,7 @@ public InternalMode(File pathDevice, int sampleSize, String modeName,
		this.correctMin = correctMin;
		this.correctMax = correctMax;
		this.correctFactor = correctFactor;
		this.pathDevice = pathDevice;
		}

		@Override
Expand Down