Jan 18, 2021 · Jan 18, 2021 · Jan 18, 2021 · Jan 31, 2021 · Jan 31, 2021 · Jan 31, 2021
diff --git a/src/main/java/ev3dev/actuators/lego/motors/BaseRegulatedMotor.java b/src/main/java/ev3dev/actuators/lego/motors/BaseRegulatedMotor.java
 import ev3dev.hardware.EV3DevMotorDevice;
 import ev3dev.hardware.EV3DevPlatforms;
 import ev3dev.sensors.Battery;
 import ev3dev.utils.DataChannelRereader;
 import ev3dev.utils.DataChannelRewriter;
 import lejos.hardware.port.Port;
 import lejos.robotics.RegulatedMotor;
 import lejos.robotics.RegulatedMotorListener;
 import lejos.utility.Delay;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;

 import java.io.Closeable;
 import java.io.IOException;
 import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;
 * Abstraction for a Regulated motors motors.
 * The basic control methods are:
 * <code>forward, backward, reverseDirection, stop</code>
 * and <code>flt</code>. To set eachmotors's velocity, use {@link #setSpeed(int)
 * and <code>flt</code>. To set eachmotor's velocity, use {@link #setSpeed(int)
 * <code>setSpeed  </code> }.
 * The maximum velocity of the motors is limited by the battery voltage and load.
 * With no load, the maximum degrees per second is about 100 times the voltage
 * (for the large EV3 motors).  <br>
 * The velocity is regulated by comparing thetacho count with velocity times elapsed
 * The velocity is regulated by comparing thetachometer count with velocity times elapsed
 * time, and adjusting motors power to keep these closely matched. Changes in velocity
 * will be made at the rate specified via the
 * <code> setAcceleration(int acceleration)</code> method.
 * @author Roger Glassey
 * @author Andy Shaw
 * @author Juan Antonio Breña Moral
 * @author David Walend
 */
 public abstract class BaseRegulatedMotor extends EV3DevMotorDevice implements RegulatedMotor {
 public abstract class BaseRegulatedMotor extends EV3DevMotorDevice implements RegulatedMotor, Closeable {

    private static final Logger log = LoggerFactory.getLogger(BaseRegulatedMotor.class);

    // Following should be set to the max SPEED (in deg/sec) of the motor when free running and powered by 9V
    protected final int MAX_SPEED_AT_9V;

    private int speed = 360;

    //todo never used
    protected int acceleration = 6000;

    private boolean regulationFlag = true;

    private final List<RegulatedMotorListener> listenerList;

    private final DataChannelRereader odometerRereader;
    private final DataChannelRereader stateRereader;
    private final DataChannelRereader dutyCycleRereader;
    private final DataChannelRereader speedRereader;

    private final DataChannelRewriter commandRewriter;
    private final DataChannelRewriter stopCommandRewriter;
    private final DataChannelRewriter dutyCycleRewriter;
    private final DataChannelRewriter speedRewriter;
    private final DataChannelRewriter positionRewriter;

    /**
     * Constructor
     *
        this.detect(TACHO_MOTOR, port);
        //TODO Review to implement asynchronous solution
        Delay.msDelay(1000);
        this.setStringAttribute(COMMAND, RESET);

        odometerRereader = new DataChannelRereader(Path.of(PATH_DEVICE.toString(),POSITION),8);
        stateRereader = new DataChannelRereader(Path.of(PATH_DEVICE.toString(),STATE),32);
        dutyCycleRereader = new DataChannelRereader(Path.of(PATH_DEVICE.toString(),DUTY_CYCLE),32);
        speedRereader = new DataChannelRereader(Path.of(PATH_DEVICE.toString(),SPEED),32);

        commandRewriter = new DataChannelRewriter(Path.of(PATH_DEVICE.toString(),COMMAND),32);
        stopCommandRewriter = new DataChannelRewriter(Path.of(PATH_DEVICE.toString(),STOP_COMMAND),32);
        dutyCycleRewriter = new DataChannelRewriter(Path.of(PATH_DEVICE.toString(),DUTY_CYCLE),32);
        speedRewriter = new DataChannelRewriter(Path.of(PATH_DEVICE.toString(),SPEED),32);
        positionRewriter = new DataChannelRewriter(Path.of(PATH_DEVICE.toString(),POSITION_SP),32);

        commandRewriter.writeString(RESET);
        if (log.isDebugEnabled()) {
            log.debug("Motor ready to use on Port: {}", motorPort.getName());
        }
    }

    @Override
    public void close() throws IOException {
        odometerRereader.close();
        stateRereader.close();
        dutyCycleRereader.close();
        speedRereader.close();

        commandRewriter.close();
        stopCommandRewriter.close();
        dutyCycleRewriter.close();
        speedRewriter.close();
        positionRewriter.close();
    }

    /**
     * Removes this motors from the motors regulation system. After this call
     * the motors will be in float mode and will have stopped. Note calling any

    /**
     * @return the current tachometer count.
     * @seelejos.robotics.RegulatedMotor#getTachoCount()
     * @see RegulatedMotor#getTachoCount()
     */
    public int getTachoCount() {
        returngetIntegerAttribute(POSITION);
        returnodometerRereader.readAsciiInt();
    }

    /**
    public void forward() {
        this.setSpeedDirect(this.speed);
        if (!this.regulationFlag) {
 this.setStringAttribute(COMMAND,RUN_DIRECT);
 commandRewriter.writeString(RUN_DIRECT);
        } else {
 this.setStringAttribute(COMMAND,RUN_FOREVER);
 commandRewriter.writeString(RUN_FOREVER);
        }

        for (RegulatedMotorListener listener : listenerList) {
    public void backward() {
        this.setSpeedDirect(-this.speed);
        if (!this.regulationFlag) {
 this.setStringAttribute(COMMAND,RUN_DIRECT);
 commandRewriter.writeString(RUN_DIRECT);
        } else {
 this.setStringAttribute(COMMAND,RUN_FOREVER);
 commandRewriter.writeString(RUN_FOREVER);
        }

        for (RegulatedMotorListener listener : listenerList) {
     * @param immediateReturn Whether the function should busy-wait until the motor stops reporting the 'running' state.
     */
    private void doStop(String mode, boolean immediateReturn) {
 this.setStringAttribute(STOP_COMMAND,mode);
 this.setStringAttribute(COMMAND,STOP);
 stopCommandRewriter.writeString(mode);
 commandRewriter.writeString(STOP);

        if (!immediateReturn) {
            waitComplete();
     */
    @Override
    public boolean isMoving() {
        return(this.getStringAttribute(STATE).contains(STATE_RUNNING));
        returnstateRereader.readString().contains(STATE_RUNNING);
    }

    /**

    private void setSpeedDirect(int speed) {
        if (!this.regulationFlag) {
 this.setIntegerAttribute(DUTY_CYCLE,speed);
 dutyCycleRewriter.writeAsciiInt(speed);
        } else {
 this.setIntegerAttribute(SPEED,speed);
 speedRewriter.writeAsciiInt(speed);
        }
    }

     * will cause any current move operation to be halted.
     */
    public void resetTachoCount() {
 this.setStringAttribute(COMMAND,RESET);
 commandRewriter.writeString(RESET);
        this.regulationFlag = true;
    }

     */
    public void rotate(int angle, boolean immediateReturn) {
        this.setSpeedDirect(this.speed);
 this.setIntegerAttribute(POSITION_SP,angle);
 this.setStringAttribute(COMMAND,RUN_TO_REL_POS);
 positionRewriter.writeAsciiInt(angle);
 commandRewriter.writeString(RUN_TO_REL_POS);

        if (!immediateReturn) {
            while (this.isMoving()) {
                // do stuff or do nothing
                // possibly sleep for some short interval to not block
            }
        }

        //todo this should happen before the busy wait
        for (RegulatedMotorListener listener : listenerList) {
            listener.rotationStarted(this, this.getTachoCount(), this.isStalled(), System.currentTimeMillis());
        }
     */
    public void rotateTo(int limitAngle, boolean immediateReturn) {
        this.setSpeedDirect(this.speed);
 this.setIntegerAttribute(POSITION_SP,limitAngle);
 this.setStringAttribute(COMMAND,RUN_TO_ABS_POS);
 positionRewriter.writeAsciiInt(limitAngle);
 commandRewriter.writeString(RUN_TO_ABS_POS);

        if (!immediateReturn) {
            while (this.isMoving()) {
                // do stuff or do nothing
                // possibly sleep for some short interval to not block
            }
        }

        //todo this should happen before the busy wait
        for (RegulatedMotorListener listener : listenerList) {
            listener.rotationStarted(this, this.getTachoCount(), this.isStalled(), System.currentTimeMillis());
        }
     */
    public int getSpeed() {
        if (!this.regulationFlag) {
            returnthis.getIntegerAttribute(DUTY_CYCLE);
            returndutyCycleRereader.readAsciiInt();
        } else {
            returnthis.getIntegerAttribute(SPEED);
            returnspeedRereader.readAsciiInt();
        }

    }
     * @return true if the motors is stalled, else false
     */
    public boolean isStalled() {
        return (this.getStringAttribute(STATE).contains(STATE_STALLED));
        return (stateRereader.readString().contains(STATE_STALLED));
    }

    /**
        return Battery.getInstance().getVoltage() * MAX_SPEED_AT_9V / 9.0f * 0.9f;
    }

    @Override
    /**
     * sets the acceleration rate of this motor in degrees/sec/sec <br>
     * The default value is 6000; Smaller values will make speeding up. or stopping
     * at the end of a rotate() task, smoother;
     * @param acceleration
     * @param acceleration acceleration rate of this motor in degrees/sec/sec
     */
    @Override
    public void setAcceleration(int acceleration) {
        this.acceleration = Math.abs(acceleration);

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,zero is returned.
     * @param correctMin Minimum value measured by the sensor. If the reading is lower,0 is 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
Expand Up		@@ -3,13 +3,18 @@
		import ev3dev.hardware.EV3DevMotorDevice;
		import ev3dev.hardware.EV3DevPlatforms;
		import ev3dev.sensors.Battery;
		import ev3dev.utils.DataChannelRereader;
		import ev3dev.utils.DataChannelRewriter;
		import lejos.hardware.port.Port;
		import lejos.robotics.RegulatedMotor;
		import lejos.robotics.RegulatedMotorListener;
		import lejos.utility.Delay;
		import org.slf4j.Logger;
		import org.slf4j.LoggerFactory;

		import java.io.Closeable;
		import java.io.IOException;
		import java.nio.file.Path;
		import java.util.ArrayList;
		import java.util.Collections;
		import java.util.List;
Expand All		@@ -18,12 +23,12 @@
		* Abstraction for a Regulated motors motors.
		* The basic control methods are:
		* <code>forward, backward, reverseDirection, stop</code>
		* and <code>flt</code>. To set eachmotors's velocity, use {@link #setSpeed(int)
		* and <code>flt</code>. To set eachmotor's velocity, use {@link #setSpeed(int)
		* <code>setSpeed </code> }.
		* The maximum velocity of the motors is limited by the battery voltage and load.
		* With no load, the maximum degrees per second is about 100 times the voltage
		* (for the large EV3 motors). <br>
		* The velocity is regulated by comparing thetacho count with velocity times elapsed
		* The velocity is regulated by comparing thetachometer count with velocity times elapsed
		* time, and adjusting motors power to keep these closely matched. Changes in velocity
		* will be made at the rate specified via the
		* <code> setAcceleration(int acceleration)</code> method.
Expand All		@@ -42,21 +47,35 @@
		* @author Roger Glassey
		* @author Andy Shaw
		* @author Juan Antonio Breña Moral
		* @author David Walend
		*/
		public abstract class BaseRegulatedMotor extends EV3DevMotorDevice implements RegulatedMotor {
		public abstract class BaseRegulatedMotor extends EV3DevMotorDevice implements RegulatedMotor, Closeable {

		private static final Logger log = LoggerFactory.getLogger(BaseRegulatedMotor.class);

		// Following should be set to the max SPEED (in deg/sec) of the motor when free running and powered by 9V
		protected final int MAX_SPEED_AT_9V;

		private int speed = 360;

		//todo never used
		protected int acceleration = 6000;

		private boolean regulationFlag = true;

		private final List<RegulatedMotorListener> listenerList;

		private final DataChannelRereader odometerRereader;
		private final DataChannelRereader stateRereader;
		private final DataChannelRereader dutyCycleRereader;
		private final DataChannelRereader speedRereader;

		private final DataChannelRewriter commandRewriter;
		private final DataChannelRewriter stopCommandRewriter;
		private final DataChannelRewriter dutyCycleRewriter;
		private final DataChannelRewriter speedRewriter;
		private final DataChannelRewriter positionRewriter;

		/**
		* Constructor
		*
Expand DownExpand Up		@@ -96,12 +115,38 @@ public BaseRegulatedMotor(final Port motorPort, float moveP, float moveI, float
		this.detect(TACHO_MOTOR, port);
		//TODO Review to implement asynchronous solution
		Delay.msDelay(1000);
		this.setStringAttribute(COMMAND, RESET);

		odometerRereader = new DataChannelRereader(Path.of(PATH_DEVICE.toString(),POSITION),8);
		stateRereader = new DataChannelRereader(Path.of(PATH_DEVICE.toString(),STATE),32);
		dutyCycleRereader = new DataChannelRereader(Path.of(PATH_DEVICE.toString(),DUTY_CYCLE),32);
		speedRereader = new DataChannelRereader(Path.of(PATH_DEVICE.toString(),SPEED),32);

		commandRewriter = new DataChannelRewriter(Path.of(PATH_DEVICE.toString(),COMMAND),32);
		stopCommandRewriter = new DataChannelRewriter(Path.of(PATH_DEVICE.toString(),STOP_COMMAND),32);
		dutyCycleRewriter = new DataChannelRewriter(Path.of(PATH_DEVICE.toString(),DUTY_CYCLE),32);
		speedRewriter = new DataChannelRewriter(Path.of(PATH_DEVICE.toString(),SPEED),32);
		positionRewriter = new DataChannelRewriter(Path.of(PATH_DEVICE.toString(),POSITION_SP),32);

		commandRewriter.writeString(RESET);
		if (log.isDebugEnabled()) {
		log.debug("Motor ready to use on Port: {}", motorPort.getName());
		}
		}

		@Override
		public void close() throws IOException {
		odometerRereader.close();
		stateRereader.close();
		dutyCycleRereader.close();
		speedRereader.close();

		commandRewriter.close();
		stopCommandRewriter.close();
		dutyCycleRewriter.close();
		speedRewriter.close();
		positionRewriter.close();
		}

		/**
		* Removes this motors from the motors regulation system. After this call
		* the motors will be in float mode and will have stopped. Note calling any
Expand All		@@ -117,10 +162,10 @@ public boolean suspendRegulation() {

		/**
		* @return the current tachometer count.
		* @seelejos.robotics.RegulatedMotor#getTachoCount()
		* @see RegulatedMotor#getTachoCount()
		*/
		public int getTachoCount() {
		returngetIntegerAttribute(POSITION);
		returnodometerRereader.readAsciiInt();
		}

		/**
Expand All		@@ -141,9 +186,9 @@ public float getPosition() {
		public void forward() {
		this.setSpeedDirect(this.speed);
		if (!this.regulationFlag) {
		this.setStringAttribute(COMMAND,RUN_DIRECT);
		commandRewriter.writeString(RUN_DIRECT);
		} else {
		this.setStringAttribute(COMMAND,RUN_FOREVER);
		commandRewriter.writeString(RUN_FOREVER);
		}

		for (RegulatedMotorListener listener : listenerList) {
Expand All		@@ -155,9 +200,9 @@ public void forward() {
		public void backward() {
		this.setSpeedDirect(-this.speed);
		if (!this.regulationFlag) {
		this.setStringAttribute(COMMAND,RUN_DIRECT);
		commandRewriter.writeString(RUN_DIRECT);
		} else {
		this.setStringAttribute(COMMAND,RUN_FOREVER);
		commandRewriter.writeString(RUN_FOREVER);
		}

		for (RegulatedMotorListener listener : listenerList) {
Expand DownExpand Up		@@ -227,8 +272,8 @@ public void stop(boolean immediateReturn) {
		* @param immediateReturn Whether the function should busy-wait until the motor stops reporting the 'running' state.
		*/
		private void doStop(String mode, boolean immediateReturn) {
		this.setStringAttribute(STOP_COMMAND,mode);
		this.setStringAttribute(COMMAND,STOP);
		stopCommandRewriter.writeString(mode);
		commandRewriter.writeString(STOP);

		if (!immediateReturn) {
		waitComplete();
Expand All		@@ -252,7 +297,7 @@ private void doStop(String mode, boolean immediateReturn) {
		*/
		@Override
		public boolean isMoving() {
		return(this.getStringAttribute(STATE).contains(STATE_RUNNING));
		returnstateRereader.readString().contains(STATE_RUNNING);
		}

		/**
Expand All		@@ -269,9 +314,9 @@ public void setSpeed(int speed) {

		private void setSpeedDirect(int speed) {
		if (!this.regulationFlag) {
		this.setIntegerAttribute(DUTY_CYCLE,speed);
		dutyCycleRewriter.writeAsciiInt(speed);
		} else {
		this.setIntegerAttribute(SPEED,speed);
		speedRewriter.writeAsciiInt(speed);
		}
		}

Expand All		@@ -280,7 +325,7 @@ private void setSpeedDirect(int speed) {
		* will cause any current move operation to be halted.
		*/
		public void resetTachoCount() {
		this.setStringAttribute(COMMAND,RESET);
		commandRewriter.writeString(RESET);
		this.regulationFlag = true;
		}

Expand All		@@ -293,16 +338,16 @@ public void resetTachoCount() {
		*/
		public void rotate(int angle, boolean immediateReturn) {
		this.setSpeedDirect(this.speed);
		this.setIntegerAttribute(POSITION_SP,angle);
		this.setStringAttribute(COMMAND,RUN_TO_REL_POS);
		positionRewriter.writeAsciiInt(angle);
		commandRewriter.writeString(RUN_TO_REL_POS);

		if (!immediateReturn) {
		while (this.isMoving()) {
		// do stuff or do nothing
		// possibly sleep for some short interval to not block
		}
		}

		//todo this should happen before the busy wait
		for (RegulatedMotorListener listener : listenerList) {
		listener.rotationStarted(this, this.getTachoCount(), this.isStalled(), System.currentTimeMillis());
		}
Expand All		@@ -325,16 +370,16 @@ public void rotate(int angle) {
		*/
		public void rotateTo(int limitAngle, boolean immediateReturn) {
		this.setSpeedDirect(this.speed);
		this.setIntegerAttribute(POSITION_SP,limitAngle);
		this.setStringAttribute(COMMAND,RUN_TO_ABS_POS);
		positionRewriter.writeAsciiInt(limitAngle);
		commandRewriter.writeString(RUN_TO_ABS_POS);

		if (!immediateReturn) {
		while (this.isMoving()) {
		// do stuff or do nothing
		// possibly sleep for some short interval to not block
		}
		}

		//todo this should happen before the busy wait
		for (RegulatedMotorListener listener : listenerList) {
		listener.rotationStarted(this, this.getTachoCount(), this.isStalled(), System.currentTimeMillis());
		}
Expand All		@@ -356,9 +401,9 @@ public void rotateTo(int limitAngle) {
		*/
		public int getSpeed() {
		if (!this.regulationFlag) {
		returnthis.getIntegerAttribute(DUTY_CYCLE);
		returndutyCycleRereader.readAsciiInt();
		} else {
		returnthis.getIntegerAttribute(SPEED);
		returnspeedRereader.readAsciiInt();
		}

		}
Expand All		@@ -369,7 +414,7 @@ public int getSpeed() {
		* @return true if the motors is stalled, else false
		*/
		public boolean isStalled() {
		return (this.getStringAttribute(STATE).contains(STATE_STALLED));
		return (stateRereader.readString().contains(STATE_STALLED));
		}

		/**
Expand DownExpand Up		@@ -414,13 +459,13 @@ public float getMaxSpeed() {
		return Battery.getInstance().getVoltage() * MAX_SPEED_AT_9V / 9.0f * 0.9f;
		}

		@Override
		/**
		* sets the acceleration rate of this motor in degrees/sec/sec <br>
		* The default value is 6000; Smaller values will make speeding up. or stopping
		* at the end of a rotate() task, smoother;
		* @param acceleration
		* @param acceleration acceleration rate of this motor in degrees/sec/sec
		*/
		@Override
		public void setAcceleration(int acceleration) {
		this.acceleration = Math.abs(acceleration);

Expand Down
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,zero is returned.
		* @param correctMin Minimum value measured by the sensor. If the reading is lower,0 is 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