From c670d4cf358fd4d789bcc151398805e9c1673cdd Mon Sep 17 00:00:00 2001 From: Sergey Nuyanzin Date: Thu, 7 Jul 2022 13:49:20 +0200 Subject: [PATCH 1/6] Update gradle, make compilable with jdk17 --- build.gradle | 5 ++-- gradle/wrapper/gradle-wrapper.jar | Bin 55616 -> 59203 bytes gradle/wrapper/gradle-wrapper.properties | 5 ++-- gradlew | 33 +++++++++++------------ gradlew.bat | 27 ++++++------------- 5 files changed, 27 insertions(+), 43 deletions(-) diff --git a/build.gradle b/build.gradle index 1c3ba8d6..357dc449 100644 --- a/build.gradle +++ b/build.gradle @@ -18,7 +18,6 @@ plugins { version = '2.7.0-SNAPSHOT' repositories { - jcenter() mavenCentral() maven { url "https://jitpack.io" } } @@ -84,7 +83,7 @@ test.testLogging { //Coverage jacoco { toolVersion = "0.8.2" - reportsDir = file("$buildDir/customJacocoReportDir") + reportsDirectory = file("$buildDir/customJacocoReportDir") } jacocoTestReport { @@ -118,7 +117,7 @@ test.finalizedBy jacocoTestCoverageVerification //Jar jar { - baseName = "${rootProject.name}" + archiveBaseName = "${rootProject.name}" manifest { from file("${projectDir}/src/main/resources/META-INF/MANIFEST.MF") } diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar index 5c2d1cf016b3885f6930543d57b744ea8c220a1a..e708b1c023ec8b20f512888fe07c5bd3ff77bb8f 100644 GIT binary patch delta 23334 zcmZ6yQ*_^7)b$%Swr#tyZQHhuU-WHk+qUgAc4J!&nxrusy#I5a=UlvJjD59l*Pe6C zy*_IVG(!&0LN+phBc)L-m3M)If#E@dfw80{QedYjfnx%cY|Q2krta=>YST_jBA9|p zot|vvp%0RvR1srYTl+z-NNCL@5oSg;&!BaMOR}sfJn192cT55<(x!dL7ut~~3^-Ur z4>ora_t}-M=h->qJpjxnx)1EWvn8?z{O>`3f+7iuKL<2+zHP~ldyrmD0P{Z4X%%`W zo_)z~Yy==^IcLFQUXFGeH8WebVkw~L>r{vkbd$z5MQq(ni#a^*>hw=_Z;C^Gfrdev z!mgg_pG zeMQUU+?X~Em$z2qQyLw%`*oeVS_0m|fcm)7q6xUbNU;Eku2#8)2t3}hj!-y+-89iQ z3fZ2srkJN7rV0vd0?Or&O+;oeJrGw6+{`LpB@d3*VpO>Un|q3BNDJspjozc(4hJDz zwgOl$df!`k*;k(~&;GPfVBAD3Hi3C}ZFV~#*$f>4hj%YsCq6tRQfp_Dt-)S_Uj!o= ze~fwe`&6h3{1?2yCfi zXybknxod^Z|~hQkrhOl74q 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z07Dc_`ZjwCb?9sEP`TQeeMlFySb%}x91`G7pp{X~76g~)WC5NBG*_>P2~>H=Por>D zB!EcySFWI<0qOLAU6TSX8l^ms1f((#WNzC11S$RBOCXkWkjV~G=FtG`5zWOv=4HCH4Ee&F+Fwk!i2{5*UiHlf3rVA7s(xUbJ z`{DnsYo{ChF|0|;$XP-HL%m?b(pf;f4@AB@2Fkx@;Z&wmrt8}O&~@$m-8cUMZ39{l diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties index a6113dcf..92f06b50 100644 --- a/gradle/wrapper/gradle-wrapper.properties +++ b/gradle/wrapper/gradle-wrapper.properties @@ -1,6 +1,5 @@ -#Mon Dec 02 19:24:34 CET 2019 -distributionUrl=https\://services.gradle.org/distributions/gradle-5.6.1-all.zip distributionBase=GRADLE_USER_HOME distributionPath=wrapper/dists -zipStorePath=wrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-7.4.2-all.zip zipStoreBase=GRADLE_USER_HOME +zipStorePath=wrapper/dists diff --git a/gradlew b/gradlew index b0d092c7..4f906e0c 100755 --- a/gradlew +++ b/gradlew @@ -44,7 +44,7 @@ APP_NAME="Gradle" APP_BASE_NAME=`basename "$0"` # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -DEFAULT_JVM_OPTS="" +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' # Use the maximum available, or set MAX_FD != -1 to use that value. MAX_FD="maximum" @@ -82,6 +82,7 @@ esac CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + # Determine the Java command to use to start the JVM. if [ -n "$JAVA_HOME" ] ; then if [ -x "$JAVA_HOME/jre/sh/java" ] ; then @@ -129,6 +130,7 @@ fi if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then APP_HOME=`cygpath --path --mixed "$APP_HOME"` CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` + JAVACMD=`cygpath --unix "$JAVACMD"` # We build the pattern for arguments to be converted via cygpath @@ -154,19 +156,19 @@ if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then else eval `echo args$i`="\"$arg\"" fi - i=$((i+1)) + i=`expr $i + 1` done case $i in - (0) set -- ;; - (1) set -- "$args0" ;; - (2) set -- "$args0" "$args1" ;; - (3) set -- "$args0" "$args1" "$args2" ;; - (4) set -- "$args0" "$args1" "$args2" "$args3" ;; - (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; - (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; - (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; - (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; - (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; + 0) set -- ;; + 1) set -- "$args0" ;; + 2) set -- "$args0" "$args1" ;; + 3) set -- "$args0" "$args1" "$args2" ;; + 4) set -- "$args0" "$args1" "$args2" "$args3" ;; + 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; + 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; + 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; + 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; + 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; esac fi @@ -175,14 +177,9 @@ save () { for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done echo " " } -APP_ARGS=$(save "$@") +APP_ARGS=`save "$@"` # Collect all arguments for the java command, following the shell quoting and substitution rules eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS" -# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong -if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then - cd "$(dirname "$0")" -fi - exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat index 805a1b97..ac1b06f9 100644 --- a/gradlew.bat +++ b/gradlew.bat @@ -29,15 +29,18 @@ if "%DIRNAME%" == "" set DIRNAME=. set APP_BASE_NAME=%~n0 set APP_HOME=%DIRNAME% +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -set DEFAULT_JVM_OPTS="" +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" @rem Find java.exe if defined JAVA_HOME goto findJavaFromJavaHome set JAVA_EXE=java.exe %JAVA_EXE% -version >NUL 2>&1 -if "%ERRORLEVEL%" == "0" goto init +if "%ERRORLEVEL%" == "0" goto execute echo. echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. @@ -51,7 +54,7 @@ goto fail set JAVA_HOME=%JAVA_HOME:"=% set JAVA_EXE=%JAVA_HOME%/bin/java.exe -if exist "%JAVA_EXE%" goto init +if exist "%JAVA_EXE%" goto execute echo. echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% @@ -61,28 +64,14 @@ echo location of your Java installation. goto fail -:init -@rem Get command-line arguments, handling Windows variants - -if not "%OS%" == "Windows_NT" goto win9xME_args - -:win9xME_args -@rem Slurp the command line arguments. -set CMD_LINE_ARGS= -set _SKIP=2 - -:win9xME_args_slurp -if "x%~1" == "x" goto execute - -set CMD_LINE_ARGS=%* - :execute @rem Setup the command line set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + @rem Execute Gradle -"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS% +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* :end @rem End local scope for the variables with windows NT shell From c0b5f83ba4d3d3247cfb918d868443da21b7a037 Mon Sep 17 00:00:00 2001 From: Cameron Whyte Date: Thu, 29 Feb 2024 09:28:53 +0000 Subject: [PATCH 2/6] feat: Add NXTSoundSensor --- .../ev3dev/sensors/nxt/NXTSoundSensor.java | 108 ++++++++++++++++++ 1 file changed, 108 insertions(+) create mode 100644 src/main/java/ev3dev/sensors/nxt/NXTSoundSensor.java diff --git a/src/main/java/ev3dev/sensors/nxt/NXTSoundSensor.java b/src/main/java/ev3dev/sensors/nxt/NXTSoundSensor.java new file mode 100644 index 00000000..1a1d303c --- /dev/null +++ b/src/main/java/ev3dev/sensors/nxt/NXTSoundSensor.java @@ -0,0 +1,108 @@ +package ev3dev.sensors.nxt; + +import ev3dev.sensors.BaseSensor; +import ev3dev.utils.Sysfs; +import lejos.hardware.port.Port; +import lejos.hardware.sensor.EV3SensorConstants; +import lejos.hardware.sensor.SensorMode; +import lejos.robotics.SampleProvider; +import lejos.utility.Delay; + +import java.math.BigDecimal; +import java.math.RoundingMode; + +public class NXTSoundSensor extends BaseSensor { + protected static final long SWITCH_DELAY = 10; + protected static float MIN_RANGE = 0F; + protected static float MAX_RANGE = 1000F; + + protected int currentType = -1; + + + public NXTSoundSensor(Port sensorPort) { + super(sensorPort, "nxt-analog", "lego-nxt-sound"); + } + + public static float round(float d, int decimalPlace) { + BigDecimal bd = new BigDecimal(Float.toString(d)); + bd = bd.setScale(decimalPlace, RoundingMode.HALF_UP); + return bd.floatValue(); + } + + public SampleProvider getDBMode() { + this.switchMode("Sound-DB", 400L); + return getMode(1); + } + + public SampleProvider getDBAMode() { + this.switchMode("Sound-DBA", 400L); + return getMode(0); + } + + private class DBMode implements SensorMode { + + @Override + public int sampleSize() { + return 1; + } + + @Override + public void fetchSample(float[] sample, int offset) { + switchType(7, SWITCH_DELAY); + float reading = Sysfs.readFloat(PATH_DEVICE + "/value" + 0); + sample[offset] = round(1.0F - normalize(reading) / MAX_RANGE, 2); + } + + @Override + public String getName() { + return "Sound-DB"; + } + } + + private class DBAMode implements SensorMode { + @Override + public int sampleSize() { + return 1; + } + + @Override + public void fetchSample(float[] sample, int offset) { + switchType(8, SWITCH_DELAY); + float reading = Sysfs.readFloat(PATH_DEVICE + "/value" + 0); + sample[offset] = round(1.0F - normalize(reading) / MAX_RANGE, 2); + } + + + @Override + public String getName() { + return "Sound-DBA"; + } + } + + /** + * Helper method. Take a voltage and return it as a normalized value in the + * range 0.0-1.0 + * + * @param val input value + * @return normalized value + */ + protected float normalize(float val) { + return val / EV3SensorConstants.ADC_REF; + } + + /** + * Switch to the selected type (if not already in that type) and delay for the + * specified period to allow the sensor to settle in the new state.
+ * NOTE: This method is intended for use with NXT sensor drivers that use a + * sensor type to specify the operating mode. + * + * @param newType The type to switch to. + * @param switchDelay Time in mS to delay after the switch. + */ + protected void switchType(int newType, long switchDelay) { + if (currentType != newType) { + currentType = newType; + Delay.msDelay(switchDelay); + } + } +} From d9410d5383b1ea0021af257b0d0c49ff3d3ed6b8 Mon Sep 17 00:00:00 2001 From: Cameron Whyte Date: Thu, 29 Feb 2024 09:29:06 +0000 Subject: [PATCH 3/6] feat: Add JDK 17 --- build.gradle | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/build.gradle b/build.gradle index 357dc449..666cf074 100644 --- a/build.gradle +++ b/build.gradle @@ -52,8 +52,8 @@ compileJava.options.encoding = 'UTF-8' //Compile compileJava { - sourceCompatibility = 11 - targetCompatibility = 11 + sourceCompatibility = 17 + targetCompatibility = 17 } def checkstyleConfigDir = file("${rootDir}/config/checkstyle") From fbf0ddd2304cb83929d9fac35fdc7b26ba8e21ec Mon Sep 17 00:00:00 2001 From: Cameron Whyte Date: Thu, 29 Feb 2024 09:29:20 +0000 Subject: [PATCH 4/6] feat: Add Debian Buster --- src/main/java/ev3dev/hardware/EV3DevDistro.java | 3 ++- src/main/java/ev3dev/hardware/EV3DevDistros.java | 9 +++++++++ .../java/ev3dev/hardware/EV3DevPropertyLoader.java | 12 ++++++------ 3 files changed, 17 insertions(+), 7 deletions(-) diff --git a/src/main/java/ev3dev/hardware/EV3DevDistro.java b/src/main/java/ev3dev/hardware/EV3DevDistro.java index a2f4a4ad..fd812b76 100644 --- a/src/main/java/ev3dev/hardware/EV3DevDistro.java +++ b/src/main/java/ev3dev/hardware/EV3DevDistro.java @@ -2,5 +2,6 @@ public enum EV3DevDistro { JESSIE, - STRETCH + STRETCH, + BUSTER } diff --git a/src/main/java/ev3dev/hardware/EV3DevDistros.java b/src/main/java/ev3dev/hardware/EV3DevDistros.java index 0dde8b4d..20ab6885 100644 --- a/src/main/java/ev3dev/hardware/EV3DevDistros.java +++ b/src/main/java/ev3dev/hardware/EV3DevDistros.java @@ -13,9 +13,11 @@ public class EV3DevDistros { private static final String DEBIAN_DISTRO_DETECTION_QUERY = "cat /etc/os-release"; private static final String JESSIE_DISTRO_DETECTION_PATTERN = "ev3dev-jessie"; private static final String STRETCH_DISTRO_DETECTION_PATTERN = "ev3dev-stretch"; + private static final String BUSTER_DISTRO_DETECTION_PATTERN = "ev3dev-buster"; private static final String DEBIAN_DISTRO_DETECTION_KEY = "EV3DEV_DISTRO"; private static final String DEBIAN_DISTRO_DETECTION_JESSIE = "jessie"; private static final String DEBIAN_DISTRO_DETECTION_STRETCH = "stretch"; + private static final String DEBIAN_DISTRO_DETECTION_BUSTER = "buster"; private EV3DevDistro CURRENT_DISTRO; @@ -43,6 +45,8 @@ private EV3DevDistros() { setJessie(); } else if (osResult.contains(DEBIAN_DISTRO_DETECTION_STRETCH)) { setStretch(); + } else if (osResult.contains(DEBIAN_DISTRO_DETECTION_BUSTER)) { + setBuster(); } else { //TODO Improve this flow LOGGER.warn("Failed to detect distro, falling back to Stretch."); @@ -50,6 +54,11 @@ private EV3DevDistros() { } } + private void setBuster() { + LOGGER.debug("Debian Buster detected"); + CURRENT_DISTRO = EV3DevDistro.BUSTER; + } + private void setStretch() { LOGGER.debug("Debian Stretch detected"); CURRENT_DISTRO = EV3DevDistro.STRETCH; diff --git a/src/main/java/ev3dev/hardware/EV3DevPropertyLoader.java b/src/main/java/ev3dev/hardware/EV3DevPropertyLoader.java index 81f77279..2b2d15af 100644 --- a/src/main/java/ev3dev/hardware/EV3DevPropertyLoader.java +++ b/src/main/java/ev3dev/hardware/EV3DevPropertyLoader.java @@ -12,6 +12,7 @@ public class EV3DevPropertyLoader { private final Properties ev3DevProperties; + private static final String BUSTER_PROPERTY_FILENAME = "buster.properties"; private static final String STRETCH_PROPERTY_FILENAME = "stretch.properties"; private static final String JESSIE_PROPERTY_FILENAME = "jessie.properties"; @@ -20,12 +21,11 @@ public class EV3DevPropertyLoader { */ public EV3DevPropertyLoader() { - String propertyName; - if (EV3DevDistros.getInstance().getDistro().equals(EV3DevDistro.STRETCH)) { - propertyName = STRETCH_PROPERTY_FILENAME; - } else { - propertyName = JESSIE_PROPERTY_FILENAME; - } + String propertyName = switch (EV3DevDistros.getInstance().getDistro()) { + case BUSTER -> BUSTER_PROPERTY_FILENAME; + case JESSIE -> JESSIE_PROPERTY_FILENAME; + default -> STRETCH_PROPERTY_FILENAME; + }; try { Properties prop = new Properties(); From baa4a278cb92f81c81c6a196591c29e5447ba341 Mon Sep 17 00:00:00 2001 From: Cameron Whyte Date: Thu, 29 Feb 2024 10:06:38 +0000 Subject: [PATCH 5/6] fix(refactor): Building issues resolved --- CONTRIBUTORS.md | 15 +- build.gradle | 4 +- src/main/java/ev3dev/actuators/LCD.java | 14 +- src/main/java/ev3dev/actuators/LCDBuster.java | 567 ++++++++++++++++++ src/main/java/ev3dev/actuators/LCDJessie.java | 56 +- .../java/ev3dev/actuators/LCDStretch.java | 60 +- src/main/java/ev3dev/actuators/Sound.java | 74 +-- .../java/ev3dev/actuators/ev3/EV3Led.java | 29 +- .../lego/motors/BaseRegulatedMotor.java | 33 +- .../actuators/lego/motors/BasicMotor.java | 18 +- .../ev3dev/actuators/lego/motors/Motor.java | 1 + .../actuators/lego/motors/package-info.java | 3 +- .../java/ev3dev/hardware/EV3DevDevice.java | 19 +- .../java/ev3dev/hardware/EV3DevDistros.java | 34 +- .../ev3dev/hardware/EV3DevFileSystem.java | 4 +- .../ev3dev/hardware/EV3DevMotorDevice.java | 3 +- .../java/ev3dev/hardware/EV3DevPlatform.java | 22 +- .../java/ev3dev/hardware/EV3DevPlatforms.java | 40 +- .../ev3dev/hardware/EV3DevPropertyLoader.java | 22 +- .../ev3dev/hardware/EV3DevSensorDevice.java | 2 +- .../hardware/display/BitFramebuffer.java | 6 +- .../hardware/display/DisplayInterface.java | 3 +- .../ev3dev/hardware/display/ImageUtils.java | 24 +- .../hardware/display/LinuxFramebuffer.java | 5 +- .../ev3dev/hardware/display/OwnedDisplay.java | 8 +- .../hardware/display/StolenDisplay.java | 2 +- .../display/spi/FramebufferProvider.java | 4 +- .../java/ev3dev/hardware/package-info.java | 5 +- src/main/java/ev3dev/robotics/tts/Espeak.java | 13 +- src/main/java/ev3dev/sensors/BaseSensor.java | 20 +- src/main/java/ev3dev/sensors/Battery.java | 34 +- src/main/java/ev3dev/sensors/Button.java | 6 +- src/main/java/ev3dev/sensors/EV3Key.java | 162 +++-- src/main/java/ev3dev/sensors/GenericMode.java | 33 +- .../ev3dev/sensors/ev3/EV3ColorSensor.java | 9 +- .../ev3dev/sensors/ev3/EV3GyroSensor.java | 6 +- .../java/ev3dev/sensors/ev3/EV3IRSensor.java | 19 +- .../ev3dev/sensors/ev3/EV3TouchSensor.java | 2 +- .../sensors/ev3/EV3UltrasonicSensor.java | 8 +- .../java/ev3dev/sensors/ev3/package-info.java | 5 +- .../sensors/mindsensors/AbsoluteIMU.java | 5 +- .../ev3dev/sensors/mindsensors/NXTCamV5.java | 37 +- .../sensors/mindsensors/package-info.java | 5 +- .../ev3dev/sensors/nxt/NXTSoundSensor.java | 54 +- .../sensors/nxt/NXTTemperatureSensor.java | 10 +- .../java/ev3dev/sensors/package-info.java | 3 +- src/main/java/ev3dev/utils/Brickman.java | 4 +- .../ev3dev/utils/DataChannelRereader.java | 4 +- src/main/java/ev3dev/utils/Interpolation.java | 12 +- src/main/java/ev3dev/utils/JarResource.java | 11 +- src/main/java/ev3dev/utils/PilotProps.java | 38 +- src/main/java/ev3dev/utils/Sysfs.java | 8 +- src/main/java/ev3dev/utils/USBPort.java | 2 +- src/main/java/ev3dev/utils/io/ILibc.java | 65 +- .../java/ev3dev/utils/io/NativeDevice.java | 5 +- src/main/java/ev3dev/utils/io/NativeFile.java | 4 +- .../ev3dev/utils/io/NativeFramebuffer.java | 21 +- src/main/java/ev3dev/utils/io/NativeLibc.java | 6 +- src/main/java/ev3dev/utils/io/NativeTTY.java | 8 +- src/main/resources/META-INF/MANIFEST.MF | 2 +- src/main/resources/buster.properties | 63 ++ src/main/resources/jessie.properties | 5 - src/main/resources/stretch.properties | 5 - 63 files changed, 1145 insertions(+), 626 deletions(-) create mode 100644 src/main/java/ev3dev/actuators/LCDBuster.java create mode 100644 src/main/resources/buster.properties diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md index acf2d376..f990ee85 100644 --- a/CONTRIBUTORS.md +++ b/CONTRIBUTORS.md @@ -9,7 +9,7 @@ EV3Dev-lang-java contributors (sorted alphabetically) * **[Aswin Bouwmeester](https://nxttime.wordpress.com/)** * LeJOS sensor framework - * LeJOS navigation stack + * LeJOS navigation stack * **[Andy Shaw](http://www.gloomy-place.com/legoindex.htm)** @@ -19,6 +19,11 @@ EV3Dev-lang-java contributors (sorted alphabetically) * LeJOS navigation stack +* **[Cameron Whyte](https://cameronwhyte.me)** + + * Debian Buster Support + * OpenJDK 17 for EV3Dev + * **[David Lechner](https://github.com/dlech)** * Main developer of EV3Dev @@ -43,14 +48,14 @@ EV3Dev-lang-java contributors (sorted alphabetically) * **[Lawrie Griffiths](https://github.com/lawrie)** - * LeJOS navigation stack - + * LeJOS navigation stack + * **[Peter Abeles](https://github.com/lessthanoptimal)** - * Initial RPLidar support + * Initial RPLidar support * **[Roger Glassey](http://ieor.berkeley.edu/people/faculty/glassey)** * LeJOS navigation stack -**[Full contributors list](https://github.com/ev3dev-lang-java/ev3dev-lang-java/graphs/contributors).** \ No newline at end of file +**[Full contributors list](https://github.com/ev3dev-lang-java/ev3dev-lang-java/graphs/contributors).** diff --git a/build.gradle b/build.gradle index 666cf074..357dc449 100644 --- a/build.gradle +++ b/build.gradle @@ -52,8 +52,8 @@ compileJava.options.encoding = 'UTF-8' //Compile compileJava { - sourceCompatibility = 17 - targetCompatibility = 17 + sourceCompatibility = 11 + targetCompatibility = 11 } def checkstyleConfigDir = file("${rootDir}/config/checkstyle") diff --git a/src/main/java/ev3dev/actuators/LCD.java b/src/main/java/ev3dev/actuators/LCD.java index 53f127ba..8dec8529 100644 --- a/src/main/java/ev3dev/actuators/LCD.java +++ b/src/main/java/ev3dev/actuators/LCD.java @@ -1,6 +1,5 @@ package ev3dev.actuators; -import ev3dev.hardware.EV3DevDistro; import ev3dev.hardware.EV3DevDistros; import lejos.hardware.lcd.GraphicsLCD; @@ -12,13 +11,14 @@ public class LCD { * @return GraphicsLCD */ public static GraphicsLCD getInstance() { - - if (EV3DevDistros.getInstance().getDistro().equals(EV3DevDistro.STRETCH)) { - return LCDStretch.getInstance(); - } else { - return LCDJessie.getInstance(); + switch (EV3DevDistros.getInstance().getDistro()) { + case BUSTER: + return LCDBuster.getInstance(); + case STRETCH: + return LCDStretch.getInstance(); + default: + return LCDJessie.getInstance(); } - } } diff --git a/src/main/java/ev3dev/actuators/LCDBuster.java b/src/main/java/ev3dev/actuators/LCDBuster.java new file mode 100644 index 00000000..852a3ca5 --- /dev/null +++ b/src/main/java/ev3dev/actuators/LCDBuster.java @@ -0,0 +1,567 @@ +package ev3dev.actuators; + +import ev3dev.hardware.EV3DevDevice; +import ev3dev.hardware.EV3DevPlatform; +import ev3dev.hardware.display.ImageUtils; +import ev3dev.hardware.display.JavaFramebuffer; +import ev3dev.hardware.display.SystemDisplay; +import lejos.hardware.lcd.GraphicsLCD; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +import java.awt.*; +import java.awt.geom.AffineTransform; +import java.awt.geom.Point2D; +import java.awt.image.AffineTransformOp; +import java.awt.image.BufferedImage; +import java.awt.image.DataBufferByte; +import java.awt.image.WritableRaster; +import java.util.Timer; +import java.util.TimerTask; + +/** + * Lejos LCD reimplementation using Java2D API + */ +public class LCDBuster extends EV3DevDevice implements GraphicsLCD { + + // custom config + public static final String EV3DEV_LCD_KEY = "EV3DEV_LCD_KEY"; + public static final String EV3DEV_LCD_DEFAULT = "/dev/fb0"; + public static final String EV3DEV_LCD_MODE_KEY = "EV3DEV_LCD_MODE_KEY"; + + // logger + private static final Logger log = LoggerFactory.getLogger(LCDBuster.class); + private static LCDBuster instance; + // drawable + private final JavaFramebuffer fb; + private final BufferedImage image; + private final Graphics2D g2d; + // autorefresh + private final Timer timer; + private boolean timer_run = false; + private int timer_msec = 0; + // stroke + private int stroke; + + // Prevent duplicate objects + private LCDBuster() { + + log.info("Instancing LCD for Buster"); + + if (!CURRENT_PLATFORM.equals(EV3DevPlatform.EV3BRICK)) { + log.error("This actuator was only tested for: {}", EV3DevPlatform.EV3BRICK); + throw new RuntimeException("This actuator was only tested for: " + EV3DevPlatform.EV3BRICK); + } + + this.fb = SystemDisplay.initializeRealFramebuffer(); + this.timer = new Timer("LCD flusher", true); + this.image = fb.createCompatibleBuffer(); + this.g2d = this.image.createGraphics(); + this.clear(); + } + + /** + * Singleton constructor + * + * @return GraphicsLCD + */ + public static GraphicsLCD getInstance() { + //TODO Refactor + if (instance == null) { + instance = new LCDBuster(); + } + return instance; + } + + public JavaFramebuffer getFramebuffer() { + return fb; + } + + //Graphics LCD + + /** + * Write LCD with current context + */ + public void flush() { + if (log.isTraceEnabled()) { + log.trace("flushing framebuffer"); + } + + fb.flushScreen(image); + } + + @Override + public void translate(int x, int y) { + g2d.translate(x, y); + } + + @Override + public Font getFont() { + return g2d.getFont(); + } + + @Override + public void setFont(Font font) { + g2d.setFont(font); + } + + @Override + public int getTranslateX() { + return (int) g2d.getTransform().getTranslateX(); + } + + @Override + public int getTranslateY() { + return (int) g2d.getTransform().getTranslateY(); + } + + /** + * Set RGB value + * + * @param rgb rgb + */ + @Override + public void setColor(int rgb) { + g2d.setColor(new Color(rgb)); + } + + @Override + public void setColor(int r, int g, int b) { + g2d.setColor(new Color(r, g, b)); + } + + @Override + public void setPixel(int x, int y, int color) { + Point2D.Float in = new Point2D.Float(x, y); + Point2D.Float dst = new Point2D.Float(); + g2d.getTransform().transform(in, dst); + + Color fill = color == 0 ? Color.WHITE : Color.BLACK; + + image.setRGB((int) dst.x, (int) dst.y, fill.getRGB()); + } + + @Override + public int getPixel(int x, int y) { + Point2D.Float in = new Point2D.Float(x, y); + Point2D.Float dst = new Point2D.Float(); + g2d.getTransform().transform(in, dst); + + int rgb = image.getRGB((int) dst.x, (int) dst.y); + if ((rgb & 0x00FFFFFF) == 0x00FFFFFF) { + return 0; + } else { + return 1; + } + } + + @Override + public void drawString(String str, int x, int y, int anchor, boolean inverted) { + Color oldFg = g2d.getColor(); + Color oldBg = g2d.getBackground(); + g2d.setColor(inverted ? Color.WHITE : Color.BLACK); + g2d.setBackground(inverted ? Color.BLACK : Color.WHITE); + + drawString(str, x, y, anchor); + + g2d.setColor(oldFg); + g2d.setBackground(oldBg); + } + + @Override + public void drawString(String str, int x, int y, int anchor) { + FontMetrics metrics = g2d.getFontMetrics(); + int w = metrics.stringWidth(str); + int h = metrics.getHeight(); + x = adjustX(x, w, anchor); + y = adjustY(y, h, anchor); + + g2d.drawString(str, x, y); + } + + @Override + public void drawSubstring(String str, int offset, int len, + int x, int y, int anchor) { + String sub = str.substring(offset, offset + len); + drawString(sub, x, y, anchor); + } + + @Override + public void drawChar(char character, int x, int y, int anchor) { + String str = String.valueOf(character); + drawString(str, x, y, anchor); + } + + @Override + public void drawChars(char[] data, int offset, int length, + int x, int y, int anchor) { + String str = new String(data); + drawString(str, x, y, anchor); + } + + @Override + public int getStrokeStyle() { + return this.stroke; + } + + @Override + public void setStrokeStyle(int i) { + this.stroke = i; + Stroke stroke; + if (i == DOTTED) { + float[] dash = new float[]{3.0f, 3.0f}; + float dash_phase = 0.0f; + stroke = new BasicStroke(1.0f, BasicStroke.CAP_BUTT, BasicStroke.JOIN_BEVEL, 0.0f, dash, dash_phase); + } else if (i == SOLID) { + stroke = new BasicStroke(1.0f, BasicStroke.CAP_BUTT, BasicStroke.JOIN_BEVEL, 0.0f); + } else { + throw new IllegalArgumentException("Invalid stroke"); + } + g2d.setStroke(stroke); + } + + @Deprecated + @Override + public void drawRegionRop(Image src, int sx, int sy, int w, int h, int x, int y, int anchor, int rop) { + drawRegionRop(src, sx, sy, w, h, x, y, TRANS_NONE, anchor, rop); + } + + @Deprecated + @Override + public void drawRegionRop( + Image src, int sx, int sy, int w, int h, int transform, int x, int y, int anchor, int rop) { + x = adjustX(x, w, anchor); + y = adjustY(y, h, anchor); + BufferedImage srcI = any2rgb(src); + + double midx = srcI.getWidth() / 2.0; + double midy = srcI.getHeight() / 2.0; + AffineTransform tf = new AffineTransform(); + tf.translate(midx, midy); + int h0 = h; + switch (transform) { + case TRANS_MIRROR: + tf.scale(-1.0, 1.0); + break; + case TRANS_MIRROR_ROT90: + tf.scale(-1.0, 1.0); + tf.quadrantRotate(1); + h = w; + w = h0; + break; + case TRANS_MIRROR_ROT180: + tf.scale(-1.0, 1.0); + tf.quadrantRotate(2); + break; + case TRANS_MIRROR_ROT270: + tf.scale(-1.0, 1.0); + tf.quadrantRotate(3); + h = w; + w = h0; + break; + case TRANS_NONE: + break; + case TRANS_ROT90: + tf.quadrantRotate(1); + h = w; + w = h0; + break; + case TRANS_ROT180: + tf.quadrantRotate(2); + break; + case TRANS_ROT270: + tf.quadrantRotate(3); + h = w; + w = h0; + break; + default: + throw new RuntimeException("Bad Option"); + } + tf.translate(-midx, -midy); + AffineTransformOp op = new AffineTransformOp(tf, AffineTransformOp.TYPE_NEAREST_NEIGHBOR); + BufferedImage transformed = ImageUtils.createXRGBImage(w, h); + transformed = op.filter(srcI, transformed); + + BufferedImage dstI = any2rgb(image); + bitBlt(srcI, sx, sy, dstI, x, y, w, h, rop); + g2d.drawImage(dstI, 0, 0, null); + } + + @Deprecated + @Override + public void drawRegion(Image src, + int sx, int sy, + int w, int h, + int transform, + int x, int y, + int anchor) { + drawRegionRop(src, sx, sy, w, h, transform, x, y, anchor, ROP_COPY); + } + + @Override + public void drawImage(Image image, int i, int i1, int i2) { + g2d.drawImage(image, i, i1, null); + } + + @Override + public void drawLine(int x1, int y1, int x2, int y2) { + g2d.drawLine(x1, y1, x2, y2); + } + + @Override + public void fillRect(int x, int y, int width, int height) { + g2d.fillRect(x, y, width, height); + } + + @Override + public void copyArea(int sx, int sy, + int w, int h, + int x, int y, int anchor) { + x = adjustX(x, w, anchor); + y = adjustY(y, h, anchor); + g2d.copyArea(sx, sy, w, h, x, y); + } + + /** + * Adjust the x co-ordinate to use the translation and anchor values. + */ + private int adjustX(int x, int w, int anchor) { + switch (anchor & (LEFT | RIGHT | HCENTER)) { + case LEFT: + break; + case RIGHT: + x -= w; + break; + case HCENTER: + x -= w / 2; + break; + default: + throw new RuntimeException("Bad Option"); + } + return x; + } + + /** + * Adjust the y co-ordinate to use the translation and anchor values. + */ + private int adjustY(int y, int h, int anchor) { + switch (anchor & (TOP | BOTTOM | VCENTER)) { + case TOP: + break; + case BOTTOM: + y -= h; + break; + case VCENTER: + y -= h / 2; + break; + default: + throw new RuntimeException("Bad Option"); + } + return y; + } + + @Override + public void drawRoundRect(int x, int y, int width, int height, int arcWidth, int arcHeight) { + g2d.drawRoundRect(x, y, width, height, arcWidth, arcHeight); + } + + // CommonLCD + + @Override + public void drawRect(int x, int y, int width, int height) { + g2d.drawRect(x, y, width, height); + } + + @Override + public void drawArc(int x, int y, int width, int height, int startAngle, int arcAngle) { + g2d.drawArc(x, y, width, height, startAngle, arcAngle); + } + + @Override + public void fillArc(int x, int y, int width, int height, int startAngle, int arcAngle) { + g2d.fillArc(x, y, width, height, startAngle, arcAngle); + } + + @Override + public void refresh() { + flush(); + } + + @Override + public void clear() { + AffineTransform tf = (AffineTransform) g2d.getTransform().clone(); + g2d.getTransform().setToIdentity(); + g2d.setColor(Color.WHITE); + g2d.fillRect(0, 0, fb.getWidth(), fb.getHeight()); + flush(); + g2d.setTransform(tf); + } + + @Override + public int getWidth() { + return fb.getWidth(); + } + + @Override + public int getHeight() { + return fb.getHeight(); + } + + @Override + public byte[] getDisplay() { + return ImageUtils.getImageBytes(image); + } + + + @Override + public byte[] getHWDisplay() { + return getDisplay(); + } + + @Override + public void setContrast(int i) { + // not implemented even on leJOS + log.debug("Feature not implemented"); + } + + /** + * Convert from leJOS image format to Java image + */ + private BufferedImage lejos2rgb(byte[] src, int width, int height) { + @SuppressWarnings("SuspiciousNameCombination") + BufferedImage in = ImageUtils.createBWImage(height, width, true, src); + BufferedImage out = ImageUtils.createXRGBImage(width, height); + return java_lejos_flip(in, out); + } + + private BufferedImage any2rgb(Image img) { + BufferedImage copy = ImageUtils.createXRGBImage(img.getWidth(null), img.getHeight(null)); + Graphics2D gfx = (Graphics2D) copy.getGraphics(); + gfx.drawImage(img, 0, 0, null); + gfx.dispose(); + return copy; + } + + /** + * Convert from Java image to leJOS image format + */ + private byte[] any2lejos(BufferedImage img) { + BufferedImage out = ImageUtils.createBWImage(img.getHeight(), img.getWidth(), true); + BufferedImage right = java_lejos_flip(img, out); + return ((DataBufferByte) right.getRaster().getDataBuffer()).getData(); + } + + private BufferedImage java_lejos_flip(BufferedImage in, BufferedImage out) { + AffineTransform tf = new AffineTransform(); + tf.quadrantRotate(1); + tf.scale(-1.0, +1.0); + AffineTransformOp op = new AffineTransformOp(tf, AffineTransformOp.TYPE_NEAREST_NEIGHBOR); + return op.filter(in, out); + } + + /** + * Slow emulation of leJOS bitBlt() + */ + @Override + public void bitBlt(byte[] src, int sw, int sh, int sx, int sy, int dx, int dy, int w, int h, int rop) { + BufferedImage srcI = lejos2rgb(src, sw, sh); + BufferedImage dstI = any2rgb(image); + bitBlt(srcI, sx, sy, dstI, dx, dy, w, h, rop); + g2d.drawImage(dstI, 0, 0, null); + } + + /** + * Slow emulation of leJOS bitBlt() + */ + @Override + public void bitBlt( + byte[] src, int sw, int sh, int sx, int sy, byte[] dst, int dw, int dh, int dx, int dy, int w, int h, int rop) { + BufferedImage srcI = lejos2rgb(src, sw, sh); + BufferedImage dstI = lejos2rgb(dst, dw, dh); + bitBlt(srcI, sx, sy, dstI, dx, dy, w, h, rop); + Graphics2D gfx = dstI.createGraphics(); + gfx.drawImage(srcI, + dy, dx, dy + h, dx + w, + sy, sx, sy + h, sx + w, + Color.WHITE, null); + gfx.dispose(); + byte[] data = any2lejos(dstI); + System.arraycopy(data, 0, dst, 0, Math.min(data.length, dst.length)); + } + + private void bitBlt(BufferedImage src, int sx, int sy, BufferedImage dst, int dx, int dy, int w, int h, int rop) { + WritableRaster srcR = src.getRaster(); + WritableRaster dstR = dst.getRaster(); + + byte msk_dst = (byte) (0xFF & (rop >> 24)); + byte xor_dst = (byte) (0xFF & (rop >> 16)); + byte msk_src = (byte) (0xFF & (rop >> 8)); + byte xor_src = (byte) (0xFF & (rop)); + boolean dstskip = msk_dst == 0 && xor_dst == 0; + + int[] dstpix = new int[4]; + int[] srcpix = new int[4]; + for (int vx = 0; vx < w; vx++) { + for (int vy = 0; vy < h; vy++) { + int srcx = sx + vx; + int srcy = sy + vy; + int dstx = dx + vx; + int dsty = dy + vy; + srcR.getPixel(srcx, srcy, srcpix); + + if (dstskip) { + // only rgb, no a + for (int s = 0; s < 3; s++) { + dstpix[s] = ((srcpix[s] & msk_src) ^ xor_src); + } + } else { + dstR.getPixel(dstx, dsty, dstpix); + // only rgb, no a + for (int s = 0; s < 3; s++) { + dstpix[s] = ((dstpix[s] & msk_dst) ^ xor_dst) ^ ((srcpix[s] & msk_src) ^ xor_src); + } + } + dstR.setPixel(dstx, dsty, dstpix); + } + } + } + + + @Override + public void setAutoRefresh(boolean b) { + if (this.timer_run != b) { + this.timer_run = b; + timerUpdate(); + } + } + + @Override + public int setAutoRefreshPeriod(int i) { + int old = this.timer_msec; + if (old != i) { + this.timer_msec = i; + timerUpdate(); + } + return old; + } + + private void timerUpdate() { + timer.cancel(); + if (timer_run && timer_msec > 0) { + timer.scheduleAtFixedRate(new Flusher(), 0, timer_msec); + } + } + + @Override + public void drawOval(int x, int y, int width, int height) { + g2d.drawOval(x, y, width, height); + } + + private class Flusher extends TimerTask { + @Override + public void run() { + refresh(); + } + } + +} diff --git a/src/main/java/ev3dev/actuators/LCDJessie.java b/src/main/java/ev3dev/actuators/LCDJessie.java index f3e505e3..0fb1f2b5 100644 --- a/src/main/java/ev3dev/actuators/LCDJessie.java +++ b/src/main/java/ev3dev/actuators/LCDJessie.java @@ -7,46 +7,45 @@ import org.slf4j.Logger; import org.slf4j.LoggerFactory; -import java.awt.Color; -import java.awt.Font; -import java.awt.Graphics2D; -import java.awt.Image; -import java.awt.image.BufferedImage; -import java.awt.image.DataBuffer; -import java.awt.image.DataBufferByte; -import java.awt.image.IndexColorModel; -import java.awt.image.Raster; -import java.awt.image.WritableRaster; +import java.awt.*; +import java.awt.image.*; import java.nio.file.Files; import java.nio.file.Paths; import java.util.Objects; public class LCDJessie extends EV3DevDevice implements GraphicsLCD { - private static final Logger log = LoggerFactory.getLogger(LCDJessie.class); - public static final String EV3DEV_EV3_DEVICES_PATH = "/dev"; public static final String EV3DEV_EV3_LCD_NAME = "fb0"; public static final String EV3DEV_EV3_LCD_PATH = EV3DEV_EV3_DEVICES_PATH + "/" + EV3DEV_EV3_LCD_NAME; public static final String EV3DEV_LCD_KEY = "EV3DEV_LCD_KEY"; - public static final String FB_PATH = - Objects.nonNull(System.getProperty(EV3DEV_LCD_KEY)) ? System.getProperty(EV3DEV_LCD_KEY) : EV3DEV_EV3_LCD_PATH; - - private int SCREEN_WIDTH = 0; - private int SCREEN_HEIGHT = 0; - private int LINE_LEN = 0; - private int BUFFER_SIZE = 0; - + public static final String FB_PATH = Objects.nonNull(System.getProperty(EV3DEV_LCD_KEY)) ? System.getProperty(EV3DEV_LCD_KEY) : EV3DEV_EV3_LCD_PATH; public static final int EV3_SCREEN_WIDTH = 178; public static final int EV3_SCREEN_HEIGHT = 128; public static final int EV3_LINE_LEN = 24; public static final int EV3_ROWS = 128; public static final int EV3_BUFFER_SIZE = EV3_LINE_LEN * EV3_ROWS; - + private static final Logger log = LoggerFactory.getLogger(LCDJessie.class); + private static GraphicsLCD instance; + private int SCREEN_WIDTH = 0; + private int SCREEN_HEIGHT = 0; + private int LINE_LEN = 0; + private int BUFFER_SIZE = 0; private BufferedImage image; private Graphics2D g2d; - private static GraphicsLCD instance; + // Prevent duplicate objects + private LCDJessie() { + + log.info("Instancing LCD for Jessie"); + + if (CURRENT_PLATFORM.equals(EV3DevPlatform.EV3BRICK)) { + init(EV3_SCREEN_WIDTH, EV3_SCREEN_HEIGHT, EV3_LINE_LEN, EV3_BUFFER_SIZE); + } else { + log.error("This actuator was only tested for: {}", EV3DevPlatform.EV3BRICK); + throw new RuntimeException("This actuator was only tested for: " + EV3DevPlatform.EV3BRICK); + } + } /** * Singleton constructor @@ -61,19 +60,6 @@ public static GraphicsLCD getInstance() { return instance; } - // Prevent duplicate objects - private LCDJessie() { - - log.info("Instancing LCD for Jessie"); - - if (CURRENT_PLATFORM.equals(EV3DevPlatform.EV3BRICK)) { - init(EV3_SCREEN_WIDTH, EV3_SCREEN_HEIGHT, EV3_LINE_LEN, EV3_BUFFER_SIZE); - } else { - log.error("This actuator was only tested for: {}", EV3DevPlatform.EV3BRICK); - throw new RuntimeException("This actuator was only tested for: " + EV3DevPlatform.EV3BRICK); - } - } - private void init( final int width, final int height, diff --git a/src/main/java/ev3dev/actuators/LCDStretch.java b/src/main/java/ev3dev/actuators/LCDStretch.java index 4f552f81..6c6734dd 100644 --- a/src/main/java/ev3dev/actuators/LCDStretch.java +++ b/src/main/java/ev3dev/actuators/LCDStretch.java @@ -9,13 +9,7 @@ import org.slf4j.Logger; import org.slf4j.LoggerFactory; -import java.awt.BasicStroke; -import java.awt.Color; -import java.awt.Font; -import java.awt.FontMetrics; -import java.awt.Graphics2D; -import java.awt.Image; -import java.awt.Stroke; +import java.awt.*; import java.awt.geom.AffineTransform; import java.awt.geom.Point2D; import java.awt.image.AffineTransformOp; @@ -37,35 +31,18 @@ public class LCDStretch extends EV3DevDevice implements GraphicsLCD { // logger private static final Logger log = LoggerFactory.getLogger(LCDStretch.class); - + private static LCDStretch instance; // drawable - private JavaFramebuffer fb; - private BufferedImage image; - private Graphics2D g2d; - + private final JavaFramebuffer fb; + private final BufferedImage image; + private final Graphics2D g2d; // autorefresh - private Timer timer; + private final Timer timer; private boolean timer_run = false; private int timer_msec = 0; - // stroke private int stroke; - private static LCDStretch instance; - - /** - * Singleton constructor - * - * @return GraphicsLCD - */ - public static GraphicsLCD getInstance() { - //TODO Refactor - if (instance == null) { - instance = new LCDStretch(); - } - return instance; - } - // Prevent duplicate objects private LCDStretch() { @@ -83,6 +60,19 @@ private LCDStretch() { this.clear(); } + /** + * Singleton constructor + * + * @return GraphicsLCD + */ + public static GraphicsLCD getInstance() { + //TODO Refactor + if (instance == null) { + instance = new LCDStretch(); + } + return instance; + } + public JavaFramebuffer getFramebuffer() { return fb; } @@ -198,7 +188,7 @@ public void drawSubstring(String str, int offset, int len, @Override public void drawChar(char character, int x, int y, int anchor) { - String str = new String(new char[]{character}); + String str = String.valueOf(character); drawString(str, x, y, anchor); } @@ -562,6 +552,11 @@ private void timerUpdate() { } } + @Override + public void drawOval(int x, int y, int width, int height) { + g2d.drawOval(x, y, width, height); + } + private class Flusher extends TimerTask { @Override public void run() { @@ -569,9 +564,4 @@ public void run() { } } - @Override - public void drawOval(int x, int y, int width, int height) { - g2d.drawOval(x, y, width, height); - } - } diff --git a/src/main/java/ev3dev/actuators/Sound.java b/src/main/java/ev3dev/actuators/Sound.java index bb571fb5..2f87d6df 100644 --- a/src/main/java/ev3dev/actuators/Sound.java +++ b/src/main/java/ev3dev/actuators/Sound.java @@ -10,11 +10,7 @@ import org.slf4j.Logger; import org.slf4j.LoggerFactory; -import javax.sound.sampled.AudioInputStream; -import javax.sound.sampled.AudioSystem; -import javax.sound.sampled.Clip; -import javax.sound.sampled.LineUnavailableException; -import javax.sound.sampled.UnsupportedAudioFileException; +import javax.sound.sampled.*; import java.io.File; import java.io.IOException; import java.util.Objects; @@ -30,23 +26,29 @@ */ public class Sound extends EV3DevDevice { + public static final String EV3DEV_SOUND_KEY = "EV3DEV_SOUND_KEY"; + public static final String VOLUME = "volume"; private static final Logger LOGGER = LoggerFactory.getLogger(Sound.class); - private static final String EV3_PHYSICAL_SOUND_PATH = "/sys/devices/platform/snd-legoev3"; - public static final String EV3DEV_SOUND_KEY = "EV3DEV_SOUND_KEY"; - private static String EV3_SOUND_PATH; - private static final String CMD_BEEP = "beep"; - public static final String VOLUME = "volume"; - - private static String VOLUME_PATH; private static final String DISABLED_FEATURE_MESSAGE = "This feature is disabled for this platform."; - + private static String EV3_SOUND_PATH; + private static String VOLUME_PATH; + private static Sound instance; private final EV3DevDistro CURRENT_DISTRO; + private int volume = 0; - private static Sound instance; + // Prevent duplicate objects + private Sound() { - private int volume = 0; + LOGGER.info("Creating a instance of Sound"); + + EV3_SOUND_PATH = Objects.nonNull(System.getProperty(EV3DEV_SOUND_KEY)) + ? System.getProperty(EV3DEV_SOUND_KEY) : EV3_PHYSICAL_SOUND_PATH; + VOLUME_PATH = EV3_SOUND_PATH + "/" + VOLUME; + + CURRENT_DISTRO = EV3DevDistros.getInstance().getDistro(); + } /** * Return a Instance of Sound. @@ -63,18 +65,6 @@ public static Sound getInstance() { return instance; } - // Prevent duplicate objects - private Sound() { - - LOGGER.info("Creating a instance of Sound"); - - EV3_SOUND_PATH = Objects.nonNull(System.getProperty(EV3DEV_SOUND_KEY)) - ? System.getProperty(EV3DEV_SOUND_KEY) : EV3_PHYSICAL_SOUND_PATH; - VOLUME_PATH = EV3_SOUND_PATH + "/" + VOLUME; - - CURRENT_DISTRO = EV3DevDistros.getInstance().getDistro(); - } - /** * Beeps once. */ @@ -163,35 +153,35 @@ public void playSample(final File file) { } /** - * Set the master volume level + * Get the current master volume level * - * @param volume 0-100 + * @return the current master volume 0-100 */ - public void setVolume(final int volume) { - - this.volume = volume; + public int getVolume() { if (CURRENT_DISTRO.equals(EV3DevDistro.JESSIE)) { - //TODO Review to move to this.setIntegerAttribute(); - Sysfs.writeString(VOLUME_PATH, "" + volume); + //TODO Review to move to this.getIntegerAttribute() + return Sysfs.readInteger(VOLUME_PATH); } else { - final String cmdVolume = "amixer set PCM,0 " + volume + "%"; - Shell.execute(cmdVolume); + return this.volume; } } /** - * Get the current master volume level + * Set the master volume level * - * @return the current master volume 0-100 + * @param volume 0-100 */ - public int getVolume() { + public void setVolume(final int volume) { + + this.volume = volume; if (CURRENT_DISTRO.equals(EV3DevDistro.JESSIE)) { - //TODO Review to move to this.getIntegerAttribute() - return Sysfs.readInteger(VOLUME_PATH); + //TODO Review to move to this.setIntegerAttribute(); + Sysfs.writeString(VOLUME_PATH, "" + volume); } else { - return this.volume; + final String cmdVolume = "amixer set PCM,0 " + volume + "%"; + Shell.execute(cmdVolume); } } diff --git a/src/main/java/ev3dev/actuators/ev3/EV3Led.java b/src/main/java/ev3dev/actuators/ev3/EV3Led.java index f7d637e3..7c4fefb9 100644 --- a/src/main/java/ev3dev/actuators/ev3/EV3Led.java +++ b/src/main/java/ev3dev/actuators/ev3/EV3Led.java @@ -14,24 +14,12 @@ */ public class EV3Led extends EV3DevDevice implements LED { - /** - * Directions of the LED. - */ - public enum Direction { - LEFT, - RIGHT - } - - private static final Logger log = LoggerFactory.getLogger(EV3Led.class); - public static final int LEFT = 0; public static final int RIGHT = 1; - + private static final Logger log = LoggerFactory.getLogger(EV3Led.class); private final Direction direction; - private final String LED_RED; private final String LED_GREEN; - /** * Create an EV3LED object associated with the LED of the specified direction. * @@ -65,6 +53,7 @@ public EV3Led(final Direction direction) { * @throws RuntimeException if LED feature is not supported on the current platform. * @deprecated Use {@link #EV3Led(Direction)} instead. */ + @Deprecated public EV3Led(final int button) { checkPlatform(); @@ -95,13 +84,11 @@ private void checkPlatform() { } } - //TODO Add Enums for patterns - /** * Sets the pattern of light to be shown with this LED. * * @param pattern the pattern to show with this LED. - * + *

* 0: Turns off the LED light; * 1/2/3: Static green/red/yellow light; * 4/5/6: Normal blinking green/red/yellow light, not implemented; @@ -127,6 +114,8 @@ public void setPattern(final int pattern) { } } + //TODO Add Enums for patterns + /** * Returns the direction of the LED associated with this object. * @@ -135,4 +124,12 @@ public void setPattern(final int pattern) { public Direction getDirection() { return direction; } + + /** + * Directions of the LED. + */ + public enum Direction { + LEFT, + RIGHT + } } diff --git a/src/main/java/ev3dev/actuators/lego/motors/BaseRegulatedMotor.java b/src/main/java/ev3dev/actuators/lego/motors/BaseRegulatedMotor.java index 5f99e069..8ba09775 100644 --- a/src/main/java/ev3dev/actuators/lego/motors/BaseRegulatedMotor.java +++ b/src/main/java/ev3dev/actuators/lego/motors/BaseRegulatedMotor.java @@ -49,14 +49,11 @@ public abstract class BaseRegulatedMotor extends EV3DevMotorDevice implements Re // 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; + private final List listenerList; protected int acceleration = 6000; - + private int speed = 360; private boolean regulationFlag = true; - private final List listenerList; - /** * Constructor * @@ -255,18 +252,6 @@ public boolean isMoving() { return (this.getStringAttribute(STATE).contains(STATE_RUNNING)); } - /** - * Sets desired motors speed , in degrees per second; - * The maximum reliably sustainable velocity is 100 x battery voltage under - * moderate load, such as a direct drive robot on the level. - * - * @param speed value in degrees/sec - */ - public void setSpeed(int speed) { - this.speed = speed; - setSpeedDirect(speed); - } - private void setSpeedDirect(int speed) { if (!this.regulationFlag) { this.setIntegerAttribute(DUTY_CYCLE, speed); @@ -320,7 +305,7 @@ public void rotate(int angle) { /** * Rotate to a specific angle * - * @param limitAngle angle + * @param limitAngle angle * @param immediateReturn If the method behave in an asynchronous way */ public void rotateTo(int limitAngle, boolean immediateReturn) { @@ -363,6 +348,18 @@ public int getSpeed() { } + /** + * Sets desired motors speed , in degrees per second; + * The maximum reliably sustainable velocity is 100 x battery voltage under + * moderate load, such as a direct drive robot on the level. + * + * @param speed value in degrees/sec + */ + public void setSpeed(int speed) { + this.speed = speed; + setSpeedDirect(speed); + } + /** * Return true if the motors is currently stalled. * diff --git a/src/main/java/ev3dev/actuators/lego/motors/BasicMotor.java b/src/main/java/ev3dev/actuators/lego/motors/BasicMotor.java index d4d79ea5..1bb99d2d 100644 --- a/src/main/java/ev3dev/actuators/lego/motors/BasicMotor.java +++ b/src/main/java/ev3dev/actuators/lego/motors/BasicMotor.java @@ -53,24 +53,24 @@ public BasicMotor(final Port motorPort) { } /** - * Set power + * Get power * - * @param power new motors power 0-100 + * @return power */ @Override - public void setPower(final int power) { - this.power = power; - this.setIntegerAttribute(DUTY_CYCLE, power); + public int getPower() { + return this.getIntegerAttribute(DUTY_CYCLE); } /** - * Get power + * Set power * - * @return power + * @param power new motors power 0-100 */ @Override - public int getPower() { - return this.getIntegerAttribute(DUTY_CYCLE); + public void setPower(final int power) { + this.power = power; + this.setIntegerAttribute(DUTY_CYCLE, power); } /** diff --git a/src/main/java/ev3dev/actuators/lego/motors/Motor.java b/src/main/java/ev3dev/actuators/lego/motors/Motor.java index 0a84f150..6766c2e5 100644 --- a/src/main/java/ev3dev/actuators/lego/motors/Motor.java +++ b/src/main/java/ev3dev/actuators/lego/motors/Motor.java @@ -21,6 +21,7 @@ * int angle = Motor.A.getTachoCount(); // should be -360 * LCD.drawInt(angle,0,0); * + * * @author Roger Glassey/Andy Shaw/Juan Antonio Breña Moral */ public class Motor { diff --git a/src/main/java/ev3dev/actuators/lego/motors/package-info.java b/src/main/java/ev3dev/actuators/lego/motors/package-info.java index a4647c11..f81ecdab 100644 --- a/src/main/java/ev3dev/actuators/lego/motors/package-info.java +++ b/src/main/java/ev3dev/actuators/lego/motors/package-info.java @@ -1,5 +1,4 @@ /** * This package include a set of classes used to manage Lego Mindstorm Motors. - * */ -package ev3dev.actuators.lego.motors; \ No newline at end of file +package ev3dev.actuators.lego.motors; diff --git a/src/main/java/ev3dev/hardware/EV3DevDevice.java b/src/main/java/ev3dev/hardware/EV3DevDevice.java index 08485a07..c81639a8 100644 --- a/src/main/java/ev3dev/hardware/EV3DevDevice.java +++ b/src/main/java/ev3dev/hardware/EV3DevDevice.java @@ -10,31 +10,26 @@ /** * This class been designed to discover if the library is used in: - * + *

* - EV3 Brick * - Raspberry Pi 1 + PiStorms * - Raspberry Pi 1 + BrickPi - * - * At the moment, the class extends from Device, - * but close method doesn´t close any real resource. + *

+ * At the moment, the class extends from Device, + * but close method doesn´t close any real resource. * * @author Juan Antonio Breña Moral - * - * */ public abstract class EV3DevDevice { - private static final Logger LOGGER = LoggerFactory.getLogger(EV3DevDevice.class); - - protected final Properties ev3DevProperties; - protected final EV3DevPlatform CURRENT_PLATFORM; - protected static final String LEGO_PORT = "lego-port"; protected static final String ADDRESS = "address"; protected static final String LEGO_SENSOR = "lego-sensor"; protected static final String MODE = "mode"; protected static final String DEVICE = "set_device"; - + private static final Logger LOGGER = LoggerFactory.getLogger(EV3DevDevice.class); + protected final Properties ev3DevProperties; + protected final EV3DevPlatform CURRENT_PLATFORM; protected File PATH_DEVICE = null; /** diff --git a/src/main/java/ev3dev/hardware/EV3DevDistros.java b/src/main/java/ev3dev/hardware/EV3DevDistros.java index 20ab6885..8e035633 100644 --- a/src/main/java/ev3dev/hardware/EV3DevDistros.java +++ b/src/main/java/ev3dev/hardware/EV3DevDistros.java @@ -8,8 +8,6 @@ @Slf4j public class EV3DevDistros { - private static EV3DevDistros instance; - private static final String DEBIAN_DISTRO_DETECTION_QUERY = "cat /etc/os-release"; private static final String JESSIE_DISTRO_DETECTION_PATTERN = "ev3dev-jessie"; private static final String STRETCH_DISTRO_DETECTION_PATTERN = "ev3dev-stretch"; @@ -18,24 +16,9 @@ public class EV3DevDistros { private static final String DEBIAN_DISTRO_DETECTION_JESSIE = "jessie"; private static final String DEBIAN_DISTRO_DETECTION_STRETCH = "stretch"; private static final String DEBIAN_DISTRO_DETECTION_BUSTER = "buster"; - + private static EV3DevDistros instance; private EV3DevDistro CURRENT_DISTRO; - /** - * Return a Instance of EV3DevDistros. - * - * @return A EV3DevDistros instance - */ - public static EV3DevDistros getInstance() { - - LOGGER.debug("Providing an EV3DevDistros instance"); - - if (Objects.isNull(instance)) { - instance = new EV3DevDistros(); - } - return instance; - } - private EV3DevDistros() { LOGGER.debug("Detecting EV3Dev Distro"); @@ -54,6 +37,21 @@ private EV3DevDistros() { } } + /** + * Return a Instance of EV3DevDistros. + * + * @return A EV3DevDistros instance + */ + public static EV3DevDistros getInstance() { + + LOGGER.debug("Providing an EV3DevDistros instance"); + + if (Objects.isNull(instance)) { + instance = new EV3DevDistros(); + } + return instance; + } + private void setBuster() { LOGGER.debug("Debian Buster detected"); CURRENT_DISTRO = EV3DevDistro.BUSTER; diff --git a/src/main/java/ev3dev/hardware/EV3DevFileSystem.java b/src/main/java/ev3dev/hardware/EV3DevFileSystem.java index 15521529..d5d265ca 100644 --- a/src/main/java/ev3dev/hardware/EV3DevFileSystem.java +++ b/src/main/java/ev3dev/hardware/EV3DevFileSystem.java @@ -9,14 +9,12 @@ * The class responsible to interact with EV3Dev file system * * @author Juan Antonio Breña Moral - * */ public class EV3DevFileSystem { - private static final Logger LOGGER = LoggerFactory.getLogger(EV3DevFileSystem.class); - public static final String EV3DEV_TESTING_KEY = "EV3DEV_TESTING_KEY"; public static final String EV3DEV_ROOT_PATH = "/sys/class"; + private static final Logger LOGGER = LoggerFactory.getLogger(EV3DevFileSystem.class); private static final String CURRENT_ROOT_PATH = retrieveRootPath(); private static String retrieveRootPath() { diff --git a/src/main/java/ev3dev/hardware/EV3DevMotorDevice.java b/src/main/java/ev3dev/hardware/EV3DevMotorDevice.java index c75ef832..1aa1a95b 100644 --- a/src/main/java/ev3dev/hardware/EV3DevMotorDevice.java +++ b/src/main/java/ev3dev/hardware/EV3DevMotorDevice.java @@ -2,9 +2,8 @@ /** * Base class to interact with EV3Dev sysfs - * - * @author Juan Antonio Breña Moral * + * @author Juan Antonio Breña Moral */ public abstract class EV3DevMotorDevice extends EV3DevDevice { diff --git a/src/main/java/ev3dev/hardware/EV3DevPlatform.java b/src/main/java/ev3dev/hardware/EV3DevPlatform.java index 77f13212..9ddf3f41 100644 --- a/src/main/java/ev3dev/hardware/EV3DevPlatform.java +++ b/src/main/java/ev3dev/hardware/EV3DevPlatform.java @@ -7,26 +7,18 @@ public enum EV3DevPlatform { EV3BRICK("EV3BRICK", "ev3"), PISTORMS("PISTORMS", "pistorms"), - BRICKPI("BRICKPI", "brickpi"), + BRICKPI("BRICKPI", "brickpi"), BRICKPI3("BRICKPI3", "brickpi3"), - UNKNOWN("UNKNOWN", "unknown"); + UNKNOWN("UNKNOWN", "unknown"); private final String platform; private final String propNamespace; - private EV3DevPlatform(String stringVal, String ns) { + EV3DevPlatform(String stringVal, String ns) { platform = stringVal; propNamespace = ns; } - public String toString() { - return platform; - } - - public String getPropertyNamespace() { - return propNamespace; - } - /** * Method to find the platform * @@ -41,4 +33,12 @@ public static String getPlatformByString(final String code) { } return UNKNOWN.toString(); } + + public String toString() { + return platform; + } + + public String getPropertyNamespace() { + return propNamespace; + } } diff --git a/src/main/java/ev3dev/hardware/EV3DevPlatforms.java b/src/main/java/ev3dev/hardware/EV3DevPlatforms.java index 5f5b9e3b..80a62ca2 100644 --- a/src/main/java/ev3dev/hardware/EV3DevPlatforms.java +++ b/src/main/java/ev3dev/hardware/EV3DevPlatforms.java @@ -18,22 +18,9 @@ public class EV3DevPlatforms { private static EV3DevPlatforms instance; private final EV3DevPlatform platform; - private final String propPrefix; + private final String propPrefix; private final Properties props; - /** - * Return a Instance of EV3DevPlatforms. - * - * @return A EV3DevPlatforms instance - */ - public static EV3DevPlatforms getInstance() { - - if (Objects.isNull(instance)) { - instance = new EV3DevPlatforms(); - } - return instance; - } - private EV3DevPlatforms() { LOGGER.debug("Providing a EV3DevPlatforms instance"); @@ -47,10 +34,10 @@ private EV3DevPlatforms() { // iterate over all platforms and check if they're the correct one platform = EnumSet.allOf(EV3DevPlatform.class) - .stream() - .filter(e -> batteryTest(batteryDirectory, e.getPropertyNamespace())) - .findFirst() - .get(); + .stream() + .filter(e -> batteryTest(batteryDirectory, e.getPropertyNamespace())) + .findFirst() + .get(); if (platform == EV3DevPlatform.UNKNOWN) { throwNoPlatform(); @@ -64,12 +51,25 @@ private EV3DevPlatforms() { } + /** + * Return a Instance of EV3DevPlatforms. + * + * @return A EV3DevPlatforms instance + */ + public static EV3DevPlatforms getInstance() { + + if (Objects.isNull(instance)) { + instance = new EV3DevPlatforms(); + } + return instance; + } + private boolean batteryTest(final String batteryDir, final String propPrefix) { LOGGER.debug("Detecting platform with the battery approach"); Path path = Paths.get(EV3DevFileSystem.getRootPath(), - batteryDir, - props.getProperty(propPrefix + ".battery")); + batteryDir, + props.getProperty(propPrefix + ".battery")); return Sysfs.existPath(path.toString()); } diff --git a/src/main/java/ev3dev/hardware/EV3DevPropertyLoader.java b/src/main/java/ev3dev/hardware/EV3DevPropertyLoader.java index 2b2d15af..8648defe 100644 --- a/src/main/java/ev3dev/hardware/EV3DevPropertyLoader.java +++ b/src/main/java/ev3dev/hardware/EV3DevPropertyLoader.java @@ -9,23 +9,28 @@ public class EV3DevPropertyLoader { private static final Logger LOGGER = LoggerFactory.getLogger(EV3DevPropertyLoader.class); - - private final Properties ev3DevProperties; - private static final String BUSTER_PROPERTY_FILENAME = "buster.properties"; private static final String STRETCH_PROPERTY_FILENAME = "stretch.properties"; private static final String JESSIE_PROPERTY_FILENAME = "jessie.properties"; + private final Properties ev3DevProperties; /** * Constructor */ public EV3DevPropertyLoader() { - String propertyName = switch (EV3DevDistros.getInstance().getDistro()) { - case BUSTER -> BUSTER_PROPERTY_FILENAME; - case JESSIE -> JESSIE_PROPERTY_FILENAME; - default -> STRETCH_PROPERTY_FILENAME; - }; + String propertyName; + switch (EV3DevDistros.getInstance().getDistro()) { + case BUSTER: + propertyName = BUSTER_PROPERTY_FILENAME; + break; + case JESSIE: + propertyName = JESSIE_PROPERTY_FILENAME; + break; + default: + propertyName = STRETCH_PROPERTY_FILENAME; + break; + } try { Properties prop = new Properties(); @@ -39,6 +44,7 @@ public EV3DevPropertyLoader() { /** * Return the properties + * * @return Properties */ public Properties getEV3DevProperties() { diff --git a/src/main/java/ev3dev/hardware/EV3DevSensorDevice.java b/src/main/java/ev3dev/hardware/EV3DevSensorDevice.java index 17e63ae3..758e96d9 100644 --- a/src/main/java/ev3dev/hardware/EV3DevSensorDevice.java +++ b/src/main/java/ev3dev/hardware/EV3DevSensorDevice.java @@ -55,7 +55,7 @@ protected EV3DevSensorDevice(final Port portName, final String mode, final Strin * Constructor used for some Analog Sensors like EV3 Touch Sensors * * @param portName Port - * @param mode Mode + * @param mode Mode */ protected EV3DevSensorDevice(final Port portName, final String mode) { diff --git a/src/main/java/ev3dev/hardware/display/BitFramebuffer.java b/src/main/java/ev3dev/hardware/display/BitFramebuffer.java index fff4b6aa..d7755e34 100644 --- a/src/main/java/ev3dev/hardware/display/BitFramebuffer.java +++ b/src/main/java/ev3dev/hardware/display/BitFramebuffer.java @@ -6,9 +6,7 @@ import java.awt.image.BufferedImage; -import static ev3dev.utils.io.NativeConstants.FB_TYPE_PACKED_PIXELS; -import static ev3dev.utils.io.NativeConstants.FB_VISUAL_MONO01; -import static ev3dev.utils.io.NativeConstants.FB_VISUAL_MONO10; +import static ev3dev.utils.io.NativeConstants.*; /** * Linux black-and-white 1bpp framebuffer @@ -21,7 +19,7 @@ public class BitFramebuffer extends LinuxFramebuffer { /** * Create and initialize new Linux 1bpp framebuffer. * - * @param fb The framebuffer device (e.g. /dev/fb0) + * @param fb The framebuffer device (e.g. /dev/fb0) * @param disp Display manager (e.g. /dev/tty) */ public BitFramebuffer(NativeFramebuffer fb, DisplayInterface disp) diff --git a/src/main/java/ev3dev/hardware/display/DisplayInterface.java b/src/main/java/ev3dev/hardware/display/DisplayInterface.java index 84f477f8..848dddc6 100644 --- a/src/main/java/ev3dev/hardware/display/DisplayInterface.java +++ b/src/main/java/ev3dev/hardware/display/DisplayInterface.java @@ -78,8 +78,9 @@ protected void closeFramebuffer() { /** * Initialize new internal instance of JavaFramebuffer. + * * @param backend Device behind JavaFramebuffer. - * @param enable Whether to enable framebuffer flushing from the beginning. + * @param enable Whether to enable framebuffer flushing from the beginning. */ protected void initializeFramebuffer(@NonNull NativeFramebuffer backend, boolean enable) { try { diff --git a/src/main/java/ev3dev/hardware/display/ImageUtils.java b/src/main/java/ev3dev/hardware/display/ImageUtils.java index 3a738e2e..100c5b96 100644 --- a/src/main/java/ev3dev/hardware/display/ImageUtils.java +++ b/src/main/java/ev3dev/hardware/display/ImageUtils.java @@ -3,17 +3,9 @@ import lombok.NonNull; import lombok.extern.slf4j.Slf4j; -import java.awt.Transparency; +import java.awt.*; import java.awt.color.ColorSpace; -import java.awt.image.BufferedImage; -import java.awt.image.ComponentColorModel; -import java.awt.image.DataBuffer; -import java.awt.image.DataBufferByte; -import java.awt.image.IndexColorModel; -import java.awt.image.MultiPixelPackedSampleModel; -import java.awt.image.PixelInterleavedSampleModel; -import java.awt.image.Raster; -import java.awt.image.WritableRaster; +import java.awt.image.*; /** * Common image utilities for framebuffer manipulation @@ -83,13 +75,13 @@ public static BufferedImage createXRGBImage( // initialize buffer <-> samples bridge PixelInterleavedSampleModel sm = new PixelInterleavedSampleModel( - DataBuffer.TYPE_BYTE, width, height, - 4, stride, offsets); + DataBuffer.TYPE_BYTE, width, height, + 4, stride, offsets); // initialize color interpreter ColorSpace spc = ColorSpace.getInstance(ColorSpace.CS_sRGB); ComponentColorModel cm = new ComponentColorModel(spc, true, false, - Transparency.OPAQUE, DataBuffer.TYPE_BYTE); + Transparency.OPAQUE, DataBuffer.TYPE_BYTE); // create raster WritableRaster wr = Raster.createWritableRaster(sm, db, null); @@ -173,9 +165,9 @@ public static BufferedImage createBWImage( // initialize buffer <-> sample mapping MultiPixelPackedSampleModel packing = - new MultiPixelPackedSampleModel(DataBuffer.TYPE_BYTE, - width, height, - 1, stride, 0); + new MultiPixelPackedSampleModel(DataBuffer.TYPE_BYTE, + width, height, + 1, stride, 0); // initialize raster WritableRaster wr = Raster.createWritableRaster(packing, db, null); diff --git a/src/main/java/ev3dev/hardware/display/LinuxFramebuffer.java b/src/main/java/ev3dev/hardware/display/LinuxFramebuffer.java index 45a4534d..4083e369 100644 --- a/src/main/java/ev3dev/hardware/display/LinuxFramebuffer.java +++ b/src/main/java/ev3dev/hardware/display/LinuxFramebuffer.java @@ -7,8 +7,7 @@ import lombok.NonNull; import lombok.extern.slf4j.Slf4j; -import java.awt.Color; -import java.awt.Graphics2D; +import java.awt.*; import java.awt.image.BufferedImage; /** @@ -226,7 +225,7 @@ public Pointer getMemory() { * @see LinuxFramebuffer#getMemory() for memory pointer. */ public long getBufferSize() { - return getHeight() * getStride(); + return (long) getHeight() * getStride(); } /** diff --git a/src/main/java/ev3dev/hardware/display/OwnedDisplay.java b/src/main/java/ev3dev/hardware/display/OwnedDisplay.java index 557fb297..0c54c4eb 100644 --- a/src/main/java/ev3dev/hardware/display/OwnedDisplay.java +++ b/src/main/java/ev3dev/hardware/display/OwnedDisplay.java @@ -9,13 +9,7 @@ import java.io.IOException; -import static ev3dev.utils.io.NativeConstants.KD_GRAPHICS; -import static ev3dev.utils.io.NativeConstants.KD_TEXT; -import static ev3dev.utils.io.NativeConstants.K_OFF; -import static ev3dev.utils.io.NativeConstants.O_RDWR; -import static ev3dev.utils.io.NativeConstants.SIGUSR2; -import static ev3dev.utils.io.NativeConstants.VT_AUTO; -import static ev3dev.utils.io.NativeConstants.VT_PROCESS; +import static ev3dev.utils.io.NativeConstants.*; /** *

System console manager.

diff --git a/src/main/java/ev3dev/hardware/display/StolenDisplay.java b/src/main/java/ev3dev/hardware/display/StolenDisplay.java index d4d502cc..415c237d 100644 --- a/src/main/java/ev3dev/hardware/display/StolenDisplay.java +++ b/src/main/java/ev3dev/hardware/display/StolenDisplay.java @@ -1,8 +1,8 @@ package ev3dev.hardware.display; +import ev3dev.utils.Brickman; import ev3dev.utils.io.ILibc; import ev3dev.utils.io.NativeFramebuffer; -import ev3dev.utils.Brickman; import lombok.NonNull; import lombok.extern.slf4j.Slf4j; diff --git a/src/main/java/ev3dev/hardware/display/spi/FramebufferProvider.java b/src/main/java/ev3dev/hardware/display/spi/FramebufferProvider.java index e2225d3b..53c691c1 100644 --- a/src/main/java/ev3dev/hardware/display/spi/FramebufferProvider.java +++ b/src/main/java/ev3dev/hardware/display/spi/FramebufferProvider.java @@ -48,7 +48,7 @@ static JavaFramebuffer load(@NonNull NativeFramebuffer fb, DisplayInterface disp try (PrintStream chos = new PrintStream(bos)) { e.printStackTrace(chos); } - LOGGER.warn(new String(bos.toByteArray(), StandardCharsets.UTF_8)); + LOGGER.warn(bos.toString(StandardCharsets.UTF_8)); } } LOGGER.error("All framebuffer implementations failed"); @@ -64,6 +64,6 @@ static JavaFramebuffer load(@NonNull NativeFramebuffer fb, DisplayInterface disp * @throws LastErrorException When there was an error accessing the device. */ JavaFramebuffer createFramebuffer(@NonNull NativeFramebuffer fb, DisplayInterface disp) - throws LastErrorException, IllegalArgumentException; + throws LastErrorException, IllegalArgumentException; } diff --git a/src/main/java/ev3dev/hardware/package-info.java b/src/main/java/ev3dev/hardware/package-info.java index 06e8d2ee..0fd30973 100644 --- a/src/main/java/ev3dev/hardware/package-info.java +++ b/src/main/java/ev3dev/hardware/package-info.java @@ -1,9 +1,8 @@ /** * Classes used to interact with low level objects in a Device supported by EV3Dev. - * + *

* This package handles the concept about a Input/Output Device. * A Device could be a Motor or a Sensor, but not every device is supported for all Supported platforms on EV3Dev. * Besides, it is possible that in Runtime a Device is not detected on EV3Dev. - * */ -package ev3dev.hardware; \ No newline at end of file +package ev3dev.hardware; diff --git a/src/main/java/ev3dev/robotics/tts/Espeak.java b/src/main/java/ev3dev/robotics/tts/Espeak.java index b92252a4..cbae5811 100644 --- a/src/main/java/ev3dev/robotics/tts/Espeak.java +++ b/src/main/java/ev3dev/robotics/tts/Espeak.java @@ -9,16 +9,13 @@ */ public class Espeak { - private static final Logger log = LoggerFactory.getLogger(Espeak.class); - - private static final String ESPEAK = "espeak"; - private static final String CMD_APLAY = "aplay"; - public static final String VOICE_ENGLISH = "en"; public static final String VOICE_SPANISH = "es"; public static final int DEFAULT_SPEED_READING = 105; public static final int DEFAULT_PITCH = 60; - + private static final Logger log = LoggerFactory.getLogger(Espeak.class); + private static final String ESPEAK = "espeak"; + private static final String CMD_APLAY = "aplay"; private String voice = null; private int volume = -1; private int speedReading = -1; @@ -68,12 +65,12 @@ private void build() { if (this.speedReading != -1) { sb.append(" -s ").append(this.speedReading); } else { - sb.append(" -s ").append(this.DEFAULT_SPEED_READING); + sb.append(" -s ").append(DEFAULT_SPEED_READING); } if (this.pitch != -1) { sb.append(" -p ").append(this.pitch); } else { - sb.append(" -p ").append(this.DEFAULT_PITCH); + sb.append(" -p ").append(DEFAULT_PITCH); } //TODO Refactor if (message != null) { diff --git a/src/main/java/ev3dev/sensors/BaseSensor.java b/src/main/java/ev3dev/sensors/BaseSensor.java index d35a636e..163e7ae4 100644 --- a/src/main/java/ev3dev/sensors/BaseSensor.java +++ b/src/main/java/ev3dev/sensors/BaseSensor.java @@ -14,16 +14,16 @@ public class BaseSensor extends EV3DevSensorDevice implements SensorModes { public static final int SWITCH_DELAY = 400; - private ArrayList modeList; protected int currentMode = 0; protected SensorMode[] modes; + private ArrayList modeList; /** * Constructor * * @param sensorPort sensorPort - * @param mode mode - * @param device device + * @param mode mode + * @param device device */ public BaseSensor(final Port sensorPort, final String mode, final String device) { super(sensorPort, mode, device); @@ -33,7 +33,7 @@ public BaseSensor(final Port sensorPort, final String mode, final String device) * Constructor * * @param sensorPort sensorPort - * @param mode mode + * @param mode mode */ public BaseSensor(final Port sensorPort, final String mode) { super(sensorPort, mode); @@ -41,6 +41,7 @@ public BaseSensor(final Port sensorPort, final String mode) { /** * Define the set of modes to be made available for this sensors. + * * @param m An array containing a list of modes */ protected void setModes(SensorMode[] m) { @@ -137,6 +138,10 @@ public void fetchSample(float[] sample, int offset) { modes[currentMode].fetchSample(sample, offset); } + public int getCurrentMode() { + return currentMode; + } + /** * Set the current SensorMode index. * @@ -154,11 +159,6 @@ public void setCurrentMode(int mode) { } } - - public int getCurrentMode() { - return currentMode; - } - /** * Set the current SensorMode name. * @@ -208,7 +208,7 @@ private void setSystemMode(String mode) { * sensor is switching to. * See {@link GenericMode#fetchSample(float[], int)}

* - * @param newMode Identifier of the sensor mode (not its name). + * @param newMode Identifier of the sensor mode (not its name). * @param switchDelay Delay until the sensor starts sending new data. */ public void switchMode(String newMode, long switchDelay) { diff --git a/src/main/java/ev3dev/sensors/Battery.java b/src/main/java/ev3dev/sensors/Battery.java index 55c0c225..a75ff1e6 100644 --- a/src/main/java/ev3dev/sensors/Battery.java +++ b/src/main/java/ev3dev/sensors/Battery.java @@ -18,34 +18,17 @@ public class Battery extends EV3DevDevice implements Power { private static final Logger LOGGER = LoggerFactory.getLogger(Battery.class); - + private static Battery instance; private final String BATTERY; private final String BATTERY_EV3; private final String BATTERY_PISTORMS; private final String BATTERY_BRICKPI; private final String BATTERY_BRICKPI3; - - private String BATTERY_PATH; private final String VOLTAGE = "voltage_now"; private final String CURRENT = "current_now"; - + private final String BATTERY_PATH; private String BATTERY_PATH_LOCAL = ""; - private static Battery instance; - - /** - * Get a singleton Battery object - * - * @return Battery - */ - public static Battery getInstance() { - //TODO Refactor - if (instance == null) { - instance = new Battery(); - } - return instance; - } - // Prevent duplicate objects private Battery() { @@ -70,6 +53,19 @@ private Battery() { } } + /** + * Get a singleton Battery object + * + * @return Battery + */ + public static Battery getInstance() { + //TODO Refactor + if (instance == null) { + instance = new Battery(); + } + return instance; + } + @Override public int getVoltageMilliVolt() { return (int) Sysfs.readFloat(BATTERY_PATH_LOCAL + "/" + VOLTAGE) / 1000; diff --git a/src/main/java/ev3dev/sensors/Button.java b/src/main/java/ev3dev/sensors/Button.java index 935544fa..6cf9c385 100644 --- a/src/main/java/ev3dev/sensors/Button.java +++ b/src/main/java/ev3dev/sensors/Button.java @@ -28,8 +28,6 @@ */ public class Button { - private static final Logger log = org.slf4j.LoggerFactory.getLogger(Button.class); - /** * The Enter button. */ @@ -54,7 +52,7 @@ public class Button { * The Down button. */ public static final Key DOWN = new EV3Key(EV3Key.BUTTON_DOWN); - + private static final Logger log = org.slf4j.LoggerFactory.getLogger(Button.class); private static final Key ALL = new EV3Key(EV3Key.BUTTON_ALL); //public static final Keys keys = BrickFinder.getDefault().getKeys(); @@ -91,7 +89,7 @@ public static int waitForAnyEvent(int timeout) { * * @param timeout The maximum number of milliseconds to wait * @return the ID of the button that has been pressed or in rare cases a - * bitmask of button IDs, 0 if the given timeout is reached + * bitmask of button IDs, 0 if the given timeout is reached */ public static int waitForAnyPress(int timeout) { ALL.waitForPress(); diff --git a/src/main/java/ev3dev/sensors/EV3Key.java b/src/main/java/ev3dev/sensors/EV3Key.java index 24ff4835..58bc954e 100644 --- a/src/main/java/ev3dev/sensors/EV3Key.java +++ b/src/main/java/ev3dev/sensors/EV3Key.java @@ -9,13 +9,7 @@ import java.io.DataInputStream; import java.io.FileInputStream; import java.io.IOException; -import java.util.Arrays; -import java.util.HashMap; -import java.util.Map; -import java.util.Objects; -import java.util.Optional; -import java.util.Properties; -import java.util.Set; +import java.util.*; import java.util.concurrent.CopyOnWriteArraySet; import java.util.function.BiConsumer; import java.util.stream.Collectors; @@ -51,10 +45,11 @@ public class EV3Key implements Key { private static final int EVENT_BUFFER_LEN = 16; private static final int KEY_ID_INDEX = 10; // one of the BUTTON_* values private static final int KEY_STATE_INDEX = 12; // 1 for down, 0 for up - + // a single ever-running (or waiting) thread keeping track of the currently pressed/released buttons + private static final Thread keyEventReader; // a bit-wise OR of the MASK_* bits above (except for MASK_ALL) depending on which keys are currently pressed private static byte keyBits = 0; - private static Map> keyListeners = new HashMap<>(KeyType.values().length); + private static final Map> keyListeners = new HashMap<>(KeyType.values().length); static { Arrays.stream(KeyType.values()).forEach((type) -> keyListeners.put( @@ -62,9 +57,6 @@ public class EV3Key implements Key { // the CopyOfWriteArraySet will spare us a lot of hussle with thread safety } - // a single ever-running (or waiting) thread keeping track of the currently pressed/released buttons - private static final Thread keyEventReader; - static { keyEventReader = new Thread(() -> { final byte[] event = new byte[EVENT_BUFFER_LEN]; @@ -97,54 +89,7 @@ public class EV3Key implements Key { keyEventReader.start(); // non-blocking call to start the thread } - // package-private such that it's visible from test - enum KeyType { - UP("UP", BUTTON_UP, Keys.ID_UP), // notice that the Keys.ID_* are single bit masks (verified in unit test) - DOWN("DOWN", BUTTON_DOWN, Keys.ID_DOWN), - LEFT("LEFT", BUTTON_LEFT, Keys.ID_LEFT), - RIGHT("RIGHT", BUTTON_RIGHT, Keys.ID_RIGHT), - ENTER("ENTER", BUTTON_ENTER, Keys.ID_ENTER), - ESCAPE("ESCAPE", BUTTON_ESCAPE, Keys.ID_ESCAPE), - ALL("ALL", BUTTON_ALL, 0xff); - // the 0xff must cover all bits of individual keys above (verified in unit tests) - - private static final Map LOOKUP = Arrays.stream(KeyType.values()) - .collect(Collectors.toMap(KeyType::getId, (keyType) -> keyType)); - - private final String name; - private final byte id; - private final byte bitMask; - - KeyType(final String name, final int id, final int bitMask) { - this.name = name; - this.id = (byte) id; - this.bitMask = (byte) bitMask; - } - - public static KeyType of(final int id) { - return Optional.ofNullable(LOOKUP.get((byte) id)) - .orElseThrow(() -> new IllegalArgumentException( - String.format("No such keyType (%d), please use one of the EV3Key.BUTTON_* constants", id))); - } - - public String getName() { - return name; - } - - public byte getId() { - return id; - } - - public byte getBitMask() { - return this.bitMask; - } - - public boolean isPressed() { - return (KeyType.ALL == this ? (keyBits > 0) : ((keyBits & this.bitMask) > 0)); - } - } - - private KeyType keyType; + private final KeyType keyType; /** * Create an Instance of EV3Key. @@ -164,6 +109,39 @@ public EV3Key(final int id) { this(KeyType.of(id)); } + // package-private such that it's VisibleForTesting + static void processKeyEvent(final byte keyId, final byte keyState) { + final KeyType keyType = KeyType.of(keyId); + if (LOGGER.isTraceEnabled()) { + LOGGER.trace("KeyType {} {}", keyType.name, (keyState == 0 ? "released" : "pressed")); + } + + if (keyState == STATE_KEY_UP) { + keyBits ^= keyType.bitMask; // clearing the key bit + broadcastToListeners(keyType, KeyListener::keyReleased); + } else if (keyState == STATE_KEY_DOWN) { + keyBits |= keyType.bitMask; // setting the key bit + broadcastToListeners(keyType, KeyListener::keyPressed); + } else { + LOGGER.warn("Unexpected key state: " + keyState); + } + } + + // TODO: parhaps notify listeners in a separate Thread to avoid blocking the key event reader thread + // TODO: ... or not - Threads consume resources and notifying in a separate Thread + // also means the events may no longer come in correct order + private static void broadcastToListeners( + final KeyType keyType, final BiConsumer notificationMethod) { + + // key-specific listeners + keyListeners.get(keyType).forEach((listener) -> notificationMethod.accept(listener, new EV3Key(keyType))); + // all-key listeners + keyListeners.get(KeyType.ALL).forEach((listener) -> notificationMethod.accept(listener, new EV3Key(keyType))); + synchronized (keyEventReader) { + keyEventReader.notifyAll(); + } + } + /** * Returns the ID of this key. * @@ -302,36 +280,50 @@ public String toString() { return String.format("%s:%s", this.getClass().getSimpleName(), this.keyType.getName()); } - // package-private such that it's VisibleForTesting - static void processKeyEvent(final byte keyId, final byte keyState) { - final KeyType keyType = KeyType.of(keyId); - if (LOGGER.isTraceEnabled()) { - LOGGER.trace("KeyType {} {}", keyType.name, (keyState == 0 ? "released" : "pressed")); + // package-private such that it's visible from test + enum KeyType { + UP("UP", BUTTON_UP, Keys.ID_UP), // notice that the Keys.ID_* are single bit masks (verified in unit test) + DOWN("DOWN", BUTTON_DOWN, Keys.ID_DOWN), + LEFT("LEFT", BUTTON_LEFT, Keys.ID_LEFT), + RIGHT("RIGHT", BUTTON_RIGHT, Keys.ID_RIGHT), + ENTER("ENTER", BUTTON_ENTER, Keys.ID_ENTER), + ESCAPE("ESCAPE", BUTTON_ESCAPE, Keys.ID_ESCAPE), + ALL("ALL", BUTTON_ALL, 0xff); + // the 0xff must cover all bits of individual keys above (verified in unit tests) + + private static final Map LOOKUP = Arrays.stream(KeyType.values()) + .collect(Collectors.toMap(KeyType::getId, (keyType) -> keyType)); + + private final String name; + private final byte id; + private final byte bitMask; + + KeyType(final String name, final int id, final int bitMask) { + this.name = name; + this.id = (byte) id; + this.bitMask = (byte) bitMask; } - if (keyState == STATE_KEY_UP) { - keyBits ^= keyType.bitMask; // clearing the key bit - broadcastToListeners(keyType, KeyListener::keyReleased); - } else if (keyState == STATE_KEY_DOWN) { - keyBits |= keyType.bitMask; // setting the key bit - broadcastToListeners(keyType, KeyListener::keyPressed); - } else { - LOGGER.warn("Unexpected key state: " + keyState); + public static KeyType of(final int id) { + return Optional.ofNullable(LOOKUP.get((byte) id)) + .orElseThrow(() -> new IllegalArgumentException( + String.format("No such keyType (%d), please use one of the EV3Key.BUTTON_* constants", id))); } - } - // TODO: parhaps notify listeners in a separate Thread to avoid blocking the key event reader thread - // TODO: ... or not - Threads consume resources and notifying in a separate Thread - // also means the events may no longer come in correct order - private static void broadcastToListeners( - final KeyType keyType, final BiConsumer notificationMethod) { + public String getName() { + return name; + } - // key-specific listeners - keyListeners.get(keyType).forEach((listener) -> notificationMethod.accept(listener, new EV3Key(keyType))); - // all-key listeners - keyListeners.get(KeyType.ALL).forEach((listener) -> notificationMethod.accept(listener, new EV3Key(keyType))); - synchronized (keyEventReader) { - keyEventReader.notifyAll(); + public byte getId() { + return id; + } + + public byte getBitMask() { + return this.bitMask; + } + + public boolean isPressed() { + return (KeyType.ALL == this ? (keyBits > 0) : ((keyBits & this.bitMask) > 0)); } } } diff --git a/src/main/java/ev3dev/sensors/GenericMode.java b/src/main/java/ev3dev/sensors/GenericMode.java index 368b7d4c..f4432d1c 100644 --- a/src/main/java/ev3dev/sensors/GenericMode.java +++ b/src/main/java/ev3dev/sensors/GenericMode.java @@ -24,35 +24,36 @@ public class GenericMode implements SensorMode { /** * 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. + * @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); } /** * 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. - * @param correctMin Minimum value measured by the sensor. If the reading is lower, zero is returned. - * @param correctMax Maximum value measured by the sensor. If the reading is higher, positive infinity is returned. + * @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 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) { + final File pathDevice, + final int sampleSize, + final String modeName, + final float correctMin, + final float correctMax, + final float correctFactor) { this.pathDevice = pathDevice; this.sampleSize = sampleSize; this.modeName = modeName; diff --git a/src/main/java/ev3dev/sensors/ev3/EV3ColorSensor.java b/src/main/java/ev3dev/sensors/ev3/EV3ColorSensor.java index 22d43cc3..293cfe34 100644 --- a/src/main/java/ev3dev/sensors/ev3/EV3ColorSensor.java +++ b/src/main/java/ev3dev/sensors/ev3/EV3ColorSensor.java @@ -131,8 +131,7 @@ public boolean setFloodlight(int color) { * The sample contains one element containing the ID (0-7) of the detected color. * * @return A sampleProvider - * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} - * + * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} */ public SensorMode getColorIDMode() { switchMode(COL_COLOR, SWITCH_DELAY); @@ -147,7 +146,7 @@ public SensorMode getColorIDMode() { * The sample contains one element containing the intensity level (Normalized between 0 and 1) of reflected light. * * @return A sampleProvider - * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} + * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} */ public SensorMode getRedMode() { switchMode(COL_REFLECT, SWITCH_DELAY); @@ -162,7 +161,7 @@ public SensorMode getRedMode() { * The sample contains one element containing the intensity level (Normalized between 0 and 1) of ambient light. * * @return A sampleProvider - * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} + * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} */ public SensorMode getAmbientMode() { switchMode(COL_AMBIENT, SWITCH_DELAY); @@ -181,7 +180,7 @@ public SensorMode getAmbientMode() { * (Normalized between 0 and 1) of red, green and blue light respectivily. * * @return A sampleProvider - * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} + * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} */ public SensorMode getRGBMode() { switchMode(COL_RGBRAW, SWITCH_DELAY); diff --git a/src/main/java/ev3dev/sensors/ev3/EV3GyroSensor.java b/src/main/java/ev3dev/sensors/ev3/EV3GyroSensor.java index 28eab00f..0bf53ccc 100644 --- a/src/main/java/ev3dev/sensors/ev3/EV3GyroSensor.java +++ b/src/main/java/ev3dev/sensors/ev3/EV3GyroSensor.java @@ -61,7 +61,7 @@ public EV3GyroSensor(final Port portName) { * The sensor can be recalibrated using the reset method of the sensor. * * @return A sampleProvider - * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} + * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} */ public SampleProvider getRateMode() { switchMode(MODE_RATE, SWITCH_DELAY); @@ -80,7 +80,7 @@ public SampleProvider getRateMode() { * The start position can be set to the current position using the reset method of the sensors. * * @return A sampleProvider - * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} + * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} */ public SampleProvider getAngleMode() { switchMode(MODE_ANGLE, SWITCH_DELAY); @@ -99,7 +99,7 @@ public SampleProvider getAngleMode() { * The sensor can be recalibrated using the reset method of the sensor. * * @return A sampleProvider - * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} + * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} */ public SampleProvider getAngleAndRateMode() { switchMode(MODE_RATE_ANGLE, SWITCH_DELAY); diff --git a/src/main/java/ev3dev/sensors/ev3/EV3IRSensor.java b/src/main/java/ev3dev/sensors/ev3/EV3IRSensor.java index 7b9ece68..0cc48481 100644 --- a/src/main/java/ev3dev/sensors/ev3/EV3IRSensor.java +++ b/src/main/java/ev3dev/sensors/ev3/EV3IRSensor.java @@ -24,16 +24,13 @@ */ public class EV3IRSensor extends BaseSensor { + public static final int IR_CHANNELS = 4; private static final String LEGO_EV3_IR = "lego-ev3-ir"; - - public static float MIN_RANGE = 5f; //cm - public static float MAX_RANGE = 100f; //cm - private static final String MODE_DISTANCE = "IR-PROX"; private static final String MODE_SEEK = "IR-SEEK"; private static final String MODE_REMOTE = "IR-REMOTE"; - - public static final int IR_CHANNELS = 4; + public static float MIN_RANGE = 5f; //cm + public static float MAX_RANGE = 100f; //cm /** * Constructor @@ -62,8 +59,8 @@ public EV3IRSensor(final Port portName) { * Outside this range a zero is returned for low values and positive infinity for high values. * * @return A sampleProvider - * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} - * See Sensor Product page + * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} + * See Sensor Product page */ public SensorMode getDistanceMode() { switchMode(MODE_DISTANCE, SWITCH_DELAY); @@ -86,8 +83,8 @@ public SensorMode getDistanceMode() { * If no beacon is detected both bearing is set to zero, and distance to positive infinity. * * @return A sampleProvider - * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} - * See Sensor Product page + * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} + * See Sensor Product page */ public SensorMode getSeekMode() { switchMode(MODE_SEEK, SWITCH_DELAY); @@ -115,7 +112,7 @@ public SensorMode getSeekMode() { * 11 TOP-RIGHT + BOTTOM-RIGHT
* * @return A sampleProvider - * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} + * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} */ public SensorMode getRemoteMode() { switchMode(MODE_REMOTE, SWITCH_DELAY); diff --git a/src/main/java/ev3dev/sensors/ev3/EV3TouchSensor.java b/src/main/java/ev3dev/sensors/ev3/EV3TouchSensor.java index 73d08705..bb9fb7e2 100644 --- a/src/main/java/ev3dev/sensors/ev3/EV3TouchSensor.java +++ b/src/main/java/ev3dev/sensors/ev3/EV3TouchSensor.java @@ -42,7 +42,7 @@ public EV3TouchSensor(final Port portName) { *

* * @return A sampleProvider - * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} + * See {@link lejos.robotics.SampleProvider leJOS conventions for SampleProviders} */ public SensorMode getTouchMode() { return getMode(0); diff --git a/src/main/java/ev3dev/sensors/ev3/EV3UltrasonicSensor.java b/src/main/java/ev3dev/sensors/ev3/EV3UltrasonicSensor.java index 92b694f1..d37472df 100644 --- a/src/main/java/ev3dev/sensors/ev3/EV3UltrasonicSensor.java +++ b/src/main/java/ev3dev/sensors/ev3/EV3UltrasonicSensor.java @@ -33,13 +33,11 @@ public class EV3UltrasonicSensor extends BaseSensor { private static final String LEGO_EV3_US = "lego-ev3-us"; - - public static float MIN_RANGE = 5f; //cm - public static float MAX_RANGE = 255f; //cm - private static final String MODE_DISTANCE = "US-DIST-CM"; private static final String MODE_LISTEN = "US-LISTEN"; private static final String MODE_SINGLE_MEASURE = "US-SI-CM"; + public static float MIN_RANGE = 5f; //cm + public static float MAX_RANGE = 255f; //cm /** @@ -114,7 +112,7 @@ public void disable() { * Indicate that the sensors is enabled. * * @return True, when the sensors is enabled.
- * False, when the sensors is disabled. + * False, when the sensors is disabled. */ public boolean isEnabled() { return !Objects.equals(this.getSystemMode(), MODE_SINGLE_MEASURE); diff --git a/src/main/java/ev3dev/sensors/ev3/package-info.java b/src/main/java/ev3dev/sensors/ev3/package-info.java index ba9bccea..35179dc7 100644 --- a/src/main/java/ev3dev/sensors/ev3/package-info.java +++ b/src/main/java/ev3dev/sensors/ev3/package-info.java @@ -1,7 +1,6 @@ /** - * This package includes a set of classes to manage Sensor included in: + * This package includes a set of classes to manage Sensor included in: * 45544-lego-mindstorms-education-ev3-core-set * 31313-mindstorms-ev3 - * */ -package ev3dev.sensors.ev3; \ No newline at end of file +package ev3dev.sensors.ev3; diff --git a/src/main/java/ev3dev/sensors/mindsensors/AbsoluteIMU.java b/src/main/java/ev3dev/sensors/mindsensors/AbsoluteIMU.java index 51368b19..c034f37c 100644 --- a/src/main/java/ev3dev/sensors/mindsensors/AbsoluteIMU.java +++ b/src/main/java/ev3dev/sensors/mindsensors/AbsoluteIMU.java @@ -85,15 +85,12 @@ */ public class AbsoluteIMU extends BaseSensor { - private static final String MINDSENSORS_ABSOLUTEIMU = "ms-absolute-imu 0x11"; - //MODES public static final String MODE_TILT = "TILT"; public static final String MODE_ACCELEROMETER = "ACCEL"; public static final String MODE_COMPASS = "COMPASS"; public static final String MODE_MAGNETIC = "MAG"; public static final String MODE_GYRO = "GYRO"; - //COMMANDS public static final String START_CALIBRATION = "BEGIN-COMP-CAL"; public static final String END_CALIBRATION = "END-COMP-CAL"; @@ -105,9 +102,9 @@ public class AbsoluteIMU extends BaseSensor { public static final String SET_ACCELERATION_4G = "ACCEL-4G"; public static final String SET_ACCELERATION_8G = "ACCEL-8G"; public static final String SET_ACCELERATION_16G = "ACCEL-16G"; - //I2C Register public static final int GYRO_FILTER = 0x5a; + private static final String MINDSENSORS_ABSOLUTEIMU = "ms-absolute-imu 0x11"; /** * Constructor diff --git a/src/main/java/ev3dev/sensors/mindsensors/NXTCamV5.java b/src/main/java/ev3dev/sensors/mindsensors/NXTCamV5.java index b539e768..c03ab289 100644 --- a/src/main/java/ev3dev/sensors/mindsensors/NXTCamV5.java +++ b/src/main/java/ev3dev/sensors/mindsensors/NXTCamV5.java @@ -15,57 +15,51 @@ */ public class NXTCamV5 extends BaseSensor { - private static final String MINDSENSORS_NXTCAMV5 = "ms-nxtcam5 0x01"; - - //MODES - /** * Used by setTrackingMode() to choose object tracking. */ public static final String OBJECT_TRACKING = "TRACK-OBJ"; + //MODES /** * Used by setTrackingMode() to choose face tracking. */ public static final String FACE_TRACKING = "TRACK-FACE"; - /** * Used by setTrackingMode() to choose eye tracking. */ public static final String EYE_TRACKING = "TRACK-EYE"; - /** * Used by setTrackingMode() to choose line tracking. */ public static final String LINE_TRACKING = "TRACK-LINE"; - - private final Set trackingAllowedModeList = new HashSet<>( - Arrays.asList(OBJECT_TRACKING, FACE_TRACKING, EYE_TRACKING, LINE_TRACKING)); - - //CAPABILITIES - /** * Used to record a short video */ public static final String TAKE_VIDEO = "MOVIE"; - /** * Used to take a snapshot */ public static final String TAKE_PHOTO = "PICTURE"; - private void initModes() { - this.setStringAttribute("mode", "TRACK"); - setModes(new SensorMode[]{}); - } + //CAPABILITIES + private static final String MINDSENSORS_NXTCAMV5 = "ms-nxtcam5 0x01"; + private final Set trackingAllowedModeList = new HashSet<>( + Arrays.asList(OBJECT_TRACKING, FACE_TRACKING, EYE_TRACKING, LINE_TRACKING)); public NXTCamV5(final Port portName) { super(portName, LEGO_I2C, MINDSENSORS_NXTCAMV5); this.initModes(); } + private void initModes() { + this.setStringAttribute("mode", "TRACK"); + setModes(new SensorMode[]{}); + } + /** * Choose either object or line tracking mode. + * * @param mode Use either OBJECT_TRACKING or LINE_TRACKING */ public void setTrackingMode(final String mode) { @@ -78,6 +72,7 @@ public void setTrackingMode(final String mode) { /** * Send a single byte command represented by a letter + * * @param cmd the letter that identifies the command */ public void sendCommand(final String cmd) { @@ -128,10 +123,10 @@ public Rectangle2D getRectangle(final int id) { //TODO, At the moment, the EV3Dev API only returns the first object. //It is necessary to research the I2C register to get more rectangles return new RectangleInt32( - this.getIntegerAttribute("value2"), - this.getIntegerAttribute("value3"), - this.getIntegerAttribute("value4") - this.getIntegerAttribute("value2"), - this.getIntegerAttribute("value5") - this.getIntegerAttribute("value3") + this.getIntegerAttribute("value2"), + this.getIntegerAttribute("value3"), + this.getIntegerAttribute("value4") - this.getIntegerAttribute("value2"), + this.getIntegerAttribute("value5") - this.getIntegerAttribute("value3") ); } diff --git a/src/main/java/ev3dev/sensors/mindsensors/package-info.java b/src/main/java/ev3dev/sensors/mindsensors/package-info.java index fe3a4311..26d0c098 100644 --- a/src/main/java/ev3dev/sensors/mindsensors/package-info.java +++ b/src/main/java/ev3dev/sensors/mindsensors/package-info.java @@ -1,8 +1,7 @@ /** * This package includes a set of classes to manage Sensors by Mindsensors: - * + *

* Absolute IMU * NXTCamV5 - * */ -package ev3dev.sensors.mindsensors; \ No newline at end of file +package ev3dev.sensors.mindsensors; diff --git a/src/main/java/ev3dev/sensors/nxt/NXTSoundSensor.java b/src/main/java/ev3dev/sensors/nxt/NXTSoundSensor.java index 1a1d303c..ae3fe61f 100644 --- a/src/main/java/ev3dev/sensors/nxt/NXTSoundSensor.java +++ b/src/main/java/ev3dev/sensors/nxt/NXTSoundSensor.java @@ -39,6 +39,33 @@ public SampleProvider getDBAMode() { return getMode(0); } + /** + * Helper method. Take a voltage and return it as a normalized value in the + * range 0.0-1.0 + * + * @param val input value + * @return normalized value + */ + protected float normalize(float val) { + return val / EV3SensorConstants.ADC_REF; + } + + /** + * Switch to the selected type (if not already in that type) and delay for the + * specified period to allow the sensor to settle in the new state.
+ * NOTE: This method is intended for use with NXT sensor drivers that use a + * sensor type to specify the operating mode. + * + * @param newType The type to switch to. + * @param switchDelay Time in mS to delay after the switch. + */ + protected void switchType(int newType, long switchDelay) { + if (currentType != newType) { + currentType = newType; + Delay.msDelay(switchDelay); + } + } + private class DBMode implements SensorMode { @Override @@ -78,31 +105,4 @@ public String getName() { return "Sound-DBA"; } } - - /** - * Helper method. Take a voltage and return it as a normalized value in the - * range 0.0-1.0 - * - * @param val input value - * @return normalized value - */ - protected float normalize(float val) { - return val / EV3SensorConstants.ADC_REF; - } - - /** - * Switch to the selected type (if not already in that type) and delay for the - * specified period to allow the sensor to settle in the new state.
- * NOTE: This method is intended for use with NXT sensor drivers that use a - * sensor type to specify the operating mode. - * - * @param newType The type to switch to. - * @param switchDelay Time in mS to delay after the switch. - */ - protected void switchType(int newType, long switchDelay) { - if (currentType != newType) { - currentType = newType; - Delay.msDelay(switchDelay); - } - } } diff --git a/src/main/java/ev3dev/sensors/nxt/NXTTemperatureSensor.java b/src/main/java/ev3dev/sensors/nxt/NXTTemperatureSensor.java index 55f94879..c578b05c 100644 --- a/src/main/java/ev3dev/sensors/nxt/NXTTemperatureSensor.java +++ b/src/main/java/ev3dev/sensors/nxt/NXTTemperatureSensor.java @@ -3,24 +3,22 @@ import ev3dev.sensors.BaseSensor; import ev3dev.sensors.GenericMode; import ev3dev.utils.Sysfs; -import java.io.File; import lejos.hardware.port.Port; import lejos.hardware.sensor.SensorMode; import lejos.robotics.SampleProvider; +import java.io.File; + public class NXTTemperatureSensor extends BaseSensor { private static final String LEGO_NXT_TEMP = "lego-nxt-temp"; - + private static final String MODE_CELSIUS = "NXT-TEMP-C"; + private static final String MODE_FAHRENHEIT = "NXT-TEMP-F"; public static float CELSIUS_MIN_RANGE = -550f; //celsius degrees public static float CELSIUS_MAX_RANGE = 1280f; //celsius degrees - public static float FAHRENHEIT_MIN_RANGE = -670f; //fahrenheit degrees public static float FAHRENHEIT_MAX_RANGE = 2624f; //fahrenheit degrees - private static final String MODE_CELSIUS = "NXT-TEMP-C"; - private static final String MODE_FAHRENHEIT = "NXT-TEMP-F"; - /** * Constructor * diff --git a/src/main/java/ev3dev/sensors/package-info.java b/src/main/java/ev3dev/sensors/package-info.java index 8a164756..ad90e4fb 100644 --- a/src/main/java/ev3dev/sensors/package-info.java +++ b/src/main/java/ev3dev/sensors/package-info.java @@ -1,5 +1,4 @@ /** * This package includes a set of classes to manage Sensor - * */ -package ev3dev.sensors; \ No newline at end of file +package ev3dev.sensors; diff --git a/src/main/java/ev3dev/utils/Brickman.java b/src/main/java/ev3dev/utils/Brickman.java index b281a4e5..a81f5cba 100644 --- a/src/main/java/ev3dev/utils/Brickman.java +++ b/src/main/java/ev3dev/utils/Brickman.java @@ -2,8 +2,7 @@ import lombok.extern.slf4j.Slf4j; -import java.awt.Graphics2D; -import java.awt.Rectangle; +import java.awt.*; import java.awt.image.BufferedImage; import java.io.IOException; @@ -35,6 +34,7 @@ private static void restoreBrickman() { /** * Draw Duke. + * * @param gfx Required context to draw an image. */ public static void drawJavaLogo(Graphics2D gfx) { diff --git a/src/main/java/ev3dev/utils/DataChannelRereader.java b/src/main/java/ev3dev/utils/DataChannelRereader.java index 2ba369f6..9f3ac2a1 100644 --- a/src/main/java/ev3dev/utils/DataChannelRereader.java +++ b/src/main/java/ev3dev/utils/DataChannelRereader.java @@ -23,7 +23,7 @@ public class DataChannelRereader implements Closeable { /** * Create a DataChannelRereader for path with a bufferLength byte buffer * - * @param path path to the file to reread + * @param path path to the file to reread * @param bufferLength length of the buffer to hold the structure * @throws IOException when things go wrong */ @@ -40,7 +40,7 @@ public DataChannelRereader(Path path, int bufferLength) throws IOException { * @throws IOException when things go wrong */ public DataChannelRereader(String pathString) throws IOException { - this(Paths.get(pathString),32); + this(Paths.get(pathString), 32); } /** diff --git a/src/main/java/ev3dev/utils/Interpolation.java b/src/main/java/ev3dev/utils/Interpolation.java index 7339ab9d..93407ead 100644 --- a/src/main/java/ev3dev/utils/Interpolation.java +++ b/src/main/java/ev3dev/utils/Interpolation.java @@ -6,7 +6,7 @@ public class Interpolation { * Method implemented with the ideas from: * http://wwwprof.uniandes.edu.co/~gprieto/classes/compufis/interpolacion.pdf * - * @param x parameter + * @param x parameter * @param x0 parameter * @param x1 parameter * @param y0 parameter @@ -14,11 +14,11 @@ public class Interpolation { * @return result from interpolation */ public static float interpolate( - float x, - float x0, - float x1, - float y0, - float y1) { + float x, + float x0, + float x1, + float y0, + float y1) { return y0 + ((x - x0) * ((y1 - y0) / (x1 - x0))); } diff --git a/src/main/java/ev3dev/utils/JarResource.java b/src/main/java/ev3dev/utils/JarResource.java index f16305a4..f9f043ea 100644 --- a/src/main/java/ev3dev/utils/JarResource.java +++ b/src/main/java/ev3dev/utils/JarResource.java @@ -4,12 +4,7 @@ import javax.imageio.ImageIO; import java.awt.image.BufferedImage; -import java.io.ByteArrayOutputStream; -import java.io.File; -import java.io.FileOutputStream; -import java.io.IOException; -import java.io.InputStream; -import java.io.OutputStream; +import java.io.*; import java.nio.file.Files; import java.nio.file.Paths; @@ -75,8 +70,8 @@ public static String export(final String resourceName) throws IOException { String jarFolder; try { jarFolder = new File(JarResource.class.getProtectionDomain() - .getCodeSource().getLocation().toURI().getPath()) - .getParentFile().getPath().replace('\\', '/'); + .getCodeSource().getLocation().toURI().getPath()) + .getParentFile().getPath().replace('\\', '/'); } catch (Exception e) { throw new RuntimeException("Cannot parse JAR folder", e); } diff --git a/src/main/java/ev3dev/utils/PilotProps.java b/src/main/java/ev3dev/utils/PilotProps.java index 31bde253..8795884c 100644 --- a/src/main/java/ev3dev/utils/PilotProps.java +++ b/src/main/java/ev3dev/utils/PilotProps.java @@ -24,6 +24,25 @@ public class PilotProps extends Properties { public static final String KEY_RIGHTMOTOR = "rightMotor"; public static final String KEY_REVERSE = "reverse"; + /** + * Utility method to get Motor instance from string (A, B or C) + */ + public static RegulatedMotor getMotor(String motor) { + + if (motor.equals("A")) { + return Motor.A; + } else if (motor.equals("B")) { + return Motor.B; + } else if (motor.equals("C")) { + return Motor.C; + } else if (motor.equals("D")) { + return Motor.D; + } else { + //TODO Review this case. + return null; + } + } + /** * Method to load values from file * @@ -49,23 +68,4 @@ public void storePersistentValues() throws IOException { } } - /** - * Utility method to get Motor instance from string (A, B or C) - */ - public static RegulatedMotor getMotor(String motor) { - - if (motor.equals("A")) { - return Motor.A; - } else if (motor.equals("B")) { - return Motor.B; - } else if (motor.equals("C")) { - return Motor.C; - } else if (motor.equals("D")) { - return Motor.D; - } else { - //TODO Review this case. - return null; - } - } - } diff --git a/src/main/java/ev3dev/utils/Sysfs.java b/src/main/java/ev3dev/utils/Sysfs.java index a7ae339e..c14333e7 100644 --- a/src/main/java/ev3dev/utils/Sysfs.java +++ b/src/main/java/ev3dev/utils/Sysfs.java @@ -1,5 +1,7 @@ package ev3dev.utils; +import lombok.extern.slf4j.Slf4j; + import java.io.File; import java.io.IOException; import java.io.PrintWriter; @@ -10,14 +12,12 @@ import java.util.ArrayList; import java.util.Arrays; import java.util.List; -import lombok.extern.slf4j.Slf4j; /** * The class responsible to interact with Sysfs on EV3Dev * * @author Juan Antonio Breña Moral * @author David Walend - * */ @Slf4j public class Sysfs { @@ -54,7 +54,7 @@ public static boolean writeString(final String filePath, final String value) { } public static boolean writeInteger(final String filePath, final int value) { - return writeString(filePath, new StringBuilder().append(value).toString()); + return writeString(filePath, String.valueOf(value)); } /** @@ -137,7 +137,7 @@ public static boolean existFile(Path pathToFind) { /** * Method to write bytes in a path * - * @param path path + * @param path path * @param value value to write * @return Result */ diff --git a/src/main/java/ev3dev/utils/USBPort.java b/src/main/java/ev3dev/utils/USBPort.java index 9e7f0ebc..e9b336a6 100644 --- a/src/main/java/ev3dev/utils/USBPort.java +++ b/src/main/java/ev3dev/utils/USBPort.java @@ -13,8 +13,8 @@ @Slf4j public class USBPort { - private String USBPath; private final String defaultUSBPath = "/sys/bus/usb/drivers/usb/"; + private final String USBPath; /** * Constructor diff --git a/src/main/java/ev3dev/utils/io/ILibc.java b/src/main/java/ev3dev/utils/io/ILibc.java index 1ce54347..9e545213 100644 --- a/src/main/java/ev3dev/utils/io/ILibc.java +++ b/src/main/java/ev3dev/utils/io/ILibc.java @@ -10,6 +10,7 @@ * POSIX Standard C Library wrapper interface * For detailed reference, please see the * Linux syscall manual pages + * * @author Jakub Vaněk * @since 2.4.7 */ @@ -18,12 +19,13 @@ public interface ILibc { /** * Manipulate file descriptor - * @param fd File descriptor to operate upon. + * + * @param fd File descriptor to operate upon. * @param cmd Command code, see manpages for details. * @param arg Command argument, command-speciic. See manpages for details. * @return Depends on the command. On failure, -1 is returned. - * @see man 2 fcntl * @throws LastErrorException If errno is set during the operation. Use Native#getLastError to query the error code. + * @see man 2 fcntl */ int fcntl(int fd, int cmd, int arg) throws LastErrorException; @@ -31,23 +33,25 @@ public interface ILibc { /** * Invoke an I/O control request - * @param fd Opened file descriptor to act upon. + * + * @param fd Opened file descriptor to act upon. * @param cmd IO command code; this is device-specific (see manpages and/or kernel sources for details). * @param arg IOCTL integer argument, this is device-specific (see manpages and/or kernel sources for details). * @return -1 on failure, 0 otherwise (usually). - * @see man 2 ioctl * @throws LastErrorException If errno is set during the operation. Use Native#getLastError to query the error code. + * @see man 2 ioctl */ int ioctl(int fd, int cmd, int arg) throws LastErrorException; /** * Invoke an I/O control request - * @param fd Opened file descriptor to act upon. + * + * @param fd Opened file descriptor to act upon. * @param cmd IO command code; this is device-specific (see manpages and/or kernel sources for details). * @param arg IOCTL integer argument, this is device-specific (see manpages and/or kernel sources for details). * @return -1 on failure, 0 otherwise (usually). - * @see man 2 ioctl * @throws LastErrorException If errno is set during the operation. Use Native#getLastError to query the error code. + * @see man 2 ioctl */ int ioctl(int fd, int cmd, Pointer arg) throws LastErrorException; @@ -55,21 +59,23 @@ public interface ILibc { /** * Try to open (or create) a file from the specified path. - * @param path Path to try to open. + * + * @param path Path to try to open. * @param flags Open mode; typically O_RDONLY/O_WRONLY/O_RDWR combined with other modifiers (see POSIX). - * @param mode Permissions to be set on the file if it is going to be created (O_CREAT). + * @param mode Permissions to be set on the file if it is going to be created (O_CREAT). * @return File descriptor or -1 if the file cannot be opened. - * @see man 2 open * @throws LastErrorException If errno is set during the operation. Use Native#getLastError to query the error code. + * @see man 2 open */ int open(String path, int flags, int mode) throws LastErrorException; /** * Close the specified file descriptor. + * * @param fd File descriptor to close. * @return -1 on failure, 0 otherwise. - * @see man 2 close * @throws LastErrorException If errno is set during the operation. Use Native#getLastError to query the error code. + * @see man 2 close */ int close(int fd) throws LastErrorException; @@ -77,23 +83,25 @@ public interface ILibc { /** * Request a write to the current position in the file referred by a file descriptor. - * @param fd File descriptor of the file to write. + * + * @param fd File descriptor of the file to write. * @param buffer Buffer with bytes to write. - * @param count Size of the buffer. + * @param count Size of the buffer. * @return Number of bytes written or -1 if an error occurred. - * @see man 2 write * @throws LastErrorException If errno is set during the operation. Use Native#getLastError to query the error code. + * @see man 2 write */ int write(int fd, Buffer buffer, int count) throws LastErrorException; /** * Request a read from the current position in the file referred by a file descriptor. - * @param fd File descriptor of the file to read. + * + * @param fd File descriptor of the file to read. * @param buffer Buffer where to put the data. - * @param count Size of the buffer. + * @param count Size of the buffer. * @return Number of bytes read or -1 if an error occurred. - * @see man 2 read * @throws LastErrorException If errno is set during the operation. Use Native#getLastError to query the error code. + * @see man 2 read */ int read(int fd, Buffer buffer, int count) throws LastErrorException; @@ -101,36 +109,39 @@ public interface ILibc { /** * Map a file to memory. - * @param addr Address hint from the userspace where to put the mapping in memory. Pass NULL to ignore the hint. - * @param len Length of the memory to map. - * @param prot Memory protection flags (PROT_READ/PROT_WRITE/PROT_EXEC). See manpages for details. + * + * @param addr Address hint from the userspace where to put the mapping in memory. Pass NULL to ignore the hint. + * @param len Length of the memory to map. + * @param prot Memory protection flags (PROT_READ/PROT_WRITE/PROT_EXEC). See manpages for details. * @param flags Memory mapping flags (MAP_SHARED/MAP_FILE/...). See manpages for deatils. - * @param fd Opened file descriptor of the file that needs to be mapped to memory. - * @param off Offset in the file from which to start the mapping. + * @param fd Opened file descriptor of the file that needs to be mapped to memory. + * @param off Offset in the file from which to start the mapping. * @return On success, address of the mapped memory. On failure, -1 (MAP_FAILED) is returned. - * @see man 2 mmap * @throws LastErrorException If errno is set during the operation. Use Native#getLastError to query the error code. + * @see man 2 mmap */ Pointer mmap(Pointer addr, NativeLong len, int prot, int flags, int fd, NativeLong off) throws LastErrorException; /** * Unmap a file from memory. + * * @param addr Address where the file was mapped. - * @param len Length of the mapped area. + * @param len Length of the mapped area. * @return -1 on failure, 0 otherwise. - * @see man 2 munmap * @throws LastErrorException If errno is set during the operation. Use Native#getLastError to query the error code. + * @see man 2 munmap */ int munmap(Pointer addr, NativeLong len) throws LastErrorException; /** * Synchronize memory-mapped data with file contents. - * @param addr Address where the file was mapped. - * @param len Length of the mapped area. + * + * @param addr Address where the file was mapped. + * @param len Length of the mapped area. * @param flags Synchronization type (MS_SYNC/MS_ASYNC/MS_INVALIDATE). See manpages for details. * @return -1 on failure, 0 otherwise. - * @see man 2 msync * @throws LastErrorException If errno is set during the operation. Use Native#getLastError to query the error code. + * @see man 2 msync */ int msync(Pointer addr, NativeLong len, int flags) throws LastErrorException; } diff --git a/src/main/java/ev3dev/utils/io/NativeDevice.java b/src/main/java/ev3dev/utils/io/NativeDevice.java index 98e89cc8..4c02a106 100644 --- a/src/main/java/ev3dev/utils/io/NativeDevice.java +++ b/src/main/java/ev3dev/utils/io/NativeDevice.java @@ -4,10 +4,7 @@ import com.sun.jna.Pointer; import lombok.NonNull; -import static ev3dev.utils.io.NativeConstants.MAP_SHARED; -import static ev3dev.utils.io.NativeConstants.O_RDWR; -import static ev3dev.utils.io.NativeConstants.PROT_READ; -import static ev3dev.utils.io.NativeConstants.PROT_WRITE; +import static ev3dev.utils.io.NativeConstants.*; /** *

This class provides access from Java to Linux character devices. It is intended diff --git a/src/main/java/ev3dev/utils/io/NativeFile.java b/src/main/java/ev3dev/utils/io/NativeFile.java index d09bed2a..d60cc706 100644 --- a/src/main/java/ev3dev/utils/io/NativeFile.java +++ b/src/main/java/ev3dev/utils/io/NativeFile.java @@ -21,9 +21,9 @@ * @author andy, Jakub Vaněk */ public class NativeFile implements Closeable, AutoCloseable { - private static int DEFAULT_PRIVS = 0777; + private static final int DEFAULT_PRIVS = 0777; protected int fd = -1; - private ILibc libc; + private final ILibc libc; /** * Basic constructor. diff --git a/src/main/java/ev3dev/utils/io/NativeFramebuffer.java b/src/main/java/ev3dev/utils/io/NativeFramebuffer.java index c98d9438..d342feba 100644 --- a/src/main/java/ev3dev/utils/io/NativeFramebuffer.java +++ b/src/main/java/ev3dev/utils/io/NativeFramebuffer.java @@ -9,10 +9,7 @@ import java.util.Arrays; import java.util.List; -import static ev3dev.utils.io.NativeConstants.FBIOGET_CON2FBMAP; -import static ev3dev.utils.io.NativeConstants.FBIOGET_FSCREENINFO; -import static ev3dev.utils.io.NativeConstants.FBIOGET_VSCREENINFO; -import static ev3dev.utils.io.NativeConstants.FBIOPUT_VSCREENINFO; +import static ev3dev.utils.io.NativeConstants.*; /** * Linux framebuffer wrapper class @@ -196,9 +193,9 @@ public fb_fix_screeninfo(Pointer p) { @Override protected List getFieldOrder() { return Arrays.asList("id", "smem_start", "smem_len", - "type", "type_aux", "visual", - "xpanstep", "ypanstep", "ywrapstep", "line_length", - "mmio_start", "mmio_len", "accel", "capabilities", "reserved"); + "type", "type_aux", "visual", + "xpanstep", "ypanstep", "ywrapstep", "line_length", + "mmio_start", "mmio_len", "accel", "capabilities", "reserved"); } /** @@ -411,11 +408,11 @@ public fb_var_screeninfo(Pointer p) { @Override protected List getFieldOrder() { return Arrays.asList("xres", "yres", "xres_virtual", "yres_virtual", - "xoffset", "yoffset", "bits_per_pixel", "grayscale", - "red", "green", "blue", "transp", "nonstd", "activate", - "height", "width", "accel_flags", "pixclock", - "left_margin", "right_margin", "upper_margin", "lower_margin", - "hsync_len", "vsync_len", "sync", "vmode", "rotate", "colorspace", "reserved"); + "xoffset", "yoffset", "bits_per_pixel", "grayscale", + "red", "green", "blue", "transp", "nonstd", "activate", + "height", "width", "accel_flags", "pixclock", + "left_margin", "right_margin", "upper_margin", "lower_margin", + "hsync_len", "vsync_len", "sync", "vmode", "rotate", "colorspace", "reserved"); } /** diff --git a/src/main/java/ev3dev/utils/io/NativeLibc.java b/src/main/java/ev3dev/utils/io/NativeLibc.java index bfade60c..6876755e 100644 --- a/src/main/java/ev3dev/utils/io/NativeLibc.java +++ b/src/main/java/ev3dev/utils/io/NativeLibc.java @@ -1,10 +1,6 @@ package ev3dev.utils.io; -import com.sun.jna.LastErrorException; -import com.sun.jna.Native; -import com.sun.jna.NativeLong; -import com.sun.jna.Platform; -import com.sun.jna.Pointer; +import com.sun.jna.*; import java.nio.Buffer; diff --git a/src/main/java/ev3dev/utils/io/NativeTTY.java b/src/main/java/ev3dev/utils/io/NativeTTY.java index 20219a5c..ea5aef4b 100644 --- a/src/main/java/ev3dev/utils/io/NativeTTY.java +++ b/src/main/java/ev3dev/utils/io/NativeTTY.java @@ -9,13 +9,7 @@ import java.util.Arrays; import java.util.List; -import static ev3dev.utils.io.NativeConstants.KDGKBMODE; -import static ev3dev.utils.io.NativeConstants.KDSETMODE; -import static ev3dev.utils.io.NativeConstants.KDSKBMODE; -import static ev3dev.utils.io.NativeConstants.VT_GETMODE; -import static ev3dev.utils.io.NativeConstants.VT_GETSTATE; -import static ev3dev.utils.io.NativeConstants.VT_RELDISP; -import static ev3dev.utils.io.NativeConstants.VT_SETMODE; +import static ev3dev.utils.io.NativeConstants.*; /** * Wrapper for basic actions on Linux VT/TTY diff --git a/src/main/resources/META-INF/MANIFEST.MF b/src/main/resources/META-INF/MANIFEST.MF index 54a59969..6c8aa33e 100755 --- a/src/main/resources/META-INF/MANIFEST.MF +++ b/src/main/resources/META-INF/MANIFEST.MF @@ -1,4 +1,4 @@ Manifest-Version: 1.0 Implementation-Title: EV3Dev-lang-java -Implementation-Version: 2.7.0-SNAPSHOT +Implementation-Version: 2.8.0-SNAPSHOT Implementation-Vendor: Juan Antonio Breña Moral diff --git a/src/main/resources/buster.properties b/src/main/resources/buster.properties new file mode 100644 index 00000000..b24f3326 --- /dev/null +++ b/src/main/resources/buster.properties @@ -0,0 +1,63 @@ +#Battery +battery=power_supply +ev3.battery=lego-ev3-battery +pistorms.battery=pistorms-battery +brickpi.battery=brickpi-battery +brickpi3.battery=brickpi3-battery +unknown.battery=. +#MotorPorts +ev3.motor.port.a=ev3-ports:outA +ev3.motor.port.b=ev3-ports:outB +ev3.motor.port.c=ev3-ports:outC +ev3.motor.port.d=ev3-ports:outD +brickpi.motor.port.a=serial0-0:MA +brickpi.motor.port.b=serial0-0:MB +brickpi.motor.port.c=serial0-0:MC +brickpi.motor.port.d=serial0-0:MD +brickpi3.motor.port.a=spi0.1:MA +brickpi3.motor.port.b=spi0.1:MB +brickpi3.motor.port.c=spi0.1:MC +brickpi3.motor.port.d=spi0.1:MD +pistorms.motor.port.a=pistorms:BBM1 +pistorms.motor.port.b=pistorms:BBM2 +pistorms.motor.port.c=pistorms:BAM2 +pistorms.motor.port.d=pistorms:BAM1 +#SensorPorts +ev3.sensor.port.1=ev3-ports:in1 +ev3.sensor.port.2=ev3-ports:in2 +ev3.sensor.port.3=ev3-ports:in3 +ev3.sensor.port.4=ev3-ports:in4 +brickpi.sensor.port.1=serial0-0:S1 +brickpi.sensor.port.2=serial0-0:S2 +brickpi.sensor.port.3=serial0-0:S3 +brickpi.sensor.port.4=serial0-0:S4 +brickpi3.sensor.port.1=spi0.1:S1 +brickpi3.sensor.port.2=spi0.1:S2 +brickpi3.sensor.port.3=spi0.1:S3 +brickpi3.sensor.port.4=spi0.1:S4 +pistorms.sensor.port.1=pistorms:BBS2 +pistorms.sensor.port.2=pistorms:BBS1 +pistorms.sensor.port.3=pistorms:BAS1 +pistorms.sensor.port.4=pistorms:BAS2 +#LED +ev3.led.left.red=/sys/class/leds/led0:red:brick-status/brightness +ev3.led.left.green=/sys/class/leds/led0:green:brick-status/brightness +ev3.led.right.red=/sys/class/leds/led1:red:brick-status/brightness +ev3.led.right.green=/sys/class/leds/led1:green:brick-status/brightness +#KEY +ev3.key=/dev/input/by-path/platform-gpio_keys-event +#LCD +framebuffer.path=/dev/fb0 +framebuffer.sysfs=/sys/class/graphics/fb0 +ev3.framebuffer.width=178 +ev3.framebuffer.height=128 +ev3.framebuffer.bitstride=24 +brickpi.framebuffer.width=0 +brickpi.framebuffer.height=0 +brickpi.framebuffer.bitstride=0 +brickpi3.framebuffer.width=0 +brickpi3.framebuffer.height=0 +brickpi3.framebuffer.bitstride=0 +pistorms.framebuffer.width=0 +pistorms.framebuffer.height=0 +pistorms.framebuffer.bitstride=0 diff --git a/src/main/resources/jessie.properties b/src/main/resources/jessie.properties index f6044b38..02b13568 100644 --- a/src/main/resources/jessie.properties +++ b/src/main/resources/jessie.properties @@ -5,7 +5,6 @@ pistorms.battery=pistorms-battery brickpi.battery=brickpi-battery brickpi3.battery=brickpi3-battery unknown.battery=. - #MotorPorts ev3.motor.port.a=outA ev3.motor.port.b=outB @@ -23,7 +22,6 @@ pistorms.motor.port.a=pistorms:BBM1 pistorms.motor.port.b=pistorms:BBM2 pistorms.motor.port.c=pistorms:BAM2 pistorms.motor.port.d=pistorms:BAM1 - #SensorPorts ev3.sensor.port.1=in1 ev3.sensor.port.2=in2 @@ -41,16 +39,13 @@ pistorms.sensor.port.1=pistorms:BBS2 pistorms.sensor.port.2=pistorms:BBS1 pistorms.sensor.port.3=pistorms:BAS1 pistorms.sensor.port.4=pistorms:BAS2 - #LED ev3.led.left.red=/sys/class/leds/ev3:left:red:ev3dev/brightness ev3.led.left.green=/sys/class/leds/ev3:left:green:ev3dev/brightness ev3.led.right.red=/sys/class/leds/ev3:right:red:ev3dev/brightness ev3.led.right.green=/sys/class/leds/ev3:right:green:ev3dev/brightness - #KEY ev3.key=/dev/input/by-path/platform-gpio-keys.0-event - #LCD framebuffer.path=/dev/fb0 framebuffer.sysfs=/sys/class/graphics/fb0 diff --git a/src/main/resources/stretch.properties b/src/main/resources/stretch.properties index fc54fe91..b24f3326 100644 --- a/src/main/resources/stretch.properties +++ b/src/main/resources/stretch.properties @@ -5,7 +5,6 @@ pistorms.battery=pistorms-battery brickpi.battery=brickpi-battery brickpi3.battery=brickpi3-battery unknown.battery=. - #MotorPorts ev3.motor.port.a=ev3-ports:outA ev3.motor.port.b=ev3-ports:outB @@ -23,7 +22,6 @@ pistorms.motor.port.a=pistorms:BBM1 pistorms.motor.port.b=pistorms:BBM2 pistorms.motor.port.c=pistorms:BAM2 pistorms.motor.port.d=pistorms:BAM1 - #SensorPorts ev3.sensor.port.1=ev3-ports:in1 ev3.sensor.port.2=ev3-ports:in2 @@ -41,16 +39,13 @@ pistorms.sensor.port.1=pistorms:BBS2 pistorms.sensor.port.2=pistorms:BBS1 pistorms.sensor.port.3=pistorms:BAS1 pistorms.sensor.port.4=pistorms:BAS2 - #LED ev3.led.left.red=/sys/class/leds/led0:red:brick-status/brightness ev3.led.left.green=/sys/class/leds/led0:green:brick-status/brightness ev3.led.right.red=/sys/class/leds/led1:red:brick-status/brightness ev3.led.right.green=/sys/class/leds/led1:green:brick-status/brightness - #KEY ev3.key=/dev/input/by-path/platform-gpio_keys-event - #LCD framebuffer.path=/dev/fb0 framebuffer.sysfs=/sys/class/graphics/fb0 From 96ab553e5ad7b9e69695482dc7e578d68849fda5 Mon Sep 17 00:00:00 2001 From: Cameron Whyte Date: Sat, 9 Mar 2024 03:44:53 +0000 Subject: [PATCH 6/6] feat: All LCDs now extend LCD.java --- src/main/java/ev3dev/actuators/LCD.java | 3 ++- src/main/java/ev3dev/actuators/LCDBuster.java | 2 +- src/main/java/ev3dev/actuators/LCDJessie.java | 2 +- src/main/java/ev3dev/actuators/LCDStretch.java | 2 +- 4 files changed, 5 insertions(+), 4 deletions(-) diff --git a/src/main/java/ev3dev/actuators/LCD.java b/src/main/java/ev3dev/actuators/LCD.java index 8dec8529..b8f46459 100644 --- a/src/main/java/ev3dev/actuators/LCD.java +++ b/src/main/java/ev3dev/actuators/LCD.java @@ -1,9 +1,10 @@ package ev3dev.actuators; +import ev3dev.hardware.EV3DevDevice; import ev3dev.hardware.EV3DevDistros; import lejos.hardware.lcd.GraphicsLCD; -public class LCD { +public abstract class LCD extends EV3DevDevice implements GraphicsLCD { /** * Factory diff --git a/src/main/java/ev3dev/actuators/LCDBuster.java b/src/main/java/ev3dev/actuators/LCDBuster.java index 852a3ca5..3beff172 100644 --- a/src/main/java/ev3dev/actuators/LCDBuster.java +++ b/src/main/java/ev3dev/actuators/LCDBuster.java @@ -22,7 +22,7 @@ /** * Lejos LCD reimplementation using Java2D API */ -public class LCDBuster extends EV3DevDevice implements GraphicsLCD { +public class LCDBuster extends LCD { // custom config public static final String EV3DEV_LCD_KEY = "EV3DEV_LCD_KEY"; diff --git a/src/main/java/ev3dev/actuators/LCDJessie.java b/src/main/java/ev3dev/actuators/LCDJessie.java index 0fb1f2b5..063b09ec 100644 --- a/src/main/java/ev3dev/actuators/LCDJessie.java +++ b/src/main/java/ev3dev/actuators/LCDJessie.java @@ -13,7 +13,7 @@ import java.nio.file.Paths; import java.util.Objects; -public class LCDJessie extends EV3DevDevice implements GraphicsLCD { +public class LCDJessie extends LCD { public static final String EV3DEV_EV3_DEVICES_PATH = "/dev"; public static final String EV3DEV_EV3_LCD_NAME = "fb0"; diff --git a/src/main/java/ev3dev/actuators/LCDStretch.java b/src/main/java/ev3dev/actuators/LCDStretch.java index 6c6734dd..c0ca846e 100644 --- a/src/main/java/ev3dev/actuators/LCDStretch.java +++ b/src/main/java/ev3dev/actuators/LCDStretch.java @@ -22,7 +22,7 @@ /** * Lejos LCD reimplementation using Java2D API */ -public class LCDStretch extends EV3DevDevice implements GraphicsLCD { +public class LCDStretch extends LCD { // custom config public static final String EV3DEV_LCD_KEY = "EV3DEV_LCD_KEY";