com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp Maven / Gradle / Ivy

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A command line utility for accesing the bowler framework.
There is a newer version: 3.28.0
package com.neuronrobotics.sdk.namespace.bcs.pid;

import com.neuronrobotics.sdk.common.BowlerAbstractDevice;
import com.neuronrobotics.sdk.common.BowlerDatagram;
import com.neuronrobotics.sdk.common.BowlerMethod;
import com.neuronrobotics.sdk.common.ByteList;
import com.neuronrobotics.sdk.common.DeviceConnectionException;
import com.neuronrobotics.sdk.pid.PDVelocityConfiguration;
import com.neuronrobotics.sdk.pid.PIDCommandException;
import com.neuronrobotics.sdk.pid.PIDConfiguration;
import com.neuronrobotics.sdk.pid.PIDEvent;
import com.neuronrobotics.sdk.pid.PIDLimitEvent;

// TODO: Auto-generated Javadoc
/**
 * The Class PidNamespaceImp.
 */
public class PidNamespaceImp extends AbstractPidNamespaceImp implements IExtendedPIDControl  {
	
	/** The ns. */
	private final String ns = "bcs.pid.*";
	
	
	
	/**
	 * Instantiates a new pid namespace imp.
	 *
	 * @param device the device
	 */
	public PidNamespaceImp(BowlerAbstractDevice device) {
		super(device);
	}
	
	/**
	 * Send.
	 *
	 * @param method the method
	 * @param rpcString the rpc string
	 * @param arguments the arguments
	 * @return the object[]
	 */
	private Object[] send(BowlerMethod method, String rpcString, Object[] arguments){
		return getDevice().send(ns,method,rpcString,arguments,2);
	}

	/* (non-Javadoc)
	 * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#ResetPIDChannel(int, int)
	 */
	@Override
	public boolean ResetPIDChannel(int group, int valueToSetCurrentTo) throws DeviceConnectionException {
		Object[] args = new Object[]{group,valueToSetCurrentTo};
		send(BowlerMethod.POST,
				"rpid",
				args);
		return true;
	}

	/* (non-Javadoc)
	 * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#ConfigurePIDController(com.neuronrobotics.sdk.pid.PIDConfiguration)
	 */
	@Override
	public boolean ConfigurePIDController(PIDConfiguration config) {		
		send(BowlerMethod.CRITICAL,
				"cpid",
				config.getArgs());
		return true;
	}

	/* (non-Javadoc)
	 * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPIDConfiguration(int)
	 */
	@Override
	public PIDConfiguration getPIDConfiguration(int group) {
		
		return new PIDConfiguration(send(BowlerMethod.GET,
				"cpid",
				new Object[]{group}));
	}

	/* (non-Javadoc)
	 * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#ConfigurePDVelovityController(com.neuronrobotics.sdk.pid.PDVelocityConfiguration)
	 */
	@Override
	public boolean ConfigurePDVelovityController(PDVelocityConfiguration config) {
		send(BowlerMethod.CRITICAL,
				"cpdv",
				config.getArgs());
		return true;
	}

	/* (non-Javadoc)
	 * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPDVelocityConfiguration(int)
	 */
	@Override
	public PDVelocityConfiguration getPDVelocityConfiguration(int group) {
		Object [] args = send(BowlerMethod.GET,
				"cpdv",
				new Object[]{group});
		return new PDVelocityConfiguration(args);
	}

	/** The channel count. */
	private Integer channelCount =null;
	
	/* (non-Javadoc)
	 * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPIDChannelCount()
	 */
	@Override
	public int getPIDChannelCount() {
		if(channelCount == null){
			Object [] args = send(BowlerMethod.GET,
					"gpdc",
					new Object[]{});
			channelCount = (Integer)args[0];
		}
		return channelCount.intValue();
	}

	/* (non-Javadoc)
	 * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetPIDSetPoint(int, int, double)
	 */
	@Override
	public boolean SetPIDSetPoint(int group, int setpoint, double seconds) {
		send(BowlerMethod.POST,
				"_pid",
				new Object[]{	group,
								setpoint,
								(int)(seconds*1000)});
		return true;
	}

	/* (non-Javadoc)
	 * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetAllPIDSetPoint(int[], double)
	 */
	@Override
	public boolean SetAllPIDSetPoint(int[] setpoints, double seconds) {
		send(BowlerMethod.POST,
				"apid",
				new Object[]{	new Integer((int) (seconds*1000)),
								setpoints});
		return true;
	}

	/* (non-Javadoc)
	 * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#GetPIDPosition(int)
	 */
	@Override
	public int GetPIDPosition(int group) {
		Object [] args = send(BowlerMethod.GET,
				"_pid",
				new Object[]{group});
		if((Integer)args[0] != group){
			throw new RuntimeException("Channel ID did not match");
		}
		return (Integer)args[1];
	}

	/* (non-Javadoc)
	 * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#GetAllPIDPosition()
	 */
	@Override
	public int[] GetAllPIDPosition() {
		Object [] args = send(BowlerMethod.GET,
				"apid",
				new Object[]{});
		int[] data=new int[((Integer[])args[0]).length];
		for(int i=0;i