com.pi4j.component.servo.impl.PCA9685GpioServoProvider Maven / Gradle / Ivy
package com.pi4j.component.servo.impl;
/*
* #%L
* **********************************************************************
* ORGANIZATION : Pi4J
* PROJECT : Pi4J :: Device Abstractions
* FILENAME : PCA9685GpioServoProvider.java
*
* This file is part of the Pi4J project. More information about
* this project can be found here: http://www.pi4j.com/
* **********************************************************************
* %%
* Copyright (C) 2012 - 2015 Pi4J
* %%
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Lesser Public License for more details.
*
* You should have received a copy of the GNU General Lesser Public
* License along with this program. If not, see
* .
* #L%
*/
import java.io.IOException;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import com.pi4j.component.servo.ServoDriver;
import com.pi4j.component.servo.ServoProvider;
import com.pi4j.gpio.extension.pca.PCA9685GpioProvider;
import com.pi4j.gpio.extension.pca.PCA9685Pin;
import com.pi4j.io.gpio.Pin;
public class PCA9685GpioServoProvider implements ServoProvider {
private PCA9685GpioProvider provider;
protected Map allocatedDrivers = new HashMap();
public PCA9685GpioServoProvider(PCA9685GpioProvider provider) {
this.provider = provider;
}
@Override
public List getDefinedServoPins() throws IOException {
return Arrays.asList(PCA9685Pin.ALL);
}
@Override
public synchronized ServoDriver getServoDriver(Pin servoPin) throws IOException {
List servoPins = getDefinedServoPins();
int index = servoPins.indexOf(servoPin);
if (index < 0) {
throw new IllegalArgumentException("Servo driver cannot drive pin " + servoPin);
}
PCA9685GpioServoDriver driver = allocatedDrivers.get(servoPin);
if (driver == null) {
driver = new PCA9685GpioServoDriver(provider, servoPin);
}
return driver;
}
}
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