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package org.kjkoster.wedo.systems.sbrick;
import static com.google.common.base.Preconditions.checkArgument;
import static com.google.common.base.Preconditions.checkNotNull;
import static org.kjkoster.wedo.bricks.Brick.FIRST_PORT;
import static org.kjkoster.wedo.bricks.Brick.MAX_PORT;
import static org.kjkoster.wedo.bricks.Brick.Type.LIGHT;
import static org.kjkoster.wedo.bricks.Brick.Type.MOTOR;
import java.io.FileNotFoundException;
import java.util.ArrayList;
import java.util.Collection;
import java.util.List;
import org.kjkoster.wedo.bricks.ActuatorValueMemory;
import org.kjkoster.wedo.bricks.Brick;
import org.kjkoster.wedo.bricks.Brick.Type;
import org.kjkoster.wedo.bricks.Hub;
import org.kjkoster.wedo.transport.ble112.BLE112Connections;
import org.thingml.bglib.BGAPI;
import org.thingml.bglib.BGAPIDefaultListener;
import lombok.NonNull;
/**
* A class to represent the collection of SBricks and SBrick Pluses.
*
* @author Kees Jan Koster <[email protected]>
*/
public class SBricks extends BGAPIDefaultListener {
private static final int HANDLE_QUICKDRIVE = 0x001e;
private final List hubs = new ArrayList<>();
private final BGAPI bgapi;
private final BLE112Connections ble112Connections;
private final ActuatorValueMemory actuatorValueMemory = new ActuatorValueMemory(
4);
/**
* @param bgapi
* The BGAPI interface that we can use to send commands.
* @param ble112Connections
* The BLE112 connection manager that maintains connections for
* us.
* @param hubs
* The definition of all SBrick hubs. Unlike WeDo (for example)
* SBrick's protocol does not have facilities to detect what
* brick is connected on what port of the hub. Instead, we have
* to rely on that information being supplied.
* @throws FileNotFoundException
* When the specified device could not be opened.
*/
public SBricks(final BGAPI bgapi, final BLE112Connections ble112Connections,
final Collection hubs) throws FileNotFoundException {
super();
checkNotNull(bgapi, "null bgapi");
this.bgapi = bgapi;
bgapi.addListener(this);
checkNotNull(bgapi, "null ble112Connections");
this.ble112Connections = ble112Connections;
checkNotNull(hubs, "null hubs");
this.hubs.addAll(hubs);
for (final Hub hub : hubs) {
ble112Connections.add(hub.getBLE112Address());
}
}
/**
* Reset the BLE112 device.
*/
public void reset() {
actuator(null, null, (byte) 0x00);
}
/**
* Run the motor on all ports.
*
* @param speed
* How fast to run the motor.
*/
public void motor(final byte speed) {
actuator(null, MOTOR, speed);
}
/**
* Run the motor on port A.
*
* @param speed
* How fast to run the motor.
*/
public void motorA(final byte speed) {
actuator('A', MOTOR, speed);
}
/**
* Run the motor on port B.
*
* @param speed
* How fast to run the motor.
*/
public void motorB(final byte speed) {
actuator('B', MOTOR, speed);
}
/**
* Run the motor on port C.
*
* @param speed
* How fast to run the motor.
*/
public void motorC(final byte speed) {
actuator('C', MOTOR, speed);
}
/**
* Run the motor on port D.
*
* @param speed
* How fast to run the motor.
*/
public void motorD(final byte speed) {
actuator('D', MOTOR, speed);
}
/**
* Light the light on all ports.
*
* @param intensity
* How bright to light up.
*/
public void light(final byte intensity) {
actuator(null, LIGHT, intensity);
}
/**
* Light the light on port A.
*
* @param intensity
* How bright to light up.
*/
public void lightA(final byte intensity) {
actuator('A', LIGHT, intensity);
}
/**
* Light the light on port B.
*
* @param intensity
* How bright to light up.
*/
public void lightB(final byte intensity) {
actuator('B', LIGHT, intensity);
}
/**
* Light the light on port C.
*
* @param intensity
* How bright to light up.
*/
public void lightC(final byte intensity) {
actuator('C', LIGHT, intensity);
}
/**
* Light the light on port D.
*
* @param intensity
* How bright to light up.
*/
public void lightD(final byte intensity) {
actuator('D', LIGHT, intensity);
}
/**
* Run all actuators on all ports.
*
* @param value
* How hard to drive the actuators.
*/
public void all(final byte value) {
actuator(null, null, value);
}
/**
* Run all actuators on port A.
*
* @param value
* How hard to drive the actuators.
*/
public void allA(final byte value) {
actuator('A', null, value);
}
/**
* Run all actuators on port B.
*
* @param value
* How hard to drive the actuators.
*/
public void allB(final byte value) {
actuator('B', null, value);
}
/**
* Run all actuators on port C.
*
* @param value
* How hard to drive the actuators.
*/
public void allC(final byte value) {
actuator('C', null, value);
}
/**
* Run all actuators on port D.
*
* @param value
* How hard to drive the actuators.
*/
public void allD(final byte value) {
actuator('D', null, value);
}
/**
* Set the specified actuator to the provided speed or light intensity. The
* port and type are used as filter to identify what brick to address.
*
* @param port
* The port to select, or null to select any port.
* @param type
* The brick type to select, or null to select any
* brick type.
* @param value
* The speed or intensity value to set the brick to.
*/
private void actuator(final Character port, final Type type,
final byte value) {
checkArgument(port == null || (port >= FIRST_PORT && port <= MAX_PORT),
"invalid port %s", port);
for (final Hub hub : hubs) {
final Integer connection = ble112Connections
.getConnection(hub.getBLE112Address());
if (connection != null) {
actuator(connection, hub, port, type, value);
}
}
}
private void actuator(final int connection, @NonNull final Hub hub,
final Character port, final Type type, final byte value) {
for (final Brick brick : hub.getBricks()) {
if ((port == null || port.equals(brick.getPort()))
&& (type == null || type.equals(brick.getType()))) {
actuatorValueMemory.write(hub, brick.getPort(), value);
}
}
final byte[] data = new byte[5];
data[0] = actuatorValueMemory.read(hub, 'A');
data[1] = actuatorValueMemory.read(hub, 'B');
data[2] = actuatorValueMemory.read(hub, 'C');
data[3] = actuatorValueMemory.read(hub, 'D');
data[4] = (byte) 0x00; // XXX We do not support the SBrick led yet
bgapi.send_attclient_attribute_write(connection, HANDLE_QUICKDRIVE,
data);
}
}
