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ohmm
Class OHMM

java.lang.Object
  ohmm.OHMM

public class OHMM
extends java.lang.Object
extends java.lang.Object

OHMM host library.

An instance of this class encapsulates communication with the OHMM monitor firmware.

Several constructors are provided to allow the actual communication link to be implemented in different ways:

over a serial port accessed as a regular file
over a serial port accessed with the RXTX library
through a separate proxy process

The RXTX codepath has the advantage of internally setting the communications parameters (115.2kbps, 8N1, no flow control). The other codepaths will require the serial port to be externally configured (e.g. using stty on Linux). The serial port must be 8-bit clean. This is automatically guaranteed when using RXTX. For the other codepaths it is part of the external port configuration. For example, on Linux the terminal driver associated with the port device needs to be taken out of "cooked" mode (the default) and placed in "raw" mode (again using stty).

listPorts(java.io.PrintStream) may be invoked to get a list of the port names that the RXTX library believes to be available.

The core API maps to the functionality of the firmware monitor. For example, lcdMsg(java.lang.String) maps to the firmware monitor command msg. Delays are added to no-response commands to throttle the maximum command rate.

You can use this either as a subsystem within a larger Java system, or you can use OHMMShell as an interactive or scheme-scripted interface to the hardware.

Bulk-receive methods such as allState(ohmm.OHMM.AllState) are provided, and their use is encouraged for repetitive polling, as they are significantly more efficient than multiple lower-level calls. This is due not only to reduced host-to-firmware protocol overhead but also to a reduction in the number of host-to-firmware stream flushes that are required to complete the transaction. Such flushes can be relatively expensive on some host platforms.

Communication errors including timeouts are internally detected, and the ErrorHandler, if any, is notified.

The lower level send(...) and recv*() methods to send and receive specific datatypes to the firmware are exposed for use if the firmware is extended and for debugging.

Typical Usage Recipe

Instantiate an ErrorHandler, e.g.
```
ErrorHander h = new DefaultErrorHandler();
```
If you require special error handling one option is to subclass DefaultErrorHandler. Convenience constructors such as OHMM(String) are also provided that internally instantiate DefaultErrorHandler.
Construct an OHMM instance. For example, to use RXTX
```
OHMM a = new OHMM(h, rxtxPortName);
```
where rxtxPortName is the platform-dependent name of the virtual serial port associated with the OHMM USB serial port. For example, on Linux, this will be a string like /dev/ttyACM1.
Call APIs such as lcdMsg(java.lang.String) to invoke monitor commands.
Call close() before application exit.

Author:: Marsette A. Vona

Nested Class Summary
`class`	`OHMM.AllState` state data structure for `allState(ohmm.OHMM.AllState)`
`static class`	`OHMM.AnalogChannel` Analog sensor channels.
`class`	`OHMM.ArmState` state data structure for `armState(ohmm.OHMM.ArmState)`
`static class`	`OHMM.AXReg`
`class`	`OHMM.AXState` state data structure for `axState(ohmm.OHMM.AXState)`
`class`	`OHMM.BatState` state data structure for `batState(ohmm.OHMM.BatState)`
`static class`	`OHMM.DigitalPin` Digital sensor pins.
`class`	`OHMM.DriveState` state data structure for `driveState(ohmm.OHMM.DriveState)`
`class`	`OHMM.MotState` state data structure for `motState(ohmm.OHMM.MotState)`
`class`	`OHMM.OHMMState` state data structure for `ohmmState(ohmm.OHMM.OHMMState)`
`class`	`OHMM.SenseState` state data structure for `senseState(ohmm.OHMM.SenseState)`
`class`	`OHMM.TaskState` state data structure for `taskState(ohmm.OHMM.TaskState)`

Field Summary
`static int`	`ARM_ACTIVE` status flag for `status(int[])`
`static int`	`ARM_AT_GOAL` status flag for `status(int[])`
`static int`	`ARM_ELBOW` Arm joint indices.
`static int`	`ARM_ERR_AX` status flag for `status(int[])`
`static int`	`ARM_GRIPPER` Arm joint indices.
`static int`	`ARM_SHOULDER` Arm joint indices.
`static int`	`ARM_WRIST` Arm joint indices.
`protected double`	`avgRecvWait` Avg time spent waiting to receive a single byte, in seconds.
`protected double`	`avgSendWait` Avg time spent waiting to send a single byte, in seconds.
`static int`	`AX_ERR_ANGLE_LIMIT` AX12 error flags
`static int`	`AX_ERR_CHECKSUM` AX12 error flags
`static int`	`AX_ERR_INSTRUCTION` AX12 error flags
`static int`	`AX_ERR_OVERHEATING` AX12 error flags
`static int`	`AX_ERR_OVERLOAD` AX12 error flags
`static int`	`AX_ERR_RANGE` AX12 error flags
`static int`	`AX_ERR_TIMEOUT` AX12 error flags
`static int`	`AX_ERR_TRANSACTION` Bitmask of AX12 error flags which indicate a failed transaction.
`static int`	`AX_ERR_VOLTAGE` AX12 error flags
`static int`	`AX_ID_BCAST` AX12 broadcast ID.
`protected int`	`bytesReceived` Total number of bytes received.
`protected int`	`bytesSent` Total number of bytes sent.
`static int`	`CMD_NAME_MAX` Max command name length.
`protected java.util.Map<java.lang.String,java.lang.Integer>`	`codes` Command code cache.
`protected double`	`commandDelay` Time to wait after a no-response command, in seconds.
`protected boolean`	`debug` Whether to enable debug messages.
`static double`	`DEF_COMMAND_DELAY` Default time to wait after a no-response command, in seconds.
`static double`	`DEF_PROCESS_INIT_WAIT` Default time in seconds to wait for a com process to init.
`static double`	`DEF_RECV_POLL_TIME` Default time to wait between checks for an available byte, in seconds.
`static double`	`DEF_TIMEOUT_FILE` Default time to wait for a response from the firmware, in seconds, when using the file backend.
`static double`	`DEF_TIMEOUT_PROXY` Default time to wait for a response from the firmware, in seconds, when using the command proxy.
`static double`	`DEF_TIMEOUT_RXTX` Default time to wait for a response from the firmware, in seconds, when using the RXTX backend.
`static java.text.DecimalFormat`	`DF2` For formatting with 2 decimal paces.
`static java.text.DecimalFormat`	`DF4` For formatting with 4 decimal paces.
`static int`	`DRIVE_CFG_INDEX_B` float index for `driveGetCfg(float[])`
`static int`	`DRIVE_CFG_INDEX_MA` float index for `driveGetCfg(float[])`
`static int`	`DRIVE_CFG_INDEX_MS` float index for `driveGetCfg(float[])`
`static int`	`DRIVE_CFG_INDEX_R` float index for `driveGetCfg(float[])`
`static int`	`DRIVE_CFG_INDEX_TOL` float index for `driveGetCfg(float[])`
`static int`	`DRIVE_CFG_LEN` max cfg floats for `driveGetCfg(float[])`
`static int`	`DRIVE_ERR_ODOM` status flag for `status(int[])`
`static int`	`DRIVE_ERR_TIMEOUT` status flag for `status(int[])`
`protected ErrorHandler`	`errorHandler` The currently installed error handler.
`protected byte[]`	`flushBuf` Buffer where outgoing bytes are stored until they need to be flushed.
`protected int`	`flushNext` Next unused byte in `flushBuf`.
`static int`	`HOST_ERR_RECV` status flag for `status(int[])`
`static int`	`HOST_ERR_SEND` status flag for `status(int[])`
`static double`	`INIT_DELAY` Default time to wait during the `init()` delays, in seconds.
`static int`	`INITIAL_FLUSH_BUF_LEN` Initial length of `flushBuf`.
`protected java.io.InputStream`	`istream` Input stream from firmware.
`static int`	`LCD_WIDTH` LCD width.
`static int`	`LEFT` drive motor indices
`protected double`	`maxRecvWait` Max time spent waiting to receive a single byte, in seconds.
`protected double`	`maxSendWait` Max time spent waiting to send a single byte, in seconds.
`protected double`	`minRecvWait` Min time spent waiting to receive a single byte, in seconds.
`protected double`	`minSendWait` Min time spent waiting to send a single byte, in seconds.
`static int`	`MOT_ERR_ENC_L` status flag for `status(int[])`
`static int`	`MOT_ERR_ENC_R` status flag for `status(int[])`
`static int`	`MOT_ERR_VEL_L` status flag for `status(int[])`
`static int`	`MOT_ERR_VEL_R` status flag for `status(int[])`
`static int`	`NUM_INIT_ZEROS` Number of zeros to send the firmware on init.
`protected int`	`numTimeouts` Total number of timeouts.
`protected java.io.OutputStream`	`ostream` Output stream to firmware.
`static int`	`PID_FPF` Monitor fixed point PID implementation fraction bits.
`protected double`	`recvPollTime` Time to wait between checks for an available byte, in seconds.
`protected boolean`	`recvTimedOut` Whether the last `recvByte(boolean)` timed out.
`static int`	`RIGHT` drive motor indices
`static int`	`RXTX_BAUDRATE` Serial baudrate for RXTX.
`static int`	`RXTX_OPEN_TIMEOUT_MS` Timeout in ms to wait to open a port with RXTX.
`static java.lang.String`	`RXTX_PORT_OWNER_NAME` RXTX Port owner name.
`protected gnu.io.SerialPort`	`rxtxSerialPort` RXTX serial port or null if not using RXTX.
`static int`	`SCAL_N` LUT size for `senseConfigAnalogLUT(int, int, int[], float[])`
`static int`	`STATUS_INDEX_ARM` status index for `status(int[])`
`static int`	`STATUS_INDEX_BAT` status index for `status(int[])`
`static int`	`STATUS_INDEX_DRIVE` status index for `status(int[])`
`static int`	`STATUS_INDEX_HOST` status index for `status(int[])`
`static int`	`STATUS_INDEX_MOT` status index for `status(int[])`
`static int`	`STATUS_INDEX_TASK` status index for `status(int[])`
`static int`	`STATUS_LEN` max status bytes for `status(int[])`
`private static java.lang.String`	`svnid`
`static int`	`TASK_ERR_COLLISION` status flag for `status(int[])`
`static int`	`TASK_ERR_MEM` status flag for `status(int[])`
`protected double`	`timeout` Time to wait for a response from the firmware, in seconds.
`protected double`	`totalRecvWait` Total time spent waiting to receive bytes, in seconds.
`protected double`	`totalSendWait` Total time spent waiting to send bytes, in seconds.
`static java.lang.String`	`USAGE` `makeOHMM(java.lang.String[])` Usage message.
`static Version`	`VERSION` Version info for the host library.

Constructor Summary
`OHMM(double initWait, java.lang.String... cmdLine)` Covers `OHMM(ErrorHandler, double, String...)` with a new `DefaultErrorHandler`.
`OHMM(ErrorHandler errorHandler, double initWait, java.lang.String... cmdLine)` Talk to the hardware via the specified process.
`OHMM(ErrorHandler errorHandler, java.io.File port)` Talk to the hardware on the specified serial port, accessed as a file.
`OHMM(ErrorHandler errorHandler, java.lang.String... cmdLine)` Covers `OHMM(ErrorHandler, double, String...)` with `DEF_PROCESS_INIT_WAIT`.
`OHMM(ErrorHandler errorHandler, java.lang.String portName)` Similar to `OHMM(ErrorHandler, File)`, but uses RXTX library to access the serial port.
`OHMM(java.io.File port)` Covers `OHMM(ErrorHandler, File)` with a new `DefaultErrorHandler`.
`OHMM(java.lang.String... cmdLine)` Covers `OHMM(ErrorHandler, double, String...)` with a new `DefaultErrorHandler` and `DEF_PROCESS_INIT_WAIT`.
`OHMM(java.lang.String portName)` Covers `OHMM(ErrorHandler, String)` with a new `DefaultErrorHandler`.

Method Summary
`OHMM.AllState`	`allState()` covers `allState(AllState)`, always conses
`OHMM.AllState`	`allState(OHMM.AllState state)` Runs monitor command "allst".
`boolean`	`armActive()` Runs monitor command "aa".
`boolean`	`armAtGoal()` Runs monitor command "aag".
`void`	`armCal()` Runs monitor command "ac".
`void`	`armEnable(boolean enable)` Runs monitor command "ae".
`int[]`	`armGetAllCal()` Covers `armGetAllCal(int[])`, always conses.
`int[]`	`armGetAllCal(int[] offset)` Runs monitor command "agac".
`int[]`	`armGetAllJoints()` Covers `armGetAllJoints(int[])`, always conses.
`int[]`	`armGetAllJoints(int[] counts)` Runs monitor command "agaj".
`float[]`	`armGetAllJointsDeg()` Covers `armGetAllJointsDeg(float[])`, always conses.
`float[]`	`armGetAllJointsDeg(float[] angle)` Runs monitor command "agajd".
`float[]`	`armGetAllJointsRad()` Covers `armGetAllJointsRad(float[])`, always conses.
`float[]`	`armGetAllJointsRad(float[] angle)` Runs monitor command "agajr".
`int`	`armGetCal(int joint)` Runs monitor command "agc".
`float`	`armGetGripper()` Runs monitor command "agg".
`int`	`armGetJoint(int joint)` Runs monitor command "agj".
`float`	`armGetJointDeg(int joint)` Runs monitor command "agjd".
`float`	`armGetJointRad(int joint)` Runs monitor command "agjr".
`int[]`	`armGetLoads()` Covers `armGetLoads(int[])`, always conses.
`int[]`	`armGetLoads(int[] load)` Runs monitor command "agl".
`int`	`armGetNumAXErrors()` Runs monitor command "agne".
`int[]`	`armGetTemps()` Covers `armGetTemps(int[])`, always conses.
`int[]`	`armGetTemps(int[] temp)` Runs monitor command "agt".
`void`	`armHold(boolean hold)` Runs monitor command "ahld".
`void`	`armHome()` Runs monitor command "ah".
`void`	`armReinit()` Runs monitor command "ari".
`boolean`	`armSetAllCal(int... offset)` Runs monitor command "asac".
`boolean`	`armSetAllJoints(int... counts)` Runs monitor command "asaj".
`boolean`	`armSetAllJointsDeg(float... angle)` Runs monitor command "asajd".
`boolean`	`armSetAllJointsRad(float... angle)` Runs monitor command "asajd".
`boolean`	`armSetCal(int joint, int offset)` Runs monitor command "asc".
`boolean`	`armSetGripper(float state)` Runs monitor command "asg".
`boolean`	`armSetJoint(int joint, int counts)` Runs monitor command "asj".
`boolean`	`armSetJointDeg(int joint, float angle)` Runs monitor command "asjd".
`boolean`	`armSetJointRad(int joint, float angle)` Runs monitor command "asjr".
`OHMM.ArmState`	`armState()` covers `armState(ArmState)`, always conses
`OHMM.ArmState`	`armState(OHMM.ArmState state)` Runs monitor command "armst".
`int`	`axAction(int id)` Runs the monitor command "axact".
`static java.lang.String`	`axErrToString(int err)` Convert an AX12 error code to a human readable string.
`void`	`axESTOP()` Runs monitor command "axestop".
`int`	`axGetLoad(int id)` Runs monitor command "axgl".
`int`	`axGetNumOverflows()` Runs monitor command "axgno".
`int`	`axGetNumRetries()` Runs monitor command "axgnr".
`int`	`axGetNumTimeouts()` Runs monitor command "axgnt".
`int`	`axGetPos(int id)` Runs monitor command "axgp".
`float`	`axGetPosDeg(int id)` Runs monitor command "axgpd".
`float`	`axGetPosRad(int id)` Runs monitor command "axgpr".
`int`	`axGetTemp(int id)` Runs monitor command "axgt".
`float`	`axGetVolts(int id)` Runs monitor command "axgv".
`int`	`axPing(int id)` Runs the monitor command "axpng".
`int`	`axRead(int id, int reg)` Runs the monitor command "axrd".
`int`	`axRead(int id, OHMM.AXReg reg)` Like `axRead(int, int)` but takes an `OHMM.AXReg`.
`int`	`axRead16(int id, int reg)` Runs the monitor command "axrd16".
`int`	`axRead16(int id, OHMM.AXReg reg)` Like `axRead16(int, int)` but takes an `OHMM.AXReg`.
`int`	`axRegSetGoal(int id, int goal)` Like `axSetGoal(int, int)` but does a reg write.
`int`	`axRegSetGoalDeg(int id, float goal)` like `axRegSetGoal(int, int)` but in degrees
`int`	`axRegSetGoalRad(int id, float goal)` like `axRegSetGoal(int, int)` but in radians
`int`	`axRegWrite(int id, int reg, int val)` Runs the monitor command "axrwr".
`int`	`axRegWrite(int id, OHMM.AXReg reg, int val)` Like `axRegWrite(int, int, int)` but takes an `OHMM.AXReg`.
`int`	`axRegWrite11(int id, int reg, int val)` Runs monitor command "axrwr11".
`int`	`axRegWrite11(int id, OHMM.AXReg reg, int val)` Like `axRegWrite11(int, int, int)` but takes an `OHMM.AXReg`.
`void`	`axReinit()` Runs the monitor command "axri".
`int`	`axSetAngleLimits(int id, int cwLimit, int ccwLimit)` Runs monitor command "axsal".
`int`	`axSetGoal(int id, int goal)` Runs monitor command "axsg".
`int`	`axSetGoalDeg(int id, float goal)` like `axSetGoal(int, int)` but in degrees
`protected int`	`axSetGoalImpl(java.lang.String cmd, int id, float goal)` comon impl of set goal (float) methods
`protected int`	`axSetGoalImpl(java.lang.String cmd, int id, int goal)` comon impl of set goal (int) methods
`int`	`axSetGoalRad(int id, float goal)` like `axSetGoal(int, int)` but in radians
`OHMM.AXState`	`axState()` covers `axState(AXState)`, always conses
`OHMM.AXState`	`axState(OHMM.AXState state)` Runs monitor command "axst".
`int`	`axTorqueEnable(int id, boolean enable)` Runs monitor command "axte".
`int`	`axWrite(int id, int reg, int val)` Runs monitor command "axwr".
`int`	`axWrite(int id, OHMM.AXReg reg, int val)` Like `axWrite(int, int, int)` but takes an `OHMM.AXReg`.
`int`	`axWrite11(int id, int reg, int val)` Runs monitor command "axwr11".
`int`	`axWrite11(int id, OHMM.AXReg reg, int val)` Like `axWrite11(int, int, int)` but takes an `OHMM.AXReg`.
`protected int`	`axWriteImpl(java.lang.String cmd, int id, int reg, int val, int len)` common impl of the ax write methods
`int`	`batMillivolts()` Runs monitor command "bat".
`OHMM.BatState`	`batState()` covers `batState(BatState)`, always conses
`OHMM.BatState`	`batState(OHMM.BatState state)` Runs monitor command "batst".
`void`	`close()` Close communications with the hardware.
`protected void`	`dbg(java.lang.String prefix, byte b)` Emit a debug message documenting a comms byte iff `debug`.
`int`	`drainReceiveBuffer()` Drain any bytes waiting in the receive buffer from the firware.
`boolean`	`driveArc(float l, float d)` Runs monitor command "da".
`boolean`	`driveArcDeg(float l, float d)` Runs monitor command "dad".
`static java.lang.String`	`driveCfgToString(float[] cfg)` Convert drive config to a human readable message.
`static java.lang.StringBuilder`	`driveCfgToString(float[] cfg, java.lang.StringBuilder sb)` helper for `driveCfgToString(float[])`
`float[]`	`driveGetCfg()` covers `driveGetCfg(float[])`, always conses
`float[]`	`driveGetCfg(float[] cfg)` Runs monitor command "dgcfg".
`float[]`	`driveGetPose()` calls `driveGetPose(float[])`, always conses
`float[]`	`driveGetPose(float[] xyt)` Runs monitor command "dgp".
`int`	`driveGetQueue()` Runs monitor command "dgq".
`float[]`	`driveGetVL()` calls `driveGetVL(float[])`, always conses
`float[]`	`driveGetVL(float[] vl)` Runs monitor command "dgvl".
`float[]`	`driveGetVW()` calls `driveGetVW(float[])`, always conses
`float[]`	`driveGetVW(float[] vw)` Runs monitor command "dgvw".
`boolean`	`driveOrientationServo(float t)` Runs monitor command "dos".
`void`	`drivePause()` Runs monitor command "dp".
`void`	`driveReinit()` Runs monitor command "dri".
`void`	`driveResetPose()` Runs monitor command "drp".
`void`	`driveSetBaseline(float b)` Runs monitor command "dsbl".
`void`	`driveSetMaxAccel(float a)` Runs monitor command "dsma".
`boolean`	`driveSetMaxSpeed(float s)` Runs monitor command "dsms".
`void`	`driveSetPosDGain(float g)` Runs the monitor command "dsdg".
`void`	`driveSetPose(float x, float y, float t)` Runs monitor command "dsp".
`void`	`driveSetPosIGain(float g)` Runs the monitor command "dsig".
`void`	`driveSetPosPGain(float g)` Runs the monitor command "dspg".
`void`	`driveSetTol(float t)` Runs monitor command "dstol".
`boolean`	`driveSetVL(float v, float l)` Runs monitor command "dsvl".
`boolean`	`driveSetVW(float v, float w)` Runs monitor command "dsvw".
`void`	`driveSetWheelRadius(float r)` Runs monitor command "dswr".
`OHMM.DriveState`	`driveState()` covers `driveState(DriveState)`, always conses
`OHMM.DriveState`	`driveState(OHMM.DriveState state)` Runs monitor command "drvst".
`void`	`driveStop()` Runs monitor command "dst".
`boolean`	`driveStraight(float d)` Runs monitor command "df".
`boolean`	`driveTurn(float d)` Runs monitor command "dt".
`boolean`	`driveTurnDeg(float d)` Runs monitor command "dtd".
`void`	`driveUnPause()` Runs monitor command "dup".
`void`	`dumpStats()` `dumpStats(PrintStream)` to `System.out`
`void`	`dumpStats(java.io.PrintStream s)` Dump a human-readable summary of the comm stats.
`byte`	`echo(byte out)` Ask the firmware to echo a byte.
`float`	`echo(float out)` Ask the firmware to echo a float.
`int`	`echo(int nb, int out)` Ask the firmware to echo an int.
`float`	`echoFix(float out)` Ask the firmware to echo a fix.
`void`	`estop()` Runs monitor command "estop".
`static java.lang.String`	`fmt2(float f)` format f with 2 decimal places
`static java.lang.String`	`fmt4(float f)` format f with 4 decimal places
`int`	`freeRam()` Runs monitor command "fr".
`int`	`getBytesReceived()` Get the total number of bytes received thus far.
`int`	`getBytesSent()` Get the total number of bytes sent thus far.
`java.lang.Integer`	`getCmdCode(java.lang.String name)` Get a binary command code corresponding to a monitor command name.
`double`	`getCommandDelay()` Get the time to wait after a no-response command, in seconds.
`double`	`getCurrentTime()` get the current time in seconds
`boolean`	`getDebug()` Get whether to enable debug output to stderr.
`ErrorHandler`	`getErrorHandler()` Get the error handler.
`java.lang.String`	`getHostVersion()` get a human-readable string giving the OHMM host library version
`java.lang.String`	`getMonitorVersion()` Runs monitor command "ver".
`int`	`getNumTimeouts()` Get the total number of timeouts.
`double`	`getRecvPollTime()` Get the time to wait between polls for a received byte, in seconds.
`double`	`getTimeout()` Get the time to wait for a response from the firmware, in seconds.
`boolean`	`init()` (Re)initialize communications.
`void`	`lcdAlert(int sec, java.lang.String msgTop, java.lang.String msgBot)` Runs monitor command "alert".
`void`	`lcdMsg(java.lang.String msg)` Runs monitor command "msg".
`void`	`lcdMsgClr()` Runs monitor command "msgclr".
`void`	`lcdSysMsg(int start, int width, java.lang.String msg)` Runs monitor command "sysmsg".
`void`	`lcdSysMsgClr(int start, int width)` Runs monitor command "sysmsgclr".
`static void`	`listPorts()` `listPorts(PrintStream)` to `System.out`
`static void`	`listPorts(java.io.PrintStream s)` Convenience method to query the list of available ports according to RXTX.
`static OHMM`	`makeOHMM(java.lang.String[] argv)` Constructs an OHMM from command line parameters.
`void`	`motFree()` Runs monitor command "mfr".
`byte`	`motGetErrors()` Runs monitor command "mge".
`float[]`	`motGetPos()` covers `motGetPos(float[])`, always conses
`float[]`	`motGetPos(float[] lr)` Runs the monitor command "mgp".
`int[]`	`motGetPosCounts()` covers `motGetPosCounts(int[])`, always conses
`int[]`	`motGetPosCounts(int[] lr)` Runs the monitor command "mgc".
`float[]`	`motGetVel()` covers `motGetVel(float[])`, always conses
`float[]`	`motGetVel(float[] lr)` Runs the monitor command "mgv".
`float[]`	`motGetVelCmd()` covers `motGetVelCmd(float[])`, always conses
`float[]`	`motGetVelCmd(float[] lr)` Runs the monitor command "mgvc".
`void`	`motKick(int l, int r)` Runs monitor command "mk".
`void`	`motReinit()` Runs monitor command "mri".
`void`	`motSetDiffVelIGain(float g)` Runs the monitor command "msdi".
`boolean`	`motSetVelCmd(float l, float r)` Runs the monitor command "msv".
`void`	`motSetVelDGain(float g)` Runs the monitor command "msvd".
`void`	`motSetVelIGain(float g)` Runs the monitor command "msvi".
`void`	`motSetVelPGain(float g)` Runs the monitor command "msvp".
`OHMM.MotState`	`motState()` covers `motState(MotState)`, always conses
`OHMM.MotState`	`motState(OHMM.MotState state)` Runs monitor command "motst".
`void`	`noResponseDelay()` Delay by the current command delay.
`OHMM.OHMMState`	`ohmmState()` covers `ohmmState(OHMMState)`, always conses
`OHMM.OHMMState`	`ohmmState(OHMM.OHMMState state)` Runs monitor command "ohmst".
`boolean`	`recvBoolean()` Get a boolean as a byte, 0 false, 1 true.
`byte`	`recvByte()` Covers `recvByte(boolean)`, timeoutOk = false.
`byte`	`recvByte(boolean timeoutOk)` Get a byte from the firmware.
`char`	`recvChar()` Get an ASCII char.
`float`	`recvFix(int f)` Get a 2 byte fixed point value, MSB first.
`float`	`recvFloat()` Get a float, MSB first.
`int`	`recvInt(int size)` Get an integer, MSB first.
`java.lang.String`	`recvString()` Covers `recvString(boolean)`, does not whitespace terminate
`java.lang.String`	`recvString(boolean wsTerminate)` Receive a null terminated string.
`void`	`resetStats()` Reset all comm stats.
`void`	`send(boolean b)` covers `send(boolean, boolean)`, always flushes
`void`	`send(boolean b, boolean flush)` Send a boolean to the firmware as a byte (0 or 1).
`void`	`send(byte b)` covers `send(byte, boolean)`, always flushes
`void`	`send(byte[] bytes)` covers `send(byte[], boolean)`, always flushes
`void`	`send(byte[] bytes, boolean flush)` Send an array of bytes to the firmware.
`void`	`send(byte b, boolean flush)` Send a byte to the firmware.
`void`	`send(char c)` covers `send(char, boolean)`, always flushes
`void`	`send(char c, boolean flush)` Send an ASCII char to the firmware.
`void`	`send(float f)` covers `send(float, boolean)`, always flushes
`void`	`send(float f, boolean flush)` Send a float to the firmware, MSB first.
`void`	`send(int i, int size)` covers `send(int, int, boolean)`, always flushes
`void`	`send(int i, int size, boolean flush)` Send an int to the firmware, MSB first.
`void`	`send(java.lang.String s)` covers `send(String, boolean)`, always flushes
`void`	`send(java.lang.String s, boolean flush)` Send a null terminated ASCII string to the firmware.
`void`	`send(java.lang.String s, int len)` covers `send(String, int, boolean)`, always flushes
`void`	`send(java.lang.String s, int n, boolean flush)` Send fixed length ASCII string to the firmware.
`void`	`sendCmdCode(java.lang.String cmdName)` covers `sendCmdCode(String, boolean)`, always flushes
`void`	`sendCmdCode(java.lang.String cmdName, boolean flush)` Convenience to `getCmdCode(java.lang.String)` and `send(int, int, boolean)`.
`void`	`sendFix(float x, int f)` covers `sendFix(float, int, boolean)`, always flushes
`void`	`sendFix(float x, int f, boolean flush)` Send a 2 byte fixed point value to the firmware, MSB first.
`void`	`sendFlush()` flush any pending writes
`void`	`sendZeros(int n)` Send zeros.
`boolean`	`senseConfigAnalog(int channel, int numSamples)` Runs monitor command "sca".
`boolean`	`senseConfigAnalog(OHMM.AnalogChannel channel, int numSamples)` Covers `senseConfigAnalog(int, int)`
`boolean`	`senseConfigAnalogIR(int channel, int numSamples)` Runs monitor command "scair".
`boolean`	`senseConfigAnalogIR(OHMM.AnalogChannel channel, int numSamples)` Covers `senseConfigAnalogIR(int, int)`
`boolean`	`senseConfigAnalogLUT(int channel, int numSamples, int[] lutA, float[] lutO)` Runs monitor command "scal".
`boolean`	`senseConfigAnalogLUT(OHMM.AnalogChannel channel, int numSamples, int[] lutA, float[] lutO)` Covers `senseConfigAnalogLUT(int, int, int[], float[])`
`boolean`	`senseConfigDigital(int pin, boolean pullup, boolean invert)` Runs monitor command "scd".
`boolean`	`senseConfigDigital(OHMM.DigitalPin pin, boolean pullup, boolean invert)` Covers `senseConfigDigital(int, boolean, boolean)`
`float`	`senseReadAnalog(int channel)` Runs monitor command "sra".
`float`	`senseReadAnalog(OHMM.AnalogChannel channel)` Covers `senseReadAnalog(int)`
`boolean`	`senseReadDigital(int pin)` Runs monitor command "srd".
`boolean`	`senseReadDigital(OHMM.DigitalPin pin)` Covers `senseReadDigital(int)`
`void`	`senseReinit()` Runs monitor command "sri".
`OHMM.SenseState`	`senseState()` covers `senseState(SenseState)`, always conses
`OHMM.SenseState`	`senseState(OHMM.SenseState state)` Runs monitor command "snsst".
`void`	`setCommandDelay(double commandDelay)` Set the time to wait after a no-response command, in seconds.
`void`	`setDebug(boolean debug)` Set whether to enable debug output to stderr.
`void`	`setErrorHandler(ErrorHandler errorHandler)` Set the error handler.
`void`	`setRecvPollTime(double recvPollTime)` Set the time to wait between polls for a received byte, in seconds.
`void`	`setTimeout(double timeout)` Set the time to wait for a response from the firmware, in seconds.
`void`	`shtdn()` Runs monitor command "shtdn".
`void`	`sleep(double seconds)` sleep at least the specfied time in seconds
`int[]`	`status()` covers `status(int[])`
`int[]`	`status(int[] status)` Runs monitor command "status".
`static java.lang.String`	`statusToString(int[] status)` Convert status bytes to a human readable message.
`static java.lang.StringBuilder`	`statusToString(int[] status, java.lang.StringBuilder sb)` helper for `statusToString(int[])`
`OHMM.TaskState`	`taskState()` covers `taskState(TaskState)`, always conses
`OHMM.TaskState`	`taskState(OHMM.TaskState state)` Runs monitor command "tskst".
`int`	`ticks()` Runs monitor command "tck".

Methods inherited from class java.lang.Object
`clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait`

Field Detail

svnid

private static final java.lang.String svnid

See Also:: Constant Field Values

VERSION

public static final Version VERSION

Version info for the host library.

getHostVersion() is a convenience; getMonitorVersion() asks the firmware for its version, which may differ.

DF2

public static final java.text.DecimalFormat DF2

For formatting with 2 decimal paces.

DF4

public static final java.text.DecimalFormat DF4

For formatting with 4 decimal paces.

DEF_TIMEOUT_RXTX

public static final double DEF_TIMEOUT_RXTX

Default time to wait for a response from the firmware, in seconds, when using the RXTX backend.

See Also:: Constant Field Values

DEF_TIMEOUT_FILE

public static final double DEF_TIMEOUT_FILE

Default time to wait for a response from the firmware, in seconds, when using the file backend.

See Also:: Constant Field Values

DEF_TIMEOUT_PROXY

public static final double DEF_TIMEOUT_PROXY

Default time to wait for a response from the firmware, in seconds, when using the command proxy.

See Also:: Constant Field Values

DEF_RECV_POLL_TIME

public static final double DEF_RECV_POLL_TIME

Default time to wait between checks for an available byte, in seconds.

See Also:: Constant Field Values

DEF_COMMAND_DELAY

public static final double DEF_COMMAND_DELAY

Default time to wait after a no-response command, in seconds.

See Also:: Constant Field Values

DEF_PROCESS_INIT_WAIT

public static final double DEF_PROCESS_INIT_WAIT

Default time in seconds to wait for a com process to init.

See Also:: Constant Field Values

NUM_INIT_ZEROS

public static final int NUM_INIT_ZEROS

Number of zeros to send the firmware on init.

See Also:: Constant Field Values

INIT_DELAY

public static final double INIT_DELAY

Default time to wait during the init() delays, in seconds.

See Also:: Constant Field Values

RXTX_PORT_OWNER_NAME

public static final java.lang.String RXTX_PORT_OWNER_NAME

RXTX Port owner name.

See Also:: Constant Field Values

RXTX_OPEN_TIMEOUT_MS

public static final int RXTX_OPEN_TIMEOUT_MS

Timeout in ms to wait to open a port with RXTX.

See Also:: Constant Field Values

RXTX_BAUDRATE

public static final int RXTX_BAUDRATE

Serial baudrate for RXTX.

See Also:: Constant Field Values

INITIAL_FLUSH_BUF_LEN

public static final int INITIAL_FLUSH_BUF_LEN

Initial length of flushBuf.

See Also:: Constant Field Values

CMD_NAME_MAX

public static final int CMD_NAME_MAX

Max command name length.

See Also:: Constant Field Values

SCAL_N

public static final int SCAL_N

LUT size for senseConfigAnalogLUT(int, int, int[], float[])

See Also:: Constant Field Values

LCD_WIDTH

public static final int LCD_WIDTH

LCD width.

See Also:: Constant Field Values

PID_FPF

public static final int PID_FPF

Monitor fixed point PID implementation fraction bits.

See Also:: Constant Field Values

codes

protected java.util.Map<java.lang.String,java.lang.Integer> codes

Command code cache.

STATUS_LEN

public static final int STATUS_LEN

max status bytes for status(int[])

See Also:: Constant Field Values

STATUS_INDEX_BAT

public static final int STATUS_INDEX_BAT

status index for status(int[])

See Also:: Constant Field Values

STATUS_INDEX_TASK

public static final int STATUS_INDEX_TASK

status index for status(int[])

See Also:: Constant Field Values

STATUS_INDEX_HOST

public static final int STATUS_INDEX_HOST

status index for status(int[])

See Also:: Constant Field Values

STATUS_INDEX_MOT

public static final int STATUS_INDEX_MOT

status index for status(int[])

See Also:: Constant Field Values

STATUS_INDEX_DRIVE

public static final int STATUS_INDEX_DRIVE

status index for status(int[])

See Also:: Constant Field Values

STATUS_INDEX_ARM

public static final int STATUS_INDEX_ARM

status index for status(int[])

See Also:: Constant Field Values

TASK_ERR_COLLISION

public static final int TASK_ERR_COLLISION

status flag for status(int[])

See Also:: Constant Field Values

TASK_ERR_MEM

public static final int TASK_ERR_MEM

status flag for status(int[])

See Also:: Constant Field Values

HOST_ERR_SEND

public static final int HOST_ERR_SEND

status flag for status(int[])

See Also:: Constant Field Values

HOST_ERR_RECV

public static final int HOST_ERR_RECV

status flag for status(int[])

See Also:: Constant Field Values

MOT_ERR_ENC_L

public static final int MOT_ERR_ENC_L

status flag for status(int[])

See Also:: Constant Field Values

MOT_ERR_ENC_R

public static final int MOT_ERR_ENC_R

status flag for status(int[])

See Also:: Constant Field Values

MOT_ERR_VEL_L

public static final int MOT_ERR_VEL_L

status flag for status(int[])

See Also:: Constant Field Values

MOT_ERR_VEL_R

public static final int MOT_ERR_VEL_R

status flag for status(int[])

See Also:: Constant Field Values

DRIVE_ERR_ODOM

public static final int DRIVE_ERR_ODOM

status flag for status(int[])

See Also:: Constant Field Values

DRIVE_ERR_TIMEOUT

public static final int DRIVE_ERR_TIMEOUT

status flag for status(int[])

See Also:: Constant Field Values

ARM_ERR_AX

public static final int ARM_ERR_AX

status flag for status(int[])

See Also:: Constant Field Values

ARM_ACTIVE

public static final int ARM_ACTIVE

status flag for status(int[])

See Also:: Constant Field Values

ARM_AT_GOAL

public static final int ARM_AT_GOAL

status flag for status(int[])

See Also:: Constant Field Values

DRIVE_CFG_LEN

public static final int DRIVE_CFG_LEN

max cfg floats for driveGetCfg(float[])

See Also:: Constant Field Values

DRIVE_CFG_INDEX_R

public static final int DRIVE_CFG_INDEX_R

float index for driveGetCfg(float[])

See Also:: Constant Field Values

DRIVE_CFG_INDEX_B

public static final int DRIVE_CFG_INDEX_B

float index for driveGetCfg(float[])

See Also:: Constant Field Values

DRIVE_CFG_INDEX_MS

public static final int DRIVE_CFG_INDEX_MS

float index for driveGetCfg(float[])

See Also:: Constant Field Values

DRIVE_CFG_INDEX_MA

public static final int DRIVE_CFG_INDEX_MA

float index for driveGetCfg(float[])

See Also:: Constant Field Values

DRIVE_CFG_INDEX_TOL

public static final int DRIVE_CFG_INDEX_TOL

float index for driveGetCfg(float[])

See Also:: Constant Field Values

AX_ERR_TIMEOUT

public static final int AX_ERR_TIMEOUT

AX12 error flags

See Also:: Constant Field Values

AX_ERR_INSTRUCTION

public static final int AX_ERR_INSTRUCTION

AX12 error flags

See Also:: Constant Field Values

AX_ERR_OVERLOAD

public static final int AX_ERR_OVERLOAD

AX12 error flags

See Also:: Constant Field Values

AX_ERR_CHECKSUM

public static final int AX_ERR_CHECKSUM

AX12 error flags

See Also:: Constant Field Values

AX_ERR_RANGE

public static final int AX_ERR_RANGE

AX12 error flags

See Also:: Constant Field Values

AX_ERR_OVERHEATING

public static final int AX_ERR_OVERHEATING

AX12 error flags

See Also:: Constant Field Values

AX_ERR_ANGLE_LIMIT

public static final int AX_ERR_ANGLE_LIMIT

AX12 error flags

See Also:: Constant Field Values

AX_ERR_VOLTAGE

public static final int AX_ERR_VOLTAGE

AX12 error flags

See Also:: Constant Field Values

AX_ERR_TRANSACTION

public static final int AX_ERR_TRANSACTION

Bitmask of AX12 error flags which indicate a failed transaction.

See Also:: Constant Field Values

AX_ID_BCAST

public static final int AX_ID_BCAST

AX12 broadcast ID.

See Also:: Constant Field Values

ARM_SHOULDER

public static final int ARM_SHOULDER

Arm joint indices.

See Also:: Constant Field Values

ARM_ELBOW

public static final int ARM_ELBOW

Arm joint indices.

See Also:: Constant Field Values

ARM_WRIST

public static final int ARM_WRIST

Arm joint indices.

See Also:: Constant Field Values

ARM_GRIPPER

public static final int ARM_GRIPPER

Arm joint indices.

See Also:: Constant Field Values

LEFT

public static final int LEFT

drive motor indices

See Also:: Constant Field Values

RIGHT

public static final int RIGHT

drive motor indices

See Also:: Constant Field Values

flushNext

protected int flushNext

Next unused byte in flushBuf.

flushBuf

protected byte[] flushBuf

Buffer where outgoing bytes are stored until they need to be flushed.

Will be grown as necessary.

rxtxSerialPort

protected gnu.io.SerialPort rxtxSerialPort

RXTX serial port or null if not using RXTX.

ostream

protected java.io.OutputStream ostream

Output stream to firmware.

istream

protected java.io.InputStream istream

Input stream from firmware.

errorHandler

protected ErrorHandler errorHandler

The currently installed error handler.

recvTimedOut

protected boolean recvTimedOut

Whether the last recvByte(boolean) timed out.

debug

protected boolean debug

Whether to enable debug messages.

bytesSent

protected int bytesSent

Total number of bytes sent.

bytesReceived

protected int bytesReceived

Total number of bytes received.

numTimeouts

protected int numTimeouts

Total number of timeouts.

minRecvWait

protected double minRecvWait

Min time spent waiting to receive a single byte, in seconds.

maxRecvWait

protected double maxRecvWait

Max time spent waiting to receive a single byte, in seconds.

totalRecvWait

protected double totalRecvWait

Total time spent waiting to receive bytes, in seconds.

avgRecvWait

protected double avgRecvWait

Avg time spent waiting to receive a single byte, in seconds.

minSendWait

protected double minSendWait

Min time spent waiting to send a single byte, in seconds.

maxSendWait

protected double maxSendWait

Max time spent waiting to send a single byte, in seconds.

totalSendWait

protected double totalSendWait

Total time spent waiting to send bytes, in seconds.

avgSendWait

protected double avgSendWait

Avg time spent waiting to send a single byte, in seconds.

timeout

protected double timeout

Time to wait for a response from the firmware, in seconds.

recvPollTime

protected double recvPollTime

Time to wait between checks for an available byte, in seconds.

commandDelay

protected double commandDelay

Time to wait after a no-response command, in seconds.

USAGE

public static final java.lang.String USAGE

makeOHMM(java.lang.String[]) Usage message.

See Also:: Constant Field Values

Constructor Detail

OHMM

public OHMM(ErrorHandler errorHandler,
            java.io.File port)

Talk to the hardware on the specified serial port, accessed as a file.

Parameters:: errorHandler - the ErrorHandler, null if none; port - the file representing the port connected to the hardware. Must already be configured for correct data rate, format, etc.

OHMM

public OHMM(java.io.File port)

Covers OHMM(ErrorHandler, File) with a new DefaultErrorHandler.

OHMM

public OHMM(ErrorHandler errorHandler,
            java.lang.String portName)

Similar to OHMM(ErrorHandler, File), but uses RXTX library to access the serial port.

Parameters:: portName - an os-dependent port name as used by RXTX. Use listPorts(java.io.PrintStream) to show all available names on your system.

OHMM

public OHMM(java.lang.String portName)

Covers OHMM(ErrorHandler, String) with a new DefaultErrorHandler.

OHMM

public OHMM(ErrorHandler errorHandler,
            double initWait,
            java.lang.String... cmdLine)

Talk to the hardware via the specified process.

Parameters:: errorHandler - the ErrorHandler, null if none; initWait - time in seconds to wait for the process to init; cmdLine - the command and its arguments to start the communication process

OHMM

public OHMM(ErrorHandler errorHandler,
            java.lang.String... cmdLine)

Covers OHMM(ErrorHandler, double, String...) with DEF_PROCESS_INIT_WAIT.

OHMM

public OHMM(double initWait,
            java.lang.String... cmdLine)

Covers OHMM(ErrorHandler, double, String...) with a new DefaultErrorHandler.

OHMM

public OHMM(java.lang.String... cmdLine)

Covers OHMM(ErrorHandler, double, String...) with a new DefaultErrorHandler and DEF_PROCESS_INIT_WAIT.

Method Detail

init

public boolean init()

(Re)initialize communications.

Clears the command code cache and resets stats.

This will block for at least INIT_DELAY sec, and further by up to twice timeout sec if the monitor was already in quiet or binary mode.

Returns:: true on success

setErrorHandler

public void setErrorHandler(ErrorHandler errorHandler)

Set the error handler.

Parameters:: errorHandler - the new error handler, null for none

getErrorHandler

public ErrorHandler getErrorHandler()

Get the error handler.

Returns:: the error handler, null for none

setDebug

public void setDebug(boolean debug)

Set whether to enable debug output to stderr.

Parameters:: debug - whether to enable debug output to stderr

getDebug

public boolean getDebug()

Get whether to enable debug output to stderr.

Returns:: whether to enable debug output to stderr

setTimeout

public void setTimeout(double timeout)

Set the time to wait for a response from the firmware, in seconds.

Parameters:: timeout - the time to wait for a response from the firmware, in seconds

getTimeout

public double getTimeout()

Get the time to wait for a response from the firmware, in seconds.

Returns:: the time to wait for a response from the firmware, in seconds

setRecvPollTime

public void setRecvPollTime(double recvPollTime)

Set the time to wait between polls for a received byte, in seconds.

Parameters:: recvPollTime - the time to wait between polls for a received byte, in seconds

getRecvPollTime

public double getRecvPollTime()

Get the time to wait between polls for a received byte, in seconds.

Returns:: the time to wait between polls for a received byte, in seconds

setCommandDelay

public void setCommandDelay(double commandDelay)

Set the time to wait after a no-response command, in seconds.

Parameters:: commandDelay - the time to wait after a no-response command, in seconds

getCommandDelay

public double getCommandDelay()

Get the time to wait after a no-response command, in seconds.

Returns:: the time to wait after a no-response command, in seconds

getHostVersion

public java.lang.String getHostVersion()

get a human-readable string giving the OHMM host library version

estop

public void estop()

Runs monitor command "estop".

shtdn

public void shtdn()

Runs monitor command "shtdn".

getMonitorVersion

public java.lang.String getMonitorVersion()

Runs monitor command "ver".

Returns:: the monitor version string

status

public int[] status(int[] status)

Runs monitor command "status".

Parameters:: status - up to STATUS_LEN bytes of status is returned here, or null to cons
Returns:: status Returned floats are indexed by STATUS_INDEX_*.

status

public int[] status()

covers status(int[])

statusToString

public static java.lang.String statusToString(int[] status)

Convert status bytes to a human readable message.

Parameters:: status - up to STATUS_LEN bytes
Returns:: a corresponding message

statusToString

public static java.lang.StringBuilder statusToString(int[] status,
                                                     java.lang.StringBuilder sb)

helper for statusToString(int[])

ticks

public int ticks()

Runs monitor command "tck".

ohmmState

public OHMM.OHMMState ohmmState(OHMM.OHMMState state)

Runs monitor command "ohmst".

Parameters:: state - the state is returned here, or null to cons
Returns:: state

ohmmState

public OHMM.OHMMState ohmmState()

covers ohmmState(OHMMState), always conses

allState

public OHMM.AllState allState(OHMM.AllState state)

Runs monitor command "allst".

Parameters:: state - the state is returned here, or null to cons
Returns:: state

allState

public OHMM.AllState allState()

covers allState(AllState), always conses

freeRam

public int freeRam()

Runs monitor command "fr".

Returns:: estimated bytes free

taskState

public OHMM.TaskState taskState(OHMM.TaskState state)

Runs monitor command "tskst".

Parameters:: state - the state is returned here, or null to cons
Returns:: state

taskState

public OHMM.TaskState taskState()

covers taskState(TaskState), always conses

lcdMsg

public void lcdMsg(java.lang.String msg)

Runs monitor command "msg".

Parameters:: msg - the message to display, up to the first LCD_WIDTH chars are used

lcdSysMsg

public void lcdSysMsg(int start,
                      int width,
                      java.lang.String msg)

Runs monitor command "sysmsg".

Parameters:: start - the start column in the range 0 to LCD_WIDTH-1; width - the width in the range 1 to LCD_WIDTH; msg - the message to display, up to the first width chars are used

lcdAlert

public void lcdAlert(int sec,
                     java.lang.String msgTop,
                     java.lang.String msgBot)

Runs monitor command "alert".

Parameters:: sec - alert duration in seconds, max 255; msgTop - the message to display on the top line of the LCD, up to the first LCD_WIDTH chars are used; msgBot - the message to display on the bottom line of the LCD, up to the first LCD_WIDTH chars are used

lcdMsgClr

public void lcdMsgClr()

Runs monitor command "msgclr".

lcdSysMsgClr

public void lcdSysMsgClr(int start,
                         int width)

Runs monitor command "sysmsgclr".

Parameters:: start - the start column in the range 0 to LCD_WIDTH-1; width - the width in the range 1 to LCD_WIDTH

batMillivolts

public int batMillivolts()

Runs monitor command "bat".

Returns:: the current battery millivolts

batState

public OHMM.BatState batState(OHMM.BatState state)

Runs monitor command "batst".

Parameters:: state - the state is returned here, or null to cons
Returns:: state

batState

public OHMM.BatState batState()

covers batState(BatState), always conses

senseReinit

public void senseReinit()

Runs monitor command "sri".

senseConfigDigital

public boolean senseConfigDigital(int pin,
                                  boolean pullup,
                                  boolean invert)

Runs monitor command "scd".

Parameters:: pin - the digital pin index, an OrangutanDigital IO_<port><pin> value; pullup - whether to enable the pullup resistor; invert - whether to invert the reading
Returns:: true iff the config was valid

senseConfigDigital

public boolean senseConfigDigital(OHMM.DigitalPin pin,
                                  boolean pullup,
                                  boolean invert)

Covers senseConfigDigital(int, boolean, boolean)

senseConfigAnalog

public boolean senseConfigAnalog(int channel,
                                 int numSamples)

Runs monitor command "sca".

Parameters:: channel - the analog channel; numSamples - number of samples to average per reading
Returns:: true iff the config was valid

senseConfigAnalog

public boolean senseConfigAnalog(OHMM.AnalogChannel channel,
                                 int numSamples)

Covers senseConfigAnalog(int, int)

senseConfigAnalogLUT

public boolean senseConfigAnalogLUT(int channel,
                                    int numSamples,
                                    int[] lutA,
                                    float[] lutO)

Runs monitor command "scal".

Parameters:: channel - the analog channel; numSamples - number of samples to average per reading; lutA - SCAL_N LUT abssissas in the range 0 to 1023; lutO - SCAL_N LUT ordinates
Returns:: true iff the config was valid

senseConfigAnalogLUT

public boolean senseConfigAnalogLUT(OHMM.AnalogChannel channel,
                                    int numSamples,
                                    int[] lutA,
                                    float[] lutO)

Covers senseConfigAnalogLUT(int, int, int[], float[])

senseConfigAnalogIR

public boolean senseConfigAnalogIR(int channel,
                                   int numSamples)

Runs monitor command "scair".

Parameters:: channel - the analog channel; numSamples - number of samples to average per reading
Returns:: true iff the config was valid

senseConfigAnalogIR

public boolean senseConfigAnalogIR(OHMM.AnalogChannel channel,
                                   int numSamples)

Covers senseConfigAnalogIR(int, int)

senseReadDigital

public boolean senseReadDigital(int pin)

Runs monitor command "srd".

Parameters:: pin - the digital pin index, an OrangutanDigital IO_<port><pin> value
Returns:: the digital value

senseReadDigital

public boolean senseReadDigital(OHMM.DigitalPin pin)

Covers senseReadDigital(int)

senseReadAnalog

public float senseReadAnalog(int channel)

Runs monitor command "sra".

Parameters:: channel - the analog channel
Returns:: the analog value

senseReadAnalog

public float senseReadAnalog(OHMM.AnalogChannel channel)

Covers senseReadAnalog(int)

senseState

public OHMM.SenseState senseState(OHMM.SenseState state)

Runs monitor command "snsst".

Parameters:: state - the state is returned here, or null to cons
Returns:: state

senseState

public OHMM.SenseState senseState()

covers senseState(SenseState), always conses

motReinit

public void motReinit()

Runs monitor command "mri".

motGetErrors

public byte motGetErrors()

Runs monitor command "mge".

motSetVelCmd

public boolean motSetVelCmd(float l,
                            float r)

Runs the monitor command "msv".

Parameters:: l - the left drive motor velocity in rev/sec; r - the right drive motor velocity in rev/sec
Returns:: true iff either velocity was clamped to limits

motGetVelCmd

public float[] motGetVelCmd(float[] lr)

Runs the monitor command "mgvc".

Parameters:: lr - the velocities are returned here, or null to cons
Returns:: lr

motGetVelCmd

public float[] motGetVelCmd()

covers motGetVelCmd(float[]), always conses

motGetVel

public float[] motGetVel(float[] lr)

Runs the monitor command "mgv".

Parameters:: lr - the velocities are returned here, or null to cons
Returns:: lr

motGetVel

public float[] motGetVel()

covers motGetVel(float[]), always conses

motFree

public void motFree()

Runs monitor command "mfr".

motKick

public void motKick(int l,
                    int r)

Runs monitor command "mk".

Parameters:: l - direction to pulse the left motor, or 0 for none; r - direction to pulse the right motor, or 0 for none

motGetPos

public float[] motGetPos(float[] lr)

Runs the monitor command "mgp".

Parameters:: lr - the positions are returned here, or null to cons
Returns:: lr

motGetPos

public float[] motGetPos()

covers motGetPos(float[]), always conses

motGetPosCounts

public int[] motGetPosCounts(int[] lr)

Runs the monitor command "mgc".

Parameters:: lr - the positions are returned here, or null to cons
Returns:: lr

motGetPosCounts

public int[] motGetPosCounts()

covers motGetPosCounts(int[]), always conses

motSetVelPGain

public void motSetVelPGain(float g)

Runs the monitor command "msvp".

Parameters:: g - the gain

motSetVelIGain

public void motSetVelIGain(float g)

Runs the monitor command "msvi".

Parameters:: g - the gain

motSetVelDGain

public void motSetVelDGain(float g)

Runs the monitor command "msvd".

Parameters:: g - the gain

motSetDiffVelIGain

public void motSetDiffVelIGain(float g)

Runs the monitor command "msdi".

Parameters:: g - the gain

motState

public OHMM.MotState motState(OHMM.MotState state)

Runs monitor command "motst".

Parameters:: state - the state is returned here, or null to cons
Returns:: state

motState

public OHMM.MotState motState()

covers motState(MotState), always conses

driveReinit

public void driveReinit()

Runs monitor command "dri".

driveGetVW

public float[] driveGetVW(float[] vw)

Runs monitor command "dgvw".

Parameters:: vw - velocities are returned here, or cons if null
Returns:: vw

driveGetVW

public float[] driveGetVW()

calls driveGetVW(float[]), always conses

driveGetVL

public float[] driveGetVL(float[] vl)

Runs monitor command "dgvl".

Parameters:: vl - velocities are returned here, or cons if null
Returns:: vl

driveGetVL

public float[] driveGetVL()

calls driveGetVL(float[]), always conses

driveSetVW

public boolean driveSetVW(float v,
                          float w)

Runs monitor command "dsvw".

Parameters:: v - forward velocity in mm/s; w - rotational velocity in rad/s, CCW positive

driveSetVL

public boolean driveSetVL(float v,
                          float l)

Runs monitor command "dsvl".

Parameters:: v - forward velocity in mm/s or turn velocity in rad/s for turn in place; l - turn radius in mm, CCW positive

driveGetPose

public float[] driveGetPose(float[] xyt)

Runs monitor command "dgp".

Parameters:

xyt - pose is returned here, or cons if null

Returns:

xyt

Units correspond to args to driveSetPose(float, float, float).

driveGetPose

public float[] driveGetPose()

calls driveGetPose(float[]), always conses

driveSetPose

public void driveSetPose(float x,
                         float y,
                         float t)

Runs monitor command "dsp".

Parameters:: x - pose x in mm; y - pose y in mm; t - pose theta in rad CCW positive

driveResetPose

public void driveResetPose()

Runs monitor command "drp".

driveStraight

public boolean driveStraight(float d)

Runs monitor command "df".

Parameters:: d - distance to travel in mm, positive forward
Returns:: true unless the drive queue was full

driveTurn

public boolean driveTurn(float d)

Runs monitor command "dt".

Parameters:: d - amount of turn in radians, CCW positive
Returns:: true unless the drive queue was full

driveTurnDeg

public boolean driveTurnDeg(float d)

Runs monitor command "dtd".

Parameters:: d - amount of turn in degrees, CCW positive
Returns:: true unless the drive queue was full

driveArc

public boolean driveArc(float l,
                        float d)

Runs monitor command "da".

Parameters:: l - signed arc radius in mm; d - signed drive distance in mm, or turn angle in rad for turn in place
Returns:: true unless the drive queue was full

driveArcDeg

public boolean driveArcDeg(float l,
                           float d)

Runs monitor command "dad".

Parameters:: l - signed arc radius in mm; d - signed drive distance in mm, or turn angle in degrees for turn in place
Returns:: true unless the drive queue was full

driveOrientationServo

public boolean driveOrientationServo(float t)

Runs monitor command "dos".

Parameters:: t - global goal orientation in rad or NaN to disable orientation servo
Returns:: false if t not NaN and not at orientation goal

driveGetQueue

public int driveGetQueue()

Runs monitor command "dgq".

Returns:: num queued drive segments, plus 1 if a drive is ongoing

drivePause

public void drivePause()

Runs monitor command "dp".

driveUnPause

public void driveUnPause()

Runs monitor command "dup".

driveStop

public void driveStop()

Runs monitor command "dst".

driveSetPosPGain

public void driveSetPosPGain(float g)

Runs the monitor command "dspg".

Parameters:: g - the gain

driveSetPosIGain

public void driveSetPosIGain(float g)

Runs the monitor command "dsig".

Parameters:: g - the gain

driveSetPosDGain

public void driveSetPosDGain(float g)

Runs the monitor command "dsdg".

Parameters:: g - the gain

driveGetCfg

public float[] driveGetCfg(float[] cfg)

Runs monitor command "dgcfg".

Parameters:: cfg - up to DRIVE_CFG_LEN floats of config is returned here, or null to cons
Returns:: cfg Returned floats are indexed by DRIVE_CFG_INDEX_*.

driveGetCfg

public float[] driveGetCfg()

covers driveGetCfg(float[]), always conses

driveCfgToString

public static java.lang.String driveCfgToString(float[] cfg)

Convert drive config to a human readable message.

Parameters:: cfg - up to DRIVE_CFG_LEN bytes
Returns:: a corresponding message

driveCfgToString

public static java.lang.StringBuilder driveCfgToString(float[] cfg,
                                                       java.lang.StringBuilder sb)

helper for driveCfgToString(float[])

driveSetWheelRadius

public void driveSetWheelRadius(float r)

Runs monitor command "dswr".

Parameters:: r - nonnegative wheel radius in mm

driveSetBaseline

public void driveSetBaseline(float b)

Runs monitor command "dsbl".

Parameters:: b - nonnegative baseline between wheels in mm

driveSetMaxSpeed

public boolean driveSetMaxSpeed(float s)

Runs monitor command "dsms".

Parameters:: s - positive maximum speed in mm/sec
Returns:: true unless clamping occurs

driveSetMaxAccel

public void driveSetMaxAccel(float a)

Runs monitor command "dsma".

Parameters:: a - positive max acceleration in mm/sec/sec, or Float.POSITIVE_INFINITY to skip acceleration

driveSetTol

public void driveSetTol(float t)

Runs monitor command "dstol".

Parameters:: t - tolerance in mm

driveState

public OHMM.DriveState driveState(OHMM.DriveState state)

Runs monitor command "drvst".

Parameters:: state - the state is returned here, or null to cons
Returns:: state

driveState

public OHMM.DriveState driveState()

covers driveState(DriveState), always conses

axErrToString

public static java.lang.String axErrToString(int err)

Convert an AX12 error code to a human readable string.

Parameters:: err - the error code
Returns:: the string

axReinit

public void axReinit()

Runs the monitor command "axri".

axPing

public int axPing(int id)

Runs the monitor command "axpng".

Parameters:: id - the AX12 id, less than AX_ID_BCAST

axWriteImpl

protected int axWriteImpl(java.lang.String cmd,
                          int id,
                          int reg,
                          int val,
                          int len)

common impl of the ax write methods

axWrite

public int axWrite(int id,
                   int reg,
                   int val)

Runs monitor command "axwr".

Parameters:: id - the AX12 id, less than 255; reg - the target register; val - the new value
Returns:: zero or error code

axWrite

public int axWrite(int id,
                   OHMM.AXReg reg,
                   int val)

Like axWrite(int, int, int) but takes an OHMM.AXReg.

axRegWrite

public int axRegWrite(int id,
                      int reg,
                      int val)

Runs the monitor command "axrwr".

Parameters:: id - the AX12 id, less than 255
Returns:: zero or error code

axRegWrite

public int axRegWrite(int id,
                      OHMM.AXReg reg,
                      int val)

Like axRegWrite(int, int, int) but takes an OHMM.AXReg.

axRead

public int axRead(int id,
                  int reg)

Runs the monitor command "axrd".

Parameters:: id - the AX12 id, less than 255; reg - the target register
Returns:: requested byte or error code if negative

axRead

public int axRead(int id,
                  OHMM.AXReg reg)

Like axRead(int, int) but takes an OHMM.AXReg.

axAction

public int axAction(int id)

Runs the monitor command "axact".

Parameters:: id - the AX12 id, less than 255
Returns:: zero or error code

axRead16

public int axRead16(int id,
                    int reg)

Runs the monitor command "axrd16".

Parameters:: id - the AX12 id, less than 255; reg - the target register
Returns:: requested word or error code if negative

axRead16

public int axRead16(int id,
                    OHMM.AXReg reg)

Like axRead16(int, int) but takes an OHMM.AXReg.

axWrite11

public int axWrite11(int id,
                     int reg,
                     int val)

Runs monitor command "axwr11".

Parameters:: id - the AX12 id, less than 255; reg - the target register; val - the new value
Returns:: zero or error code

axWrite11

public int axWrite11(int id,
                     OHMM.AXReg reg,
                     int val)

Like axWrite11(int, int, int) but takes an OHMM.AXReg.

axRegWrite11

public int axRegWrite11(int id,
                        int reg,
                        int val)

Runs monitor command "axrwr11".

Parameters:: id - the AX12 id, less than 255; reg - the target register; val - the new value
Returns:: zero or error code The new value will take effect on the next axAction(int).

axRegWrite11

public int axRegWrite11(int id,
                        OHMM.AXReg reg,
                        int val)

Like axRegWrite11(int, int, int) but takes an OHMM.AXReg.

axSetAngleLimits

public int axSetAngleLimits(int id,
                            int cwLimit,
                            int ccwLimit)

Runs monitor command "axsal".

Parameters:: id - the AX12 id, less than 255; cwLimit - clockwise limit; ccwLimit - counterclockwise limit
Returns:: error code

axTorqueEnable

public int axTorqueEnable(int id,
                          boolean enable)

Runs monitor command "axte".

Parameters:: id - the AX12 id, less than 255
Returns:: error code

axESTOP

public void axESTOP()

Runs monitor command "axestop".

axSetGoalImpl

protected int axSetGoalImpl(java.lang.String cmd,
                            int id,
                            int goal)

comon impl of set goal (int) methods

axSetGoalImpl

protected int axSetGoalImpl(java.lang.String cmd,
                            int id,
                            float goal)

comon impl of set goal (float) methods

axSetGoal

public int axSetGoal(int id,
                     int goal)

Runs monitor command "axsg".

Parameters:: id - the AX12 id, less than 255; goal - goal position to set
Returns:: current position or error code if negative Enables torque.

axRegSetGoal

public int axRegSetGoal(int id,
                        int goal)

Like axSetGoal(int, int) but does a reg write. The new value will take effect on the next axAction(int).

axSetGoalDeg

public int axSetGoalDeg(int id,
                        float goal)

like axSetGoal(int, int) but in degrees

axRegSetGoalDeg

public int axRegSetGoalDeg(int id,
                           float goal)

like axRegSetGoal(int, int) but in degrees

axSetGoalRad

public int axSetGoalRad(int id,
                        float goal)

like axSetGoal(int, int) but in radians

axRegSetGoalRad

public int axRegSetGoalRad(int id,
                           float goal)

like axRegSetGoal(int, int) but in radians

axGetPos

public int axGetPos(int id)

Runs monitor command "axgp".

Parameters:: id - the AX12 id, less than AX_ID_BCAST
Returns:: current position or error code if negative

axGetPosDeg

public float axGetPosDeg(int id)

Runs monitor command "axgpd".

Parameters:: id - the AX12 id, less than AX_ID_BCAST
Returns:: current position in degrees or error code if negative

axGetPosRad

public float axGetPosRad(int id)

Runs monitor command "axgpr".

Parameters:: id - the AX12 id, less than AX_ID_BCAST
Returns:: current position in radians or error code if negative

axGetLoad

public int axGetLoad(int id)

Runs monitor command "axgl".

Parameters:: id - the AX12 id, less than AX_ID_BCAST
Returns:: load or error code if less than or equal to -1024

axGetVolts

public float axGetVolts(int id)

Runs monitor command "axgv".

Parameters:: id - the AX12 id, less than AX_ID_BCAST
Returns:: voltage or error code if negative

axGetTemp

public int axGetTemp(int id)

Runs monitor command "axgt".

Parameters:: id - the AX12 id, less than AX_ID_BCAST
Returns:: temp in deg C or error code if negative

axGetNumRetries

public int axGetNumRetries()

Runs monitor command "axgnr".

Returns:: number of AX12 transaction retries since last axReinit()

axGetNumTimeouts

public int axGetNumTimeouts()

Runs monitor command "axgnt".

Returns:: number of AX12 transaction timeouts since last axReinit()

axGetNumOverflows

public int axGetNumOverflows()

Runs monitor command "axgno".

Returns:: number of AX12 bus receiver overflows since last axReinit()

axState

public OHMM.AXState axState(OHMM.AXState state)

Runs monitor command "axst".

Parameters:: state - the state is returned here, or null to cons
Returns:: state

axState

public OHMM.AXState axState()

covers axState(AXState), always conses

armReinit

public void armReinit()

Runs monitor command "ari".

armEnable

public void armEnable(boolean enable)

Runs monitor command "ae".

armHold

public void armHold(boolean hold)

Runs monitor command "ahld".

armHome

public void armHome()

Runs monitor command "ah".

armCal

public void armCal()

Runs monitor command "ac".

armSetJoint

public boolean armSetJoint(int joint,
                           int counts)

Runs monitor command "asj".

Parameters:: joint - the joint index, ARM_SHOULDER, ARM_ELBOW, ARM_WRIST; counts - the joint angle in AX12 counts
Returns:: true unless the value was clamped to limits

armSetJointDeg

public boolean armSetJointDeg(int joint,
                              float angle)

Runs monitor command "asjd". Like armSetJoint(int, int) but in degrees.

armSetJointRad

public boolean armSetJointRad(int joint,
                              float angle)

Runs monitor command "asjr". Like armSetJoint(int, int) but in radians.

armSetAllJoints

public boolean armSetAllJoints(int... counts)

Runs monitor command "asaj". Like armSetJoint(int, int) but sets all three joints.

armSetAllJointsDeg

public boolean armSetAllJointsDeg(float... angle)

Runs monitor command "asajd". Like armSetAllJoints(int...) but in degrees.

armSetAllJointsRad

public boolean armSetAllJointsRad(float... angle)

Runs monitor command "asajd". Like armSetAllJoints(int...) but in radians.

armGetJoint

public int armGetJoint(int joint)

Runs monitor command "agj".

Parameters:: joint - the joint index, ARM_SHOULDER, ARM_ELBOW, ARM_WRIST
Returns:: the joint angle in AX12 counts

armGetJointDeg

public float armGetJointDeg(int joint)

Runs monitor command "agjd". Like armGetJoint(int) but in degrees.

armGetJointRad

public float armGetJointRad(int joint)

Runs monitor command "agjr". Like armGetJoint(int) but in radians.

armGetAllJoints

public int[] armGetAllJoints(int[] counts)

Runs monitor command "agaj".

Parameters:: counts - the 3 angles are stored here, if not null, else cons Like armGetJoint(int) but gets all joints.

armGetAllJoints

public int[] armGetAllJoints()

Covers armGetAllJoints(int[]), always conses.

armGetAllJointsDeg

public float[] armGetAllJointsDeg(float[] angle)

Runs monitor command "agajd". Like armGetAllJoints(int[]) but in degrees.

armGetAllJointsDeg

public float[] armGetAllJointsDeg()

Covers armGetAllJointsDeg(float[]), always conses.

armGetAllJointsRad

public float[] armGetAllJointsRad(float[] angle)

Runs monitor command "agajr". Like armGetAllJoints(int[]) but in radians.

armGetAllJointsRad

public float[] armGetAllJointsRad()

Covers armGetAllJointsRad(float[]), always conses.

armSetGripper

public boolean armSetGripper(float state)

Runs monitor command "asg".

Parameters:: state - the griper state, 0.0 for closed, 1.0 for open
Returns:: true unless the value was clamped to limits

armGetGripper

public float armGetGripper()

Runs monitor command "agg".

Returns:: the griper state, 0.0 for closed, 1.0 for open

armSetCal

public boolean armSetCal(int joint,
                         int offset)

Runs monitor command "asc".

Parameters:: joint - ARM_SHOULDER, ARM_ELBOW, ARM_WRIST, or ARM_GRIPPER; offset - the calibration offset in AX12 counts
Returns:: true unless the value was clamped to limits

armGetCal

public int armGetCal(int joint)

Runs monitor command "agc".

Parameters:: joint - ARM_SHOULDER, ARM_ELBOW, ARM_WRIST, or ARM_GRIPPER
Returns:: the calibration offset in AX12 counts

armSetAllCal

public boolean armSetAllCal(int... offset)

Runs monitor command "asac". Like armSetCal(int, int) but sets all 4 calibration values.

armGetAllCal

public int[] armGetAllCal(int[] offset)

Runs monitor command "agac".

Parameters:: offset - the 4 offsets are stored here, if not null, else cons
Returns:: offset

armGetAllCal

public int[] armGetAllCal()

Covers armGetAllCal(int[]), always conses.

armGetTemps

public int[] armGetTemps(int[] temp)

Runs monitor command "agt".

Parameters:: temp - the 4 temps are stored here, if not null, else cons
Returns:: temp

armGetTemps

public int[] armGetTemps()

Covers armGetTemps(int[]), always conses.

armGetLoads

public int[] armGetLoads(int[] load)

Runs monitor command "agl".

Parameters:: load - the 4 loads are stored here, if not null, else cons
Returns:: load

armGetLoads

public int[] armGetLoads()

Covers armGetLoads(int[]), always conses.

armActive

public boolean armActive()

Runs monitor command "aa".

armAtGoal

public boolean armAtGoal()

Runs monitor command "aag".

armGetNumAXErrors

public int armGetNumAXErrors()

Runs monitor command "agne".

Returns:: number of AX comm errors since last armReinit().

armState

public OHMM.ArmState armState(OHMM.ArmState state)

Runs monitor command "armst".

Parameters:: state - the state is returned here, or null to cons
Returns:: state

armState

public OHMM.ArmState armState()

covers armState(ArmState), always conses

getCmdCode

public java.lang.Integer getCmdCode(java.lang.String name)

Get a binary command code corresponding to a monitor command name.

Memoized to minimize communication.

Parameters:: name - the command name, at most CMD_NAME_MAX chars
Returns:: the command code

echo

public byte echo(byte out)

Ask the firmware to echo a byte.

Any registered ErrorHandler will be notified on timeout or I/O error.

Parameters:: out - the byte to echo
Returns:: the return byte, or 0 on timeout or error

echo

public int echo(int nb,
                int out)

Ask the firmware to echo an int.

Any registered ErrorHandler will be notified on timeout or I/O error.

Parameters:: nb - number of bytes, see send(int, int, boolean); out - the int to echo
Returns:: the return byte, or 0 on timeout or error

echo

public float echo(float out)

Ask the firmware to echo a float.

Any registered ErrorHandler will be notified on timeout or I/O error.

Parameters:: out - the float to echo
Returns:: the return float, or 0 on timeout or error

echoFix

public float echoFix(float out)

Ask the firmware to echo a fix.

Any registered ErrorHandler will be notified on timeout or I/O error.

Parameters:: out - the fix to echo, see sendFix(float, int, boolean)
Returns:: the return fix, or 0 on timeout or error

sendCmdCode

public void sendCmdCode(java.lang.String cmdName,
                        boolean flush)

Convenience to getCmdCode(java.lang.String) and send(int, int, boolean).

sendCmdCode

public void sendCmdCode(java.lang.String cmdName)

covers sendCmdCode(String, boolean), always flushes

send

public void send(java.lang.String s,
                 int n,
                 boolean flush)

Send fixed length ASCII string to the firmware.

Any registered ErrorHandler will be notified on I/O error.

Exactly n bytes will always be sent. If s is too short, nulls will be sent to fill in the remaining space.

Parameters:: s - the string to send; n - the total number of characters to send; flush - whether to flush this write as well as any that were previously pending, at the last byte

send

public void send(java.lang.String s,
                 int len)

covers send(String, int, boolean), always flushes

send

public void send(java.lang.String s,
                 boolean flush)

Send a null terminated ASCII string to the firmware.

Any registered ErrorHandler will be notified on I/O error.

Parameters:: s - the string to send; flush - whether to flush this write as well as any that were previously pending, at the last byte

send

public void send(java.lang.String s)

covers send(String, boolean), always flushes

send

public void send(byte[] bytes,
                 boolean flush)

Send an array of bytes to the firmware.

Any registered ErrorHandler will be notified on I/O error.

Parameters:: bytes - the bytes to send; flush - whether to flush this write as well as any that were previously pending, at the last byte

send

public void send(byte[] bytes)

covers send(byte[], boolean), always flushes

send

public void send(char c,
                 boolean flush)

Send an ASCII char to the firmware.

Any registered ErrorHandler will be notified on I/O error.

Parameters:: c - the char to send; flush - whether to flush this write as well as any that were previously pending

send

public void send(char c)

covers send(char, boolean), always flushes

send

public void send(boolean b,
                 boolean flush)

Send a boolean to the firmware as a byte (0 or 1).

Any registered ErrorHandler will be notified on I/O error.

Parameters:: b - the boolean to send; flush - whether to flush this write as well as any that were previously pending

send

public void send(boolean b)

covers send(boolean, boolean), always flushes

sendFix

public void sendFix(float x,
                    int f,
                    boolean flush)

Send a 2 byte fixed point value to the firmware, MSB first.

Any registered ErrorHandler will be notified on I/O error.

Parameters:: x - the value to send; f - number of fraction bits; flush - whether to flush this write as well as any that were previously pending, at the last byte

sendFix

public void sendFix(float x,
                    int f)

covers sendFix(float, int, boolean), always flushes

send

public void send(float f,
                 boolean flush)

Send a float to the firmware, MSB first.

Any registered ErrorHandler will be notified on I/O error.

Parameters:: f - the float to send; flush - whether to flush this write as well as any that were previously pending, at the last byte

send

public void send(float f)

covers send(float, boolean), always flushes

send

public void send(int i,
                 int size,
                 boolean flush)

Send an int to the firmware, MSB first.

Any registered ErrorHandler will be notified on I/O error.

Parameters:: i - the int to send; size - the number of LS bytes of i to send, leq 4; flush - whether to flush this write as well as any that were previously pending, at the last byte

send

public void send(int i,
                 int size)

covers send(int, int, boolean), always flushes

send

public void send(byte b,
                 boolean flush)

Send a byte to the firmware.

Any registered ErrorHandler will be notified on I/O error.

Parameters:: b - the byte to send; flush - whether to flush this write as well as any that were previously pending

send

public void send(byte b)

covers send(byte, boolean), always flushes

sendFlush

public void sendFlush()

flush any pending writes

sendZeros

public void sendZeros(int n)

Send zeros.

Parameters:: n - number of zeros to send

recvString

public java.lang.String recvString(boolean wsTerminate)

Receive a null terminated string.

Any registered ErrorHandler will be notified on timeout or I/O error.

Parameters:: wsTerminate - whether to terminate on whitespace or null; if not only terminates on null
Returns:: the received string, null on timeout or error

recvString

public java.lang.String recvString()

Covers recvString(boolean), does not whitespace terminate

recvChar

public char recvChar()

Get an ASCII char.

Any registered ErrorHandler will be notified on timeout or I/O error.

Returns:: the received character, 0 on timeout or error

recvBoolean

public boolean recvBoolean()

Get a boolean as a byte, 0 false, 1 true.

Any registered ErrorHandler will be notified on timeout or I/O error.

Returns:: the received boolean, false on timeout or error

recvFix

public float recvFix(int f)

Get a 2 byte fixed point value, MSB first.

Any registered ErrorHandler will be notified on timeout or I/O error.

Parameters:: f - number of fraction bits
Returns:: the received float, or 0 on timeout

recvFloat

public float recvFloat()

Get a float, MSB first.

Any registered ErrorHandler will be notified on timeout or I/O error.

Returns:: the received float, or 0 on timeout

recvInt

public int recvInt(int size)

Get an integer, MSB first.

Any registered ErrorHandler will be notified on timeout or I/O error.

Parameters:: size - the number of bytes to expect in the int, absolute value at most 4, sign extend iff neg
Returns:: the received int, or 0 on timeout

recvByte

public byte recvByte(boolean timeoutOk)

Get a byte from the firmware.

Parameters:: timeoutOk - iff false then any registered ErrorHandler will be notified on timeout
Returns:: the received byte, or 0 on timeout or error

recvByte

public byte recvByte()

Covers recvByte(boolean), timeoutOk = false.

drainReceiveBuffer

public int drainReceiveBuffer()

Drain any bytes waiting in the receive buffer from the firware.

Returns:: the number of bytes that were drained, zero if none, negative if there was an error trying to drain the bytes (in which case any registered ErrorHandler will be notified as well).

noResponseDelay

public void noResponseDelay()

Delay by the current command delay.

close

public void close()

Close communications with the hardware.

It is ok to call this more than once.

getBytesSent

public int getBytesSent()

Get the total number of bytes sent thus far.

Returns:: the total number of bytes sent thus far

getBytesReceived

public int getBytesReceived()

Get the total number of bytes received thus far.

Returns:: the total number of bytes received thus far

getNumTimeouts

public int getNumTimeouts()

Get the total number of timeouts.

Returns:: the total number of timeouts

resetStats

public void resetStats()

Reset all comm stats.

dumpStats

public void dumpStats(java.io.PrintStream s)

Dump a human-readable summary of the comm stats.

dumpStats

public void dumpStats()

dumpStats(PrintStream) to System.out

listPorts

public static void listPorts(java.io.PrintStream s)

Convenience method to query the list of available ports according to RXTX.

listPorts

public static void listPorts()

listPorts(PrintStream) to System.out

makeOHMM

public static OHMM makeOHMM(java.lang.String[] argv)
                     throws java.io.IOException

Constructs an OHMM from command line parameters.

See USAGE.

Throws:: java.io.IOException

sleep

public void sleep(double seconds)
           throws java.lang.InterruptedException

sleep at least the specfied time in seconds

Throws:: java.lang.InterruptedException

getCurrentTime

public double getCurrentTime()

get the current time in seconds

dbg

protected void dbg(java.lang.String prefix,
                   byte b)

Emit a debug message documenting a comms byte iff debug.

fmt2

public static java.lang.String fmt2(float f)

format f with 2 decimal places

fmt4

public static java.lang.String fmt4(float f)

format f with 4 decimal places

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ohmm Class OHMM

Typical Usage Recipe

svnid

VERSION

DF2

DF4

DEF_TIMEOUT_RXTX

DEF_TIMEOUT_FILE

DEF_TIMEOUT_PROXY

DEF_RECV_POLL_TIME

DEF_COMMAND_DELAY

DEF_PROCESS_INIT_WAIT

NUM_INIT_ZEROS

INIT_DELAY

RXTX_PORT_OWNER_NAME

RXTX_OPEN_TIMEOUT_MS

RXTX_BAUDRATE

INITIAL_FLUSH_BUF_LEN

CMD_NAME_MAX

SCAL_N

LCD_WIDTH

PID_FPF

codes

STATUS_LEN

STATUS_INDEX_BAT

STATUS_INDEX_TASK

STATUS_INDEX_HOST

STATUS_INDEX_MOT

STATUS_INDEX_DRIVE

STATUS_INDEX_ARM

TASK_ERR_COLLISION

TASK_ERR_MEM

HOST_ERR_SEND

HOST_ERR_RECV

MOT_ERR_ENC_L

MOT_ERR_ENC_R

MOT_ERR_VEL_L

MOT_ERR_VEL_R

DRIVE_ERR_ODOM

DRIVE_ERR_TIMEOUT

ARM_ERR_AX

ARM_ACTIVE

ARM_AT_GOAL

DRIVE_CFG_LEN

DRIVE_CFG_INDEX_R

DRIVE_CFG_INDEX_B

DRIVE_CFG_INDEX_MS

DRIVE_CFG_INDEX_MA

DRIVE_CFG_INDEX_TOL

AX_ERR_TIMEOUT

AX_ERR_INSTRUCTION

AX_ERR_OVERLOAD

AX_ERR_CHECKSUM

AX_ERR_RANGE

AX_ERR_OVERHEATING

AX_ERR_ANGLE_LIMIT

AX_ERR_VOLTAGE

AX_ERR_TRANSACTION

AX_ID_BCAST

ARM_SHOULDER

ARM_ELBOW

ARM_WRIST

ARM_GRIPPER

LEFT

RIGHT

flushNext

flushBuf

rxtxSerialPort

ostream

istream

errorHandler

recvTimedOut

debug

bytesSent

bytesReceived

numTimeouts

minRecvWait

maxRecvWait

totalRecvWait

avgRecvWait

ohmm
Class OHMM