lejos.nxt
Class SensorPort

java.lang.Object
  lejos.nxt.SensorPort

All Implemented Interfaces:

ADSensorPort, BasicSensorPort, I2CPort, LegacySensorPort, ListenerCaller, SensorConstants

public class SensorPort
extends Object
implements LegacySensorPort, I2CPort, ListenerCaller

Abstraction for a NXT input port.

Nested Class Summary

protected class	SensorPort.ColorSensorReader Lego Color Sensor driver.
protected class	SensorPort.SensorReader The SensorReader class provides a way of performing type dependent way to obtain data froma sensor.
protected class	SensorPort.StandardReader

Field Summary

static int	DIGI_0_ON
static int	DIGI_1_ON
static int	DIGI_OFF
static int	DIGI_UNUSED
static SensorPort[]	PORTS Array containing all three ports [0..3].
static int	POWER_9V
static int	POWER_RCX9V
static int	POWER_STD Power types.
static SensorPort	S1 Port labeled 1 on NXT.
static SensorPort	S2 Port labeled 2 on NXT.
static SensorPort	S3 Port labeled 3 on NXT.
static SensorPort	S4 Port labeled 4 on NXT.
static int	SP_ANA
static int	SP_DIGI0
static int	SP_DIGI1
static int	SP_MODE_ADC
static int	SP_MODE_INPUT
static int	SP_MODE_OFF
static int	SP_MODE_OUTPUT

Fields inherited from interface lejos.nxt.SensorConstants

MODE_ANGLESTEP, MODE_BOOLEAN, MODE_CELSIUS, MODE_FARENHEIT, MODE_PCTFULLSCALE, MODE_PERIODCOUNTER, MODE_RAW, MODE_TRANSITIONCNT, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, TYPE_HISPEED, TYPE_LIGHT_ACTIVE, TYPE_LIGHT_INACTIVE, TYPE_LOWSPEED, TYPE_LOWSPEED_9V, TYPE_NO_SENSOR, TYPE_REFLECTION, TYPE_SOUND_DB, TYPE_SOUND_DBA, TYPE_SWITCH, TYPE_TEMPERATURE

Fields inherited from interface lejos.nxt.I2CPort

ALWAYS_ACTIVE, LEGO_MODE, NO_RELEASE, STANDARD_MODE

Constructor Summary

protected

SensorPort(int aId)

Method Summary

void	activate() Activates an RCX sensor.
void	addSensorPortListener(SensorPortListener aListener) Adds a port listener.
void	callListeners() Call Port Listeners.
void	enableColorSensor() Enable the use of the Color Light Sensor on this port.
int	getId() Return the ID of the port.
int	getMode() Returns mode compatible with Lego firmware.
int	getSensorPin(int pin) Read the current state of a sensor port pin
int	getType() Returns type compatible with Lego firmware.
int	i2cBusy() Low-level method to test if I2C connection is busy.
static int	i2cBusyById(int aPortId) Low-level method to test if I2C connection is busy.
int	i2cComplete(byte[] buffer, int numBytes) Complete an I2C operation and transfer any read bytes
static int	i2cCompleteById(int aPortId, byte[] buffer, int numBytes) Complete and I2C operation and retrieve any data read.
void	i2cDisable() Low-level method to disable I2C on the port.
static void	i2cDisableById(int aPortId) Low-level method to disable I2C on the port.
void	i2cEnable(int mode) Low-level method to enable I2C on the port.
static void	i2cEnableById(int aPortId, int mode) Low-level method to enable I2C on the port.
int	i2cStart(int address, int internalAddress, int numInternalBytes, byte[] buffer, int numBytes, int transferType) Low-level method to start an I2C transaction.
static int	i2cStartById(int aPortId, int address, int internalAddress, int numInternalBytes, byte[] buffer, int numBytes, int transferType) Low-level method to start an I2C transaction.
void	passivate() Passivates an RCX sensor.
boolean	readBooleanValue() Reads the boolean value of the sensor.
int	readRawValue() Reads the raw value of the sensor.
int	readRawValues(int[] values) Return a variable number of raw sensor values
int	readSensorPin(int pin) Read the current ADC value from a sensor port pin
int	readValue() Returns value compatible with Lego firmware.
int	readValues(int[] values) Return a variable number of sensor values
void	reset() Reset this port and attempt to reset any attached device.
void	setMode(int mode) Sets mode compatible with Lego firmware.
void	setPowerType(int type) Low-level method to set the input power setting for a sensor.
void	setSensorPin(int pin, int val) Set the output state of a sensor pin
void	setSensorPinMode(int pin, int mode) Low level method to set the operating mode for a sensor pin.
void	setType(int newType) Sets type compatible with Lego firmware.
void	setTypeAndMode(int type, int mode) Sets type and mode compatible with Lego firmware.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

POWER_STD

public static final int POWER_STD

Power types.

See Also:

Constant Field Values

POWER_RCX9V

public static final int POWER_RCX9V

See Also:

Constant Field Values

POWER_9V

public static final int POWER_9V

See Also:

Constant Field Values

SP_DIGI0

public static final int SP_DIGI0

See Also:

Constant Field Values

SP_DIGI1

public static final int SP_DIGI1

See Also:

Constant Field Values

SP_ANA

public static final int SP_ANA

See Also:

Constant Field Values

SP_MODE_OFF

public static final int SP_MODE_OFF

See Also:

Constant Field Values

SP_MODE_INPUT

public static final int SP_MODE_INPUT

See Also:

Constant Field Values

SP_MODE_OUTPUT

public static final int SP_MODE_OUTPUT

See Also:

Constant Field Values

SP_MODE_ADC

public static final int SP_MODE_ADC

See Also:

Constant Field Values

DIGI_UNUSED

public static final int DIGI_UNUSED

See Also:

Constant Field Values

DIGI_OFF

public static final int DIGI_OFF

See Also:

Constant Field Values

DIGI_0_ON

public static final int DIGI_0_ON

See Also:

Constant Field Values

DIGI_1_ON

public static final int DIGI_1_ON

See Also:

Constant Field Values

S1

public static final SensorPort S1

Port labeled 1 on NXT.

S2

public static final SensorPort S2

Port labeled 2 on NXT.

S3

public static final SensorPort S3

Port labeled 3 on NXT.

S4

public static final SensorPort S4

Port labeled 4 on NXT.

PORTS

public static final SensorPort[] PORTS

Array containing all three ports [0..3].

Constructor Detail

SensorPort

protected SensorPort(int aId)

Method Detail

enableColorSensor

public void enableColorSensor()

Enable the use of the Color Light Sensor on this port. The code for this sensor is relatively large, so it is not presnt by default. Calling this function will enable this code. NOTE: Calling this function will reset the port. If you are using higher level inetrfaces (like the ColorLightSensor class, then this call will be made automatically.).

reset

public void reset()

Reset this port and attempt to reset any attached device.

getId

public final int getId()

Return the ID of the port. One of 0, 1, 2 or 3.

Returns:

The Id of this sensor

addSensorPortListener

public void addSensorPortListener(SensorPortListener aListener)

Adds a port listener.

NOTE 1: You can add at most 8 listeners.
NOTE 2: Synchronizing inside listener methods could result in a deadlock.

Parameters:

aListener - Listener for call backs

See Also:

SensorPortListener

activate

public final void activate()

Activates an RCX sensor. This method should be called if you want to get accurate values from an RCX sensor. In the case of RCX light sensors, you should see the LED go on when you call this method.

Specified by:

activate in interface LegacySensorPort

passivate

public final void passivate()

Passivates an RCX sensor.

Specified by:

passivate in interface LegacySensorPort

getMode

public int getMode()

Returns mode compatible with Lego firmware.

Specified by:

getMode in interface BasicSensorPort

Returns:

the current mode

getType

public int getType()

Returns type compatible with Lego firmware.

Specified by:

getType in interface BasicSensorPort

Returns:

The type of the sensor

setTypeAndMode

public void setTypeAndMode(int type,
                           int mode)

Sets type and mode compatible with Lego firmware.

Specified by:

setTypeAndMode in interface BasicSensorPort

Parameters:

type - the sensor type

mode - the sensor mode

setType

public void setType(int newType)

Sets type compatible with Lego firmware.

Specified by:

setType in interface BasicSensorPort

Parameters:

newType - the sensor type

setMode

public void setMode(int mode)

Sets mode compatible with Lego firmware.

Specified by:

setMode in interface BasicSensorPort

Parameters:

mode - the mode to set.

readRawValue

public final int readRawValue()

Reads the raw value of the sensor.

Specified by:

readRawValue in interface ADSensorPort

Returns:

the raw sensor value

readValue

public int readValue()

Returns value compatible with Lego firmware.

Specified by:

readValue in interface ADSensorPort

Returns:

the computed value

readValues

public int readValues(int[] values)

Return a variable number of sensor values

Parameters:

values - An array in which to return the sensor values.

Returns:

The number of values returned.

readRawValues

public int readRawValues(int[] values)

Return a variable number of raw sensor values

Parameters:

values - An array in which to return the sensor values.

Returns:

The number of values returned.

readBooleanValue

public final boolean readBooleanValue()

Reads the boolean value of the sensor.

Specified by:

readBooleanValue in interface ADSensorPort

Returns:

the boolean state of the sensor

setPowerType

public void setPowerType(int type)

Low-level method to set the input power setting for a sensor. Values are: 0 - no power, 1 RCX active power, 2 power always on.

Parameters:

type - Power type to use

callListeners

public void callListeners()

Call Port Listeners. Used by ListenerThread.

Specified by:

callListeners in interface ListenerCaller

i2cEnableById

public static void i2cEnableById(int aPortId,
                                 int mode)

Low-level method to enable I2C on the port.

Parameters:

aPortId - The port number for this device

mode - I/O mode to use

i2cDisableById

public static void i2cDisableById(int aPortId)

Low-level method to disable I2C on the port.

Parameters:

aPortId - The port number for this device

i2cBusyById

public static int i2cBusyById(int aPortId)

Low-level method to test if I2C connection is busy.

Parameters:

aPortId - The port number for this device

Returns:

> 0 if busy 0 if not

i2cStartById

public static int i2cStartById(int aPortId,
                               int address,
                               int internalAddress,
                               int numInternalBytes,
                               byte[] buffer,
                               int numBytes,
                               int transferType)

Low-level method to start an I2C transaction.

Parameters:

aPortId - The port number for this device

address - The I2C address of the device

internalAddress - The internal address to use for this operation

numInternalBytes - The number of bytes in the internal address

buffer - The buffer for write operations

numBytes - Number of bytes to write or read

transferType - 1==write 0==read

Returns:

< 0 if there is an error

i2cCompleteById

public static int i2cCompleteById(int aPortId,
                                  byte[] buffer,
                                  int numBytes)

Complete and I2C operation and retrieve any data read.

Parameters:

aPortId - The Port number for the device

buffer - The buffer to be used for read operations

numBytes - Number of bytes to read

Returns:

< 0 if the is an error, or number of bytes transferred

i2cEnable

public void i2cEnable(int mode)

Low-level method to enable I2C on the port.

Specified by:

i2cEnable in interface I2CPort

Parameters:

mode - The operating mode for the device

i2cDisable

public void i2cDisable()

Low-level method to disable I2C on the port.

Specified by:

i2cDisable in interface I2CPort

i2cBusy

public int i2cBusy()

Low-level method to test if I2C connection is busy.

Specified by:

i2cBusy in interface I2CPort

Returns:

> 0 if the device is busy 0 if it is not

i2cStart

public int i2cStart(int address,
                    int internalAddress,
                    int numInternalBytes,
                    byte[] buffer,
                    int numBytes,
                    int transferType)

Low-level method to start an I2C transaction.

Specified by:

i2cStart in interface I2CPort

Parameters:

address - Address of the device

internalAddress - Internal register address for this operation

numInternalBytes - Size of the internal address

buffer - Buffer for write operations

numBytes - Number of bytes to read/write

transferType - 1==write 0 ==read

Returns:

< 0 error

i2cComplete

public int i2cComplete(byte[] buffer,
                       int numBytes)

Complete an I2C operation and transfer any read bytes

Specified by:

i2cComplete in interface I2CPort

Parameters:

buffer - Buffer for read data

numBytes - Number of bytes to read

Returns:

< 0 error otherwise number of bytes read.

setSensorPinMode

public void setSensorPinMode(int pin,
                             int mode)

Low level method to set the operating mode for a sensor pin.

Parameters:

pin - The pin id

mode - The new mode

setSensorPin

public void setSensorPin(int pin,
                         int val)

Set the output state of a sensor pin

Parameters:

pin - The pin id

val - The new output value (0/1)

getSensorPin

public int getSensorPin(int pin)

Read the current state of a sensor port pin

Parameters:

pin - The pin id.

Returns:

The current pin state (0/1)

readSensorPin

public int readSensorPin(int pin)

Read the current ADC value from a sensor port pin

Parameters:

pin - The id of the pin to read (SP_DIGI1/SP_ANA)

Returns:

The return from the ADC