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 type dependent way to obtain data from a sensor.
protected class	SensorPort.StandardReader

Field Summary

static int	NUMBER_OF_PORTS The number of ports available.
static SensorPort[]	PORTS Deprecated. use getInstance(int) instead.
static int	POWER_9V Power types.
static int	POWER_RCX9V Power types.
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 Sensor port analogue input (pin 1 on connector)
static int	SP_DIGI0 Sensor port digital I/O 0 (pin 5 on connector)
static int	SP_DIGI1 Sensor port digital I/O 1 (pin 6 on connector)
static int	SP_MODE_ADC Sensor port pin mode.
static int	SP_MODE_INPUT Sensor port pin mode.
static int	SP_MODE_OFF Sensor port pin mode.
static int	SP_MODE_OUTPUT Sensor port pin mode.

Fields inherited from interface lejos.nxt.SensorConstants

BLACK, BLANK_INDEX, BLUE, BLUE_INDEX, GREEN, GREEN_INDEX, MAX_AD_RAW, MAX_TYPE, MIN_TYPE, MODE_ANGLESTEP, MODE_BOOLEAN, MODE_CELSIUS, MODE_FARENHEIT, MODE_PCTFULLSCALE, MODE_PERIODCOUNTER, MODE_RAW, MODE_TRANSITIONCNT, RED, RED_INDEX, 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, WHITE, YELLOW

Fields inherited from interface lejos.nxt.I2CPort

ALWAYS_ACTIVE, ERR_ABORT, ERR_BUS_BUSY, ERR_BUSY, ERR_FAULT, ERR_INVALID_LENGTH, ERR_INVALID_PORT, HIGH_SPEED, LEGO_MODE, MAX_IO, NO_RELEASE, STANDARD_MODE

Method Summary

void	activate() Activates an RCX sensor.
void	addSensorPortListener(SensorPortListener aListener) Adds a port listener.
int	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.
static SensorPort	getInstance(int id) Return the SensorPort with the given Id.
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	i2cComplete(byte[] buffer, int offset, int numBytes) Complete an I2C operation and transfer any read bytes
void	i2cDisable() Low-level method to disable I2C on the port.
void	i2cEnable(int mode) Low-level method to enable I2C on the port.
int	i2cStart(int address, byte[] writeBuffer, int writeOffset, int writeLen, int readLen) Low-level method to start an I2C transaction.
int	i2cStatus() Low-level method to test if I2C connection is busy.
int	i2cTransaction(int deviceAddress, byte[] writeBuf, int writeOffset, int writeLen, byte[] readBuf, int readOffset, int readLen) High level i2c interface.
void	i2cWaitIOComplete() Wait for the current IO operation on the i2c port to complete.
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	setListenerTolerance(int tolerance) Set the tolerance used when triggering a listener event.
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. 5V standard.

See Also:

Constant Field Values

POWER_RCX9V

public static final int POWER_RCX9V

Power types. 9V pulsed as per RCX.

See Also:

Constant Field Values

POWER_9V

public static final int POWER_9V

Power types. 9V

See Also:

Constant Field Values

SP_DIGI0

public static final int SP_DIGI0

Sensor port digital I/O 0 (pin 5 on connector)

See Also:

Constant Field Values

SP_DIGI1

public static final int SP_DIGI1

Sensor port digital I/O 1 (pin 6 on connector)

See Also:

Constant Field Values

SP_ANA

public static final int SP_ANA

Sensor port analogue input (pin 1 on connector)

See Also:

Constant Field Values

SP_MODE_OFF

public static final int SP_MODE_OFF

Sensor port pin mode. Pin is disabled

See Also:

Constant Field Values

SP_MODE_INPUT

public static final int SP_MODE_INPUT

Sensor port pin mode. Pin is digital input

See Also:

Constant Field Values

SP_MODE_OUTPUT

public static final int SP_MODE_OUTPUT

Sensor port pin mode. Pin is digital output

See Also:

Constant Field Values

SP_MODE_ADC

public static final int SP_MODE_ADC

Sensor port pin mode. Pin is analogue input

See Also:

Constant Field Values

NUMBER_OF_PORTS

public static final int NUMBER_OF_PORTS

The number of ports available.

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

@Deprecated
public static final SensorPort[] PORTS

Deprecated. use getInstance(int) instead.

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

Method Detail

getInstance

public static SensorPort getInstance(int id)

Return the SensorPort with the given Id.

Parameters:

id - the Id, between 0 and NUMBER_OF_PORTS-1.

Returns:

the SensorPort object

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 interfaces (like the ColorSensor 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

setListenerTolerance

public void setListenerTolerance(int tolerance)

Set the tolerance used when triggering a listener event. The event will only trigger when the new value is different from the old value by +/- this amount.

Parameters:

tolerance -

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 int callListeners()

Call Port Listeners. Used by ListenerThread.

Specified by:

callListeners in interface ListenerCaller

Returns:

New event filter mask.

i2cEnable

public void i2cEnable(int mode)

Low-level method to enable I2C on the port. Note because there can be multiple i2c sensors attached to a single port, only the first enable will set the operating mode.

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. Note if multiple i2c sensors are sharing the same port the port will not be disabled until all of the associated sensors have disabled the port.

Specified by:

i2cDisable in interface I2CPort

i2cWaitIOComplete

public void i2cWaitIOComplete()

Wait for the current IO operation on the i2c port to complete.

i2cStatus

public int i2cStatus()

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

Specified by:

i2cStatus in interface I2CPort

Returns:

0 if ready -1: Invalid device -2: Device busy -3: Device fault -4: Buffer size error. -5: Bus is busy

i2cStart

public int i2cStart(int address,
                    byte[] writeBuffer,
                    int writeOffset,
                    int writeLen,
                    int readLen)

Low-level method to start an I2C transaction. Any data that is read is obtained via a call to i2cComplete.

Parameters:

address - Address of the device

writeBuffer - Buffer containing bytes to write

writeOffset - Offset into writeBuffer

writeLen - number of bytes to write

readLen - number of bytes to read

Returns:

< 0 error

i2cComplete

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

Complete an I2C operation and transfer any read bytes

Parameters:

buffer - Buffer for read data

offset - offset into the buffer

numBytes - Number of bytes to read

Returns:

< 0 error otherwise number of bytes read.

i2cTransaction

public int i2cTransaction(int deviceAddress,
                          byte[] writeBuf,
                          int writeOffset,
                          int writeLen,
                          byte[] readBuf,
                          int readOffset,
                          int readLen)

High level i2c interface. Perform a complete i2c transaction and return the results. Writes the specified data to the device and then reads the requested bytes from it.

Specified by:

i2cTransaction in interface I2CPort

Parameters:

deviceAddress - The I2C device address.

writeBuf - The buffer containing data to be written to the device.

writeOffset - The offset of the data within the write buffer

writeLen - The number of bytes to write.

readBuf - The buffer to use for the transaction results

readOffset - Location to write the results to

readLen - The length of the read

Returns:

< 0 error otherwise the 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