ptolemy.actor.lib.jjs.modules.IMUSensor

Class ReaderM

java.lang.Object

java.lang.Thread

ptolemy.actor.lib.jjs.modules.IMUSensor.ReaderM

All Implemented Interfaces:

java.lang.Runnable

public class ReaderM
extends java.lang.Thread

Start a SerialPortreader and interpret the incoming bytes from the serial port.

Since:

Ptolemy II 11.0

Version:

$Id$, $Id$

Author:

Hunter Massey and Rajesh Kuni

See Also:

SerialPortController

Pt.AcceptedRating:

Pt.ProposedRating:

Yellow Hunter

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Thread

java.lang.Thread.State, java.lang.Thread.UncaughtExceptionHandler

Field Summary

Fields

Modifier and Type	Field and Description
(package private) int	baudRate The baud rate of the serial port.
(package private) int	com The communication port number.
(package private) char	dataCount The current count of data bytes that have been read in from a packet.
(package private) static char	DLE "Data Link Escape" character, signals that next value is a control value.
(package private) static char	EOT "End of Transmission" character, signals end of a single packet.
boolean	isStart True when the thread has been started.
(package private) SerialPortReader	portReader SerialPortReader takes care of serial port communication on a lower level.
(package private) static char	SOH "Start of Header" character, signals start of non-data header value.

Fields inherited from class java.lang.Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Constructor Summary

Constructors

Constructor and Description
ReaderM(int com, int baudRate, int window) Construct a ReaderM.

Method Summary

Modifier and Type	Method and Description
CircularFifoQueue<int[]>	getBuffer() Return the sample buffer.
int	getBufIndex() Return the current index in the circular buffer.
int[]	getNextUnreadSample() Get the next unread sample from the sample buffer.
void	preProcess(int[] raw) Grab the individual raw sensor (accelerometer and gyroscope) values and store them into the circular sample buffer as a 6 integer array.
void	run() Read the packets from the IMU and decode them.
void	stopRead() Close the serial port and end the connection.
int	UCharToInt(char a, char b) Convert two 'unsigned char's to an integer by shifting and adding.

Methods inherited from class java.lang.Thread

activeCount, checkAccess, clone, countStackFrames, currentThread, destroy, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, resume, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, start, stop, stop, suspend, toString, yield

Methods inherited from class java.lang.Object

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

Field Detail

isStart

public boolean isStart

True when the thread has been started.

dataCount

char dataCount

The current count of data bytes that have been read in from a packet.

com

int com

The communication port number.

baudRate

int baudRate

The baud rate of the serial port.

portReader

SerialPortReader portReader

SerialPortReader takes care of serial port communication on a lower level.

DLE

static final char DLE

"Data Link Escape" character, signals that next value is a control value.

See Also:

Constant Field Values

SOH

static final char SOH

"Start of Header" character, signals start of non-data header value.

See Also:

Constant Field Values

EOT

static final char EOT

"End of Transmission" character, signals end of a single packet.

See Also:

Constant Field Values

Constructor Detail

ReaderM

public ReaderM(int com,
               int baudRate,
               int window)

Construct a ReaderM.

Parameters:

com - The comm port number to connect to

baudRate - The baud rate at which the connection runs

window - The window size of the circular sample buffer

Method Detail

run

public void run()

Read the packets from the IMU and decode them.

Specified by:

run in interface java.lang.Runnable

Overrides:

run in class java.lang.Thread

preProcess

public void preProcess(int[] raw)

Grab the individual raw sensor (accelerometer and gyroscope) values and store them into the circular sample buffer as a 6 integer array.

Parameters:

raw - The integer array containing all the sensor values (ADC values)

getBuffer

public CircularFifoQueue<int[]> getBuffer()

Return the sample buffer.

Returns:

The circular sample buffer

stopRead

public void stopRead()

Close the serial port and end the connection.

getBufIndex

public int getBufIndex()

Return the current index in the circular buffer.

Returns:

the current write index into the circular buffer

getNextUnreadSample

public int[] getNextUnreadSample()

Get the next unread sample from the sample buffer.

Returns:

the current read index into the circular buffer

UCharToInt

public int UCharToInt(char a,
                      char b)

Convert two 'unsigned char's to an integer by shifting and adding. As a note, Java does not actually have unsigned values but we treat these chars as such.

Parameters:

a - The most significant 8 bits of the integer in char form

b - The least significant 8 bits of the integer in char form

Returns:

The integer value from the two input unsigned chars