org.ros.tutorials.poark.Basic.java Source code

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Here is the source code for org.ros.tutorials.poark.Basic.java

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/*
 * Copyright (C) 2011 Google Inc.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package org.ros.tutorials.poark;

import com.google.common.base.Preconditions;

import org.apache.commons.logging.Log;
import org.ros.node.DefaultNodeFactory;
import org.ros.node.Node;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMain;
import org.ros.poark.PinChangeListener;
import org.ros.poark.Poark;
import org.ros.poark.PoarkClient;

/**
 * This is a simple rosjava {@link Node} to demonstrate using the Poark.
 * It assumes an external roscore is already running.
 *
 * @author pastarmovj@google.com (Julian Pastarmov)
 */
public class Basic implements NodeMain {

    private Node node;
    private PoarkClient poarkClient;
    // the led on the main Arduino board is connected to pin 13.
    private final byte kLedPin = 13;
    private final byte kButton1 = Poark.A6;

    @Override
    public void main(Node node) throws Exception {
        Preconditions.checkState(this.node == null);
        this.node = node;
        try {
            final Log log = node.getLog();
            // Attach the client to the node and add some pin listeners.
            poarkClient = new PoarkClient(Poark.BoardLayout.MegaLayout, node);
            poarkClient.addPinChangeListener(kButton1, new PinChangeListener() {
                @Override
                public void onPinStateChange(byte pin, int new_value) {
                    log.info("Pushed the button : \"" + pin + " - " + new_value + "\"");
                }
            });
            poarkClient.setPinMode(kLedPin, Poark.OUT, Poark.HIGH);
            Thread.sleep(1000);
            // Setup the Poark I/O.
            poarkClient.setPinsMode(new byte[] { kLedPin, kButton1 }, new byte[] { Poark.OUT, Poark.IN },
                    new byte[] { Poark.LOW, Poark.HIGH });
            // Start blinking the light.
            byte light = Poark.LOW;
            while (true) {
                light = (byte) (Poark.HIGH - light);
                poarkClient.setPinState(kLedPin, light);
                Thread.sleep(1000);
            }
        } catch (Exception e) {
            if (node != null) {
                node.getLog().fatal(e);
            } else {
                e.printStackTrace();
            }
        }
    }

    @Override
    public void shutdown() {
        node.shutdown();
        node = null;
    }

}