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Generic mode rereader #796

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Generic mode rereader #796

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9deb3fb
GenericMode with a rereader
dwalend Jan 18, 2021
8ce1e71
Pulled back the negative infinity change
dwalend Jan 18, 2021
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49 changes: 32 additions & 17 deletions src/main/java/ev3dev/sensors/GenericMode.java
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Original file line number Diff line number Diff line change
@@ -1,9 +1,12 @@
package ev3dev.sensors;

import ev3dev.utils.Sysfs;
import ev3dev.utils.DataChannelRereader;
import lejos.hardware.sensor.SensorMode;

import java.io.Closeable;
import java.io.File;
import java.io.IOException;
import java.nio.file.Path;

/**
* Generic ev3dev sensor handler.
Expand All @@ -12,28 +15,30 @@
* are valid only when the sensor itself is in the correct mode.
* Otherwise, wrong data will be returned.</p>
*/
public class GenericMode implements SensorMode {

protected final File pathDevice;
public class GenericMode implements SensorMode, Closeable {

private final int sampleSize;
private final String modeName;

private final float correctMin;
private final float correctMax;
private final float correctFactor;

private final DataChannelRereader[] rereaders;

/**
* Create new generic sensor handler.
* @param pathDevice Reference to the object responsible for mode setting and value reading.
* @param sampleSize Number of returned samples.
* @param modeName Human-readable sensor mode name.
*/
public GenericMode(
final File pathDevice,
final int sampleSize,
final String modeName) {
final File pathDevice,
final int sampleSize,
final String modeName) {
this(pathDevice, sampleSize, modeName,
Float.MIN_VALUE, Float.MAX_VALUE, 1.0f);
Float.MIN_VALUE, Float.MAX_VALUE, 1.0f);
}

/**
Expand All @@ -42,23 +47,27 @@ public GenericMode(
* @param pathDevice Reference to the object responsible for mode setting and value reading.
* @param sampleSize Number of returned samples.
* @param modeName Human-readable sensor mode name.
* @param correctMin Minimum value measured by the sensor. If the reading is lower, zero is returned.
* @param correctMin Minimum value measured by the sensor. If the reading is lower, negative infinity is returned
* @param correctMax Maximum value measured by the sensor. If the reading is higher, positive infinity is returned.
* @param correctFactor Scaling factor applied to the sensor reading.
*/
public GenericMode(
final File pathDevice,
final int sampleSize,
final String modeName,
final float correctMin,
final float correctMax,
final float correctFactor) {
this.pathDevice = pathDevice;
final File pathDevice,
final int sampleSize,
final String modeName,
final float correctMin,
final float correctMax,
final float correctFactor) {
this.sampleSize = sampleSize;
this.modeName = modeName;
this.correctMin = correctMin;
this.correctMax = correctMax;
this.correctFactor = correctFactor;

this.rereaders = new DataChannelRereader[sampleSize];
for (int n = 0; n < sampleSize; n++) {
rereaders[n] = new DataChannelRereader(Path.of(pathDevice.toString(),"value" + n),32);
}
}

@Override
Expand All @@ -71,7 +80,6 @@ public int sampleSize() {
return sampleSize;
}


/**
* Fetches a sample from the sensor.
*
Expand All @@ -88,7 +96,7 @@ public void fetchSample(float[] sample, int offset) {
// for all values
for (int n = 0; n < sampleSize; n++) {
// read
float reading = Sysfs.readFloat(this.pathDevice + "/" + "value" + n);
float reading = Float.parseFloat(rereaders[n].readString());

// apply correction
reading *= correctFactor;
Expand All @@ -102,4 +110,11 @@ public void fetchSample(float[] sample, int offset) {
sample[offset + n] = reading;
}
}

@Override
public void close() throws IOException {
for (DataChannelRereader rereader: rereaders) {
rereader.close();
}
}
}
2 changes: 2 additions & 0 deletions src/main/java/ev3dev/sensors/nxt/NXTTemperatureSensor.java
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@ private class InternalMode extends GenericMode {
private final float correctMin;
private final float correctMax;
private final float correctFactor;
private final File pathDevice;

public InternalMode(File pathDevice, int sampleSize, String modeName,
float correctMin, float correctMax, float correctFactor) {
Expand All @@ -59,6 +60,7 @@ public InternalMode(File pathDevice, int sampleSize, String modeName,
this.correctMin = correctMin;
this.correctMax = correctMax;
this.correctFactor = correctFactor;
this.pathDevice = pathDevice;
}

@Override
Expand Down