net.sf.jaer.hardwareinterface.usb.silabs
Class SiLabsC8051F320_USBIO_AeSequencer

java.lang.Object
  net.sf.jaer.hardwareinterface.usb.silabs.SiLabsC8051F320_USBIO_AeSequencer

All Implemented Interfaces:

de.thesycon.usbio.PnPNotifyInterface, de.thesycon.usbio.UsbIoErrorCodes, AESequencerInterface, HardwareInterface, USBInterface

public class SiLabsC8051F320_USBIO_AeSequencer
extends java.lang.Object
implements de.thesycon.usbio.UsbIoErrorCodes, de.thesycon.usbio.PnPNotifyInterface, AESequencerInterface

The USB simplemonitor board is used to sequence out events using this class and appropriate firmware on the board.

Servo motor controller using USBIO driver access to SiLabsC8051F320 device. To prevent blocking on the thread controlling the servo, this class starts a consumer thread that communicates with the USB interface. The producer (the user) communicates with the consumer thread using an ArrayBlockingQueue. Therefore servo commands never produce hardware exceptions; these are caught in the consumer thread by closing the device, which should be reopened on the next command.

This class goes with the USB simplemonitor board.

Author:

tobi

Field Summary

protected de.thesycon.usbio.structs.USB_DEVICE_DESCRIPTOR	deviceDescriptor the USBIO device descriptor
static int	ENDPOINT_OUT_LENGTH length of endpoint, ideally this value should be obtained from the pipe bound to the endpoint but we know what it is for this device.
protected int	gDevList the devlist handle for USBIO
static java.lang.String	GUID driver guid (Globally unique ID, for this USB driver instance
protected de.thesycon.usbio.UsbIo	gUsbIo the UsbIo interface to the device.
static int	HOST_BUFFER_LENGTH
protected int	interfaceNumber the device number, out of all potential compatible devices that could be opened
protected int	numberOfStringDescriptors
static int	PACKET_QUEUE_LENGTH number of packets that can be queued up.
static short	PID
protected de.thesycon.usbio.structs.USB_STRING_DESCRIPTOR	stringDescriptor1 the first USB string descriptor (Vendor name) (if available)
protected de.thesycon.usbio.structs.USB_STRING_DESCRIPTOR	stringDescriptor2 the second USB string descriptor (Product name) (if available)
protected de.thesycon.usbio.structs.USB_STRING_DESCRIPTOR	stringDescriptor3 the third USB string descriptor (Serial number) (if available)
static short	VID The vendor ID

Fields inherited from interface de.thesycon.usbio.UsbIoErrorCodes

USBIO_ERR_ADDITIONAL_EVENT_SIGNALLED, USBIO_ERR_ALREADY_BOUND, USBIO_ERR_ALREADY_CONFIGURED, USBIO_ERR_BABBLE_DETECTED, USBIO_ERR_BAD_START_FRAME, USBIO_ERR_BTSTUFF, USBIO_ERR_BUFFER_OVERRUN, USBIO_ERR_BUFFER_UNDERRUN, USBIO_ERR_BULK_RESTRICTION, USBIO_ERR_CANCELED, USBIO_ERR_CONTROL_NOT_SUPPORTED, USBIO_ERR_CONTROL_RESTRICTION, USBIO_ERR_CRC, USBIO_ERR_DATA_BUFFER_ERROR, USBIO_ERR_DATA_OVERRUN, USBIO_ERR_DATA_TOGGLE_MISMATCH, USBIO_ERR_DATA_UNDERRUN, USBIO_ERR_DEMO_EXPIRED, USBIO_ERR_DEV_NOT_RESPONDING, USBIO_ERR_DEVICE_GONE, USBIO_ERR_DEVICE_NOT_FOUND, USBIO_ERR_DEVICE_NOT_OPEN, USBIO_ERR_DEVICE_NOT_PRESENT, USBIO_ERR_ENDPOINT_HALTED, USBIO_ERR_EP0_RESTRICTION, USBIO_ERR_ERROR_BUSY, USBIO_ERR_ERROR_SHORT_TRANSFER, USBIO_ERR_FAILED, USBIO_ERR_FIFO, USBIO_ERR_FRAME_CONTROL_NOT_OWNED, USBIO_ERR_FRAME_CONTROL_OWNED, USBIO_ERR_INSUFFICIENT_RESOURCES, USBIO_ERR_INTERFACE_NOT_FOUND, USBIO_ERR_INTERNAL_HC_ERROR, USBIO_ERR_INTERRUPT_RESTRICTION, USBIO_ERR_INVALID_CONFIGURATION_DESCRIPTOR, USBIO_ERR_INVALID_DEVICE_STATE, USBIO_ERR_INVALID_DIRECTION, USBIO_ERR_INVALID_FUNCTION_PARAM, USBIO_ERR_INVALID_INBUFFER, USBIO_ERR_INVALID_IOCTL, USBIO_ERR_INVALID_ISO_PACKET, USBIO_ERR_INVALID_OUTBUFFER, USBIO_ERR_INVALID_PARAM, USBIO_ERR_INVALID_PARAMETER, USBIO_ERR_INVALID_PIPE_FLAGS, USBIO_ERR_INVALID_PIPE_HANDLE, USBIO_ERR_INVALID_POWER_STATE, USBIO_ERR_INVALID_RECIPIENT, USBIO_ERR_INVALID_TYPE, USBIO_ERR_INVALID_URB_FUNCTION, USBIO_ERR_ISO_NA_LATE_USBPORT, USBIO_ERR_ISO_NOT_ACCESSED_BY_HW, USBIO_ERR_ISO_NOT_ACCESSED_LATE, USBIO_ERR_ISO_RESTRICTION, USBIO_ERR_ISO_TD_ERROR, USBIO_ERR_ISOCH_REQUEST_FAILED, USBIO_ERR_LOAD_SETUP_API_FAILED, USBIO_ERR_NO_BANDWIDTH, USBIO_ERR_NO_MEMORY, USBIO_ERR_NO_SUCH_DEVICE_INSTANCE, USBIO_ERR_NOT_ACCESSED, USBIO_ERR_NOT_BOUND, USBIO_ERR_NOT_CONFIGURED, USBIO_ERR_NOT_SUPPORTED, USBIO_ERR_OPEN_PIPES, USBIO_ERR_OUT_OF_ADDRESS_SPACE, USBIO_ERR_OUT_OF_MEMORY, USBIO_ERR_PENDING_REQUESTS, USBIO_ERR_PID_CHECK_FAILURE, USBIO_ERR_PIPE_NOT_FOUND, USBIO_ERR_PIPE_RESTRICTION, USBIO_ERR_PIPE_SIZE_RESTRICTION, USBIO_ERR_POOL_EMPTY, USBIO_ERR_POWER_DOWN, USBIO_ERR_REQUEST_FAILED, USBIO_ERR_RESERVED1, USBIO_ERR_RESERVED2, USBIO_ERR_SET_CONFIG_FAILED, USBIO_ERR_SET_CONFIGURATION_FAILED, USBIO_ERR_STALL_PID, USBIO_ERR_STATUS_NOT_MAPPED, USBIO_ERR_SUCCESS, USBIO_ERR_TIMEOUT, USBIO_ERR_TOO_MUCH_ISO_PACKETS, USBIO_ERR_UNEXPECTED_PID, USBIO_ERR_USBD_BUFFER_TOO_SMALL, USBIO_ERR_USBD_INTERFACE_NOT_FOUND, USBIO_ERR_USBD_TIMEOUT, USBIO_ERR_VERSION_MISMATCH, USBIO_ERR_VID_RESTRICTION, USBIO_ERR_XACT_ERROR

Fields inherited from interface net.sf.jaer.hardwareinterface.usb.USBInterface

PID_THESYCON_END, PID_THESYCON_START, VID_THESYCON

Constructor Summary

SiLabsC8051F320_USBIO_AeSequencer()
Creates a new instance of SiLabsC8051F320_USBIO_ServoController using device 0 - the first device in the list.

SiLabsC8051F320_USBIO_AeSequencer(int devNumber)
Creates a new instance of USBAEMonitor.

Method Summary

protected void	checkWtiterThread()
void	close() Closes the device.
short	getDID()
int	getEstimatedOutEventRate() Returns estimate of present out event rate on this interface
int	getMaxCapacity() Returns max capacity of this interface in events/sec
int	getNumberOfStringDescriptors() returns number of string descriptors
int	getNumEventsSent()
int	getNumEventsToSend()
short	getPID()
java.lang.String[]	getStringDescriptors() return the string USB descriptors for the device
int	getTimestampTickUs()
java.lang.String	getTypeName() get text name of interface, e.g.
short	getVID()
int[]	getVIDPID() return the USB VID/PID of the interface
protected boolean	hasStringIdentifier() checks if device has a string identifier that is a non-empty string
boolean	isEventSequencingEnabled()
boolean	isLoopedSequencingEnabled()
boolean	isOpen() reports if interface is open().
void	offerPacketToSequencer(AEPacketRaw packet) Offers a packet to be sequenced to the sequencer.
void	onAdd()
void	onRemove()
void	open() This method does the hard work of opening the device, downloading the firmware, making sure everything is OK.
void	resetTimestamps() resets the timestamps to start at zero
void	setLoopedSequencingEnabled(boolean set) enables continuous sequencing, if enabled the AEWriter rewinds if it reaches the end of the packet and restarts sending from the beginning.
void	startSequencing(AEPacketRaw eventsToSend) starts sequencing of events, starts AEWriter.
void	stopSequencing() stops sequencing of events from the driver
protected void	submitPacket(AEPacketRaw packet) Submits the packet to the writer thread queue that sends them to the device

Methods inherited from class java.lang.Object

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

Field Detail

GUID

public static final java.lang.String GUID

driver guid (Globally unique ID, for this USB driver instance

See Also:

Constant Field Values

VID

public static final short VID

The vendor ID

See Also:

Constant Field Values

PID

public static final short PID

See Also:

Constant Field Values

ENDPOINT_OUT_LENGTH

public static final int ENDPOINT_OUT_LENGTH

length of endpoint, ideally this value should be obtained from the pipe bound to the endpoint but we know what it is for this device. It is set to 16 bytes to minimize transmission time. At 12 Mbps, 16 bytes+header (13 bytes)=140 bits requires about 30 us to transmit.

See Also:

Constant Field Values

HOST_BUFFER_LENGTH

public static final int HOST_BUFFER_LENGTH

See Also:

Constant Field Values

PACKET_QUEUE_LENGTH

public static final int PACKET_QUEUE_LENGTH

number of packets that can be queued up. It is set to a small number so that comands do not pile up. If the queue is full when a command is given, then the old commands are discarded so that the latest command is next to be processed. Note that this policy can have drawbacks - if commands are sent to different servos successively, then new commands can wipe out commands to older commands to set other servos to some position.

See Also:

Constant Field Values

interfaceNumber

protected int interfaceNumber

the device number, out of all potential compatible devices that could be opened

stringDescriptor1

protected de.thesycon.usbio.structs.USB_STRING_DESCRIPTOR stringDescriptor1

the first USB string descriptor (Vendor name) (if available)

stringDescriptor2

protected de.thesycon.usbio.structs.USB_STRING_DESCRIPTOR stringDescriptor2

the second USB string descriptor (Product name) (if available)

stringDescriptor3

protected de.thesycon.usbio.structs.USB_STRING_DESCRIPTOR stringDescriptor3

the third USB string descriptor (Serial number) (if available)

numberOfStringDescriptors

protected int numberOfStringDescriptors

deviceDescriptor

protected de.thesycon.usbio.structs.USB_DEVICE_DESCRIPTOR deviceDescriptor

the USBIO device descriptor

gUsbIo

protected de.thesycon.usbio.UsbIo gUsbIo

the UsbIo interface to the device. This is assigned on construction by the factory which uses it to open the device. here is used for all USBIO access to the device

gDevList

protected int gDevList

the devlist handle for USBIO

Constructor Detail

SiLabsC8051F320_USBIO_AeSequencer

public SiLabsC8051F320_USBIO_AeSequencer()

Creates a new instance of SiLabsC8051F320_USBIO_ServoController using device 0 - the first device in the list.

SiLabsC8051F320_USBIO_AeSequencer

public SiLabsC8051F320_USBIO_AeSequencer(int devNumber)

Creates a new instance of USBAEMonitor. Note that it is possible to construct several instances and use each of them to open and read from the same device.

Parameters:

devNumber - the desired device number, in range returned by CypressFX2Factory.getNumInterfacesAvailable

Method Detail

onAdd

public void onAdd()

Specified by:

onAdd in interface de.thesycon.usbio.PnPNotifyInterface

onRemove

public void onRemove()

Specified by:

onRemove in interface de.thesycon.usbio.PnPNotifyInterface

close

public void close()

Closes the device. Never throws an exception.

Specified by:

close in interface HardwareInterface

getNumberOfStringDescriptors

public int getNumberOfStringDescriptors()

returns number of string descriptors

Returns:

number of string descriptors: 2 for TmpDiff128, 3 for MonitorSequencer

hasStringIdentifier

protected boolean hasStringIdentifier()

checks if device has a string identifier that is a non-empty string

Returns:

false if not, true if there is one

open

public void open()
          throws HardwareInterfaceException

This method does the hard work of opening the device, downloading the firmware, making sure everything is OK. This method is synchronized to prevent multiple threads from trying to open at the same time, e.g. a GUI thread and the main thread. Opening the device after it has already been opened has no effect.

Specified by:

open in interface HardwareInterface

Throws:

HardwareInterfaceException - if there is a problem. Diagnostics are printed to stderr.

See Also:

close()

getStringDescriptors

public java.lang.String[] getStringDescriptors()

return the string USB descriptors for the device

Specified by:

getStringDescriptors in interface USBInterface

Returns:

String[] of length 2 of USB descriptor strings.

getVIDPID

public int[] getVIDPID()

return the USB VID/PID of the interface

Specified by:

getVIDPID in interface USBInterface

Returns:

int[] of length 2 containing the Vendor ID (VID) and Product ID (PID) of the device. First element is VID, second element is PID.

getVID

public short getVID()

Specified by:

getVID in interface USBInterface

Returns:

PID (vendor ID)

getPID

public short getPID()

Specified by:

getPID in interface USBInterface

Returns:

PID (product ID)

getDID

public short getDID()

Specified by:

getDID in interface USBInterface

Returns:

bcdDevice (the binary coded decimel device version

isOpen

public boolean isOpen()

reports if interface is open().

Specified by:

isOpen in interface HardwareInterface

Returns:

true if already open

getTypeName

public java.lang.String getTypeName()

Description copied from interface: HardwareInterface

get text name of interface, e.g. "CypressFX2" or "SiLabsC8051F320"

Specified by:

getTypeName in interface HardwareInterface

submitPacket

protected void submitPacket(AEPacketRaw packet)

Submits the packet to the writer thread queue that sends them to the device

Parameters:

packet - the packet, which consists of EventRaw's to be sent to the device with absolute timestamps

checkWtiterThread

protected void checkWtiterThread()

getNumEventsSent

public int getNumEventsSent()

Specified by:

getNumEventsSent in interface AESequencerInterface

getNumEventsToSend

public int getNumEventsToSend()

Specified by:

getNumEventsToSend in interface AESequencerInterface

resetTimestamps

public void resetTimestamps()

Description copied from interface: AESequencerInterface

resets the timestamps to start at zero

Specified by:

resetTimestamps in interface AESequencerInterface

isEventSequencingEnabled

public boolean isEventSequencingEnabled()

Specified by:

isEventSequencingEnabled in interface AESequencerInterface

Returns:

true if event sequencing is enabled

getMaxCapacity

public int getMaxCapacity()

Description copied from interface: AESequencerInterface

Returns max capacity of this interface in events/sec

Specified by:

getMaxCapacity in interface AESequencerInterface

Returns:

max capacity in events/sec

getEstimatedOutEventRate

public int getEstimatedOutEventRate()

Description copied from interface: AESequencerInterface

Returns estimate of present out event rate on this interface

Specified by:

getEstimatedOutEventRate in interface AESequencerInterface

Returns:

estimated event rate in events/sec

getTimestampTickUs

public int getTimestampTickUs()

Specified by:

getTimestampTickUs in interface AESequencerInterface

Returns:

timestamp tick in us for this interface

offerPacketToSequencer

public void offerPacketToSequencer(AEPacketRaw packet)

Description copied from interface: AESequencerInterface

Offers a packet to be sequenced to the sequencer. Calling this automatically should disable looping the sequenced data.

Specified by:

offerPacketToSequencer in interface AESequencerInterface

Parameters:

packet - the packet to add to the tail of the queue.

setLoopedSequencingEnabled

public void setLoopedSequencingEnabled(boolean set)

Description copied from interface: AESequencerInterface

enables continuous sequencing, if enabled the AEWriter rewinds if it reaches the end of the packet and restarts sending from the beginning. otherwise it just stops sequencing.

Specified by:

setLoopedSequencingEnabled in interface AESequencerInterface

Parameters:

set - true to loop packet, false to sequence a single packet

isLoopedSequencingEnabled

public boolean isLoopedSequencingEnabled()

Specified by:

isLoopedSequencingEnabled in interface AESequencerInterface

Returns:

true if sequencing will loop back to start at end of data

startSequencing

public void startSequencing(AEPacketRaw eventsToSend)
                     throws HardwareInterfaceException

Description copied from interface: AESequencerInterface

starts sequencing of events, starts AEWriter.

Specified by:

startSequencing in interface AESequencerInterface

Parameters:

eventsToSend - the events that should be sequenced, timestamps are realtive to last event, inter spike interval must not be bigger than 2^16-1

Throws:

HardwareInterfaceException

stopSequencing

public void stopSequencing()
                    throws HardwareInterfaceException

Description copied from interface: AESequencerInterface

stops sequencing of events from the driver

Specified by:

stopSequencing in interface AESequencerInterface

Throws:

HardwareInterfaceException