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Remove timeout from ICommunicator#write and ICommunicator#read #6

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Merged
tiwanari merged 1 commit into from
Mar 15, 2016
Merged

Remove timeout from ICommunicator#write and ICommunicator#read #6

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6 changes: 2 additions & 4 deletions src/main/java/com/pileproject/drivecommand/model/com/ICommunicator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -36,18 +36,16 @@ public interface ICommunicator {
* Write the byte array data to the device.
*
* @param data
* @param timeout Max waiting time for the end of this communication. [Unit: ms]
* @throws RuntimeException
*/
void write(byte[] data, int timeout) throws RuntimeException;
void write(byte[] data) throws RuntimeException;

/**
* Read the response from the device.
*
* @param length The max length of response wanted to be read.
* @param timeout Max waiting time for the end of this communication. [Unit: ms]
* @return
* @throws RuntimeException
*/
byte[] read(int length, int timeout) throws RuntimeException;
byte[] read(int length) throws RuntimeException;
}
13 changes: 6 additions & 7 deletions src/main/java/com/pileproject/drivecommand/model/ev3/Ev3Protocol.java
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Expand Up @@ -63,7 +63,6 @@

public class Ev3Protocol extends ProtocolBase {
private static final String KEY_VALUE = "value";
private static final int TIMEOUT = 1000;
private static final String TAG = "Ev3Protocol";
private static final byte OUTPUT_PORT_OFFSET = 0x10;

Expand Down Expand Up @@ -216,7 +215,7 @@ private float[] getSiValue(int port, int type, int mode, int nvalue) {
byteCode.addGlobalIndex((byte) 0x00);

// Send message
mCommunicator.write(byteCode.byteArray(), TIMEOUT);
mCommunicator.write(byteCode.byteArray());

byte[] reply = readData();

Expand Down Expand Up @@ -257,7 +256,7 @@ private short[] getPercentValue(int port, int type, int mode, int nvalue) {
byteCode.addGlobalIndex((byte) 0x00);

// Send message
mCommunicator.write(byteCode.byteArray(), TIMEOUT);
mCommunicator.write(byteCode.byteArray());

byte[] reply = readData();

Expand Down Expand Up @@ -308,7 +307,7 @@ private void setOutputState(int port, int speed) {
byteCode.addParameter(byteCodePort);

// Send message
mCommunicator.write(byteCode.byteArray(), TIMEOUT);
mCommunicator.write(byteCode.byteArray());
}

/**
Expand All @@ -331,7 +330,7 @@ private void soundTone(int volume, int freq, int duration) {
byteCode.addParameter((short) duration);

// Send message
mCommunicator.write(byteCode.byteArray(), TIMEOUT);
mCommunicator.write(byteCode.byteArray());
}

/**
Expand All @@ -341,11 +340,11 @@ private void soundTone(int volume, int freq, int duration) {
*/
private byte[] readData() {
// Calculate the size of response by reading 2 bytes.
byte[] header = mCommunicator.read(2, TIMEOUT);
byte[] header = mCommunicator.read(2);
int numBytes = ((header[1] & 0x00ff) << 8) | (header[0] & 0x00ff);

// Get result
byte[] result = mCommunicator.read(numBytes, TIMEOUT);
byte[] result = mCommunicator.read(numBytes);
Log.d(TAG, "read: " + result.length + " bytes");

return result;
Expand Down
5 changes: 2 additions & 3 deletions src/main/java/com/pileproject/drivecommand/model/nxt/NxtProtocol.java
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Expand Up @@ -48,7 +48,6 @@
*/
public class NxtProtocol extends ProtocolBase {
private static final String KEY_VALUE = "value";
private static final int TIMEOUT = 1000;
private static final String TAG = "NxtProtocol";
private static final int MAX_RES_LENGTH = 66;
private Map<Integer, Byte> mPortTypes;
Expand Down Expand Up @@ -197,7 +196,7 @@ private void sendData(byte[] request) {
System.arraycopy(request, 0, data, 2, request.length);

// Send request
mCommunicator.write(data, TIMEOUT);
mCommunicator.write(data);
}

private InputValues getInputValues(int port) {
Expand All @@ -207,7 +206,7 @@ private InputValues getInputValues(int port) {
(byte) port
};
sendData(request);
byte[] reply = mCommunicator.read(MAX_RES_LENGTH, TIMEOUT);
byte[] reply = mCommunicator.read(MAX_RES_LENGTH);
InputValues inputValues = new InputValues();
inputValues.inputPort = reply[3];
// 0 is false, 1 is true.
Expand Down
27 changes: 13 additions & 14 deletions src/main/java/com/pileproject/drivecommand/model/pile/PileProtocol.java
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,6 @@

public class PileProtocol extends ProtocolBase {
private static final String KEY_VALUE = "value";
private static final int TIMEOUT = 1000;
private static final String TAG = "PileProtocol";

public PileProtocol(ICommunicator comm) {
Expand Down Expand Up @@ -113,8 +112,8 @@ private int requestOneByte(int port, PileConstants.CommandTypes type) {
PilePacketFormatter packet = new PilePacketFormatter(type);
packet.setDataByte((byte) port);
packet.calculateChecksum();
mCommunicator.write(packet.byteArray(), TIMEOUT);
byte[] receivedByteArray = mCommunicator.read(4, TIMEOUT);
mCommunicator.write(packet.byteArray());
byte[] receivedByteArray = mCommunicator.read(4);
packet = new PilePacketFormatter(receivedByteArray);
if (!packet.isValid())
return -1;
Expand All @@ -127,8 +126,8 @@ private boolean switchLed(boolean turnOn) {
PileConstants.LedState.ON.value()
: PileConstants.LedState.OFF.value());
packet.calculateChecksum();
mCommunicator.write(packet.byteArray(), TIMEOUT);
byte[] ack = mCommunicator.read(4, TIMEOUT);
mCommunicator.write(packet.byteArray());
byte[] ack = mCommunicator.read(4);
return ((ack[2] & 0x01) == 0x01);
}

Expand All @@ -142,8 +141,8 @@ private boolean setMotor(int port, int speed) {
packet.setDataByte((byte) (((port & 0x0F) << 2) | dir.value())); // Byte 0
packet.setDataByte((byte) (speed & 0xFF)); // Byte 1
packet.calculateChecksum();
mCommunicator.write(packet.byteArray(), TIMEOUT);
byte[] ack = mCommunicator.read(4, TIMEOUT);
mCommunicator.write(packet.byteArray());
byte[] ack = mCommunicator.read(4);
return ((ack[2] & 0x01) == 0x01);
}

Expand All @@ -152,8 +151,8 @@ public boolean apply() {
PilePacketFormatter packet = new PilePacketFormatter(PileConstants.CommandTypes.APPLY);
packet.setDataByte((byte) 0); // any data (1 byte) is OK
packet.calculateChecksum();
mCommunicator.write(packet.byteArray(), TIMEOUT);
byte[] ack = mCommunicator.read(4, TIMEOUT);
mCommunicator.write(packet.byteArray());
byte[] ack = mCommunicator.read(4);
return ((ack[2] & 0x01) == 0x01);
}

Expand All @@ -162,15 +161,15 @@ public byte[] load(int key) {
PilePacketFormatter packet = new PilePacketFormatter(PileConstants.CommandTypes.LOAD);
packet.setDataByte((byte) key); // any data (1 byte) is OK
packet.calculateChecksum();
mCommunicator.write(packet.byteArray(), TIMEOUT);
mCommunicator.write(packet.byteArray());

ByteArrayOutputStream outputStream = new ByteArrayOutputStream();
byte outputLength = mCommunicator.read(1, TIMEOUT)[0]; // read LENGTH info
byte outputLength = mCommunicator.read(1)[0]; // read LENGTH info
outputStream.write(outputLength);
// read the rest data
try {
// -1 means the length of LENGTH data
outputStream.write(mCommunicator.read((int) outputLength - 1, TIMEOUT));
outputStream.write(mCommunicator.read((int) outputLength - 1));
} catch (IOException e) {
e.printStackTrace();
}
Expand All @@ -189,8 +188,8 @@ public boolean store(int key, byte[] data) {
packet.setDataByte(d);
}
packet.calculateChecksum();
mCommunicator.write(packet.byteArray(), TIMEOUT);
byte[] ack = mCommunicator.read(4, TIMEOUT);
mCommunicator.write(packet.byteArray());
byte[] ack = mCommunicator.read(4);
return ((ack[2] & 0x01) == 0x01);
}
}