com.yarg.animatronics.datamodel.PwmBoard.java Source code

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Here is the source code for com.yarg.animatronics.datamodel.PwmBoard.java

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package com.yarg.animatronics.datamodel;

/*
 * Licensed to the Apache Software Foundation (ASF) under one
 * or more contributor license agreements.  See the NOTICE file
 * distributed with this work for additional information
 * regarding copyright ownership.  The ASF licenses this file
 * to you 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.
 */

import java.util.ArrayList;
import java.util.List;

import org.apache.commons.lang3.builder.EqualsBuilder;
import org.apache.commons.lang3.builder.HashCodeBuilder;
import org.apache.commons.lang3.builder.ToStringBuilder;

public abstract class PwmBoard {

    protected ArrayList<PwmMotor> motors = new ArrayList<>();
    private int pwmBoardAddress;

    /**
     * Get the signaling frequency of the board.
     * @return Signaling frequency of the board.
     */
    public abstract int getFrequency();

    /**
     * Get the number of channels available on the board.
     * @return Number of channels available on the board.
     */
    public abstract int getNumberOfChannels();

    /**
     * Get the address of the PWM board that this motor is connected to.
     * @return The address of the PWM board for this motor.
     */
    public int getPwmBoardAddress() {
        return pwmBoardAddress;
    }

    /**
     * Set the address of the PWM board that this motor is connected to.
     * @param pwmBoardAddress The address of the PWM board for this motor.
     */
    public void setPwmBoardAddress(int pwmBoardAddress) {
        this.pwmBoardAddress = pwmBoardAddress;
    }

    /**
     * Get a copy of all of the attached motors.
     * @return Copy of all of the attached motors.
     */
    public List<PwmMotor> getAttachedMotors() {
        ArrayList<PwmMotor> motorsCopy = new ArrayList<>();
        motorsCopy.addAll(motors);
        return motorsCopy;
    }

    /**
     * Add a motor to the board. If there are no more available channels to connect motors to an ArrayStoreException
     * will be thrown. If there is another motor already assigned to the same channel an ArrayStoreException will be
     * thrown. If the channels specified does not fit in the range available on the board then an ArrayStoreException
     * will be thrown.
     * @param motor Motor to add to board.
     */
    public void addMotor(PwmMotor motor) {

        if (motor.getPwmChannel() > getNumberOfChannels()) {
            throw new ArrayStoreException(
                    "Unable to add motor with PWM channel index greater than the number of available channels on the board.");
        } else if (motor.getPwmChannel() < 1) {
            throw new ArrayStoreException("Unable to add motor with PWM channel index less than 1.");
        }

        for (PwmMotor existingMotor : motors) {
            if (existingMotor.getPwmChannel() == motor.getPwmChannel()) {
                throw new ArrayStoreException(
                        "PWM channel is already in use by another motor on this board. Please choose a different channel.");
            }
        }

        motors.add(motor);
    }

    @Override
    public int hashCode() {

        return new HashCodeBuilder(99, 35).append(getFrequency()).append(getNumberOfChannels())
                .append(getPwmBoardAddress()).append(getAttachedMotors()).toHashCode();
    }

    @Override
    public boolean equals(Object obj) {

        if (this == obj) {
            return true;
        } else if (!(obj instanceof PwmBoard)) {
            return false;
        }

        PwmBoard compareObj = (PwmBoard) obj;
        return new EqualsBuilder().append(getFrequency(), compareObj.getFrequency())
                .append(getNumberOfChannels(), compareObj.getNumberOfChannels())
                .append(getPwmBoardAddress(), compareObj.getPwmBoardAddress())
                .append(getAttachedMotors(), compareObj.getAttachedMotors()).isEquals();
    }

    @Override
    public String toString() {

        return new ToStringBuilder(this).append("Frequency", getFrequency())
                .append("Number of channels", getNumberOfChannels())
                .append("PWM board address", getPwmBoardAddress()).append("Attached motors", getAttachedMotors())
                .toString();
    }
}