InsightLT.java

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package InsightLT;
import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.DigitalModule;
import edu.wpi.first.wpilibj.Timer;
import java.util.Vector;



/**
 *
 * @author Bit Built Tech
 */
public class InsightLT implements Runnable {
    
    public final static int FOUR_ZONES = 0;
    public final static int ONE_TWO_LINE_ZONE = 1;
    public final static int TWO_ONE_LINE_ZONES = 2;
    
    public final static int LINE_1 = 0;
    public final static int LINE_2 = 1;
    
    public InsightLT()
    {
        module = DigitalModule.getInstance(1);
        setupHelper();        
        config(ONE_TWO_LINE_ZONE);        
    }
    
    public InsightLT(int option)
    {
        
        module = DigitalModule.getInstance(1);  
        setupHelper();      
        config(option);
    }
    
    public InsightLT(int option, char moduleNumber)
    {       
        module = DigitalModule.getInstance(moduleNumber);
        setupHelper();        
        config(option);
    }
    	
    private void setupHelper()
    {
        m_stopDisplayThread = false;
        m_twiComm = module.getI2C(0x78);
        m_displayConnected = false;
        m_zones = new Vector();
    }
    public Zone getZone(int zoneNumber)
    {
        if(zoneNumber < 1 || zoneNumber > m_zones.size())
        {
            return null;
        }
        else
        {
            return (Zone)m_zones.elementAt(zoneNumber - 1);
        }
    }
    
    public void startDisplay()
    {
        thread = new Thread(this);
        m_stopDisplayThread = false;
        thread.start();
    }    
    
    public void stopDisplay()
    {
        m_stopDisplayThread = true;
    }
    
    public void writeMessage(String message, int line, int position)
    {
        byte[] buffer = new byte[6];
	
	buffer[0] = 0x00;
	buffer[1] = (byte)(((line * 0x40) + position) | 0x80);	
	m_twiComm.transaction(buffer, 2, buffer, 0);
	
	boolean end = false;
	buffer[0] = 0x40;
	for(int x = 0; x < message.length();)
	{
            for(int y = 1; y < 6; y++)
            {
                buffer[y] = (byte)message.charAt(x);
                x++;
                if(x >= message.length())
                {
                    m_twiComm.transaction(buffer, y+1, buffer, 0);
                    end = true;
                    break;
                }
            }
            if(!end)
            {
                m_twiComm.transaction(buffer, 6, buffer, 0);
            }
	}
    }
    
    public boolean registerData(DisplayData dataItem, int zoneNumber)
    {
        if(zoneNumber < 1 || zoneNumber > m_zones.size())
        {
            return false;
        }        
        ((Zone)m_zones.elementAt(zoneNumber - 1)).registerData(dataItem);
        return true;
    }
    
    public void setZoneScrollTime(int zoneNumber, int time)
    {
        if(zoneNumber > 0 && zoneNumber <= m_zones.size())
        {
            ((Zone)m_zones.elementAt(zoneNumber - 1)).setTime(time);
        }
    }
    
    public void manualScroll(int zoneNumber, byte direction)
    {
        if(zoneNumber > 0 && zoneNumber <= m_zones.size())
        {
            if(direction > 0)
            {
                ((Zone)m_zones.elementAt(zoneNumber - 1)).advanceZoneUp();
            }
            else
            {
                ((Zone)m_zones.elementAt(zoneNumber - 1)).advanceZoneDown();
            }
        }
    }
    
    public void clearScreen()
    {
       byte[] buffer = new byte[2];
       buffer[0] = 0x00;
       buffer[1] = 0x01;
       m_twiComm.transaction(buffer, 2, buffer, 0);
    }
    
    private boolean getConnectionStatus()
    {
        return m_displayConnected;   
    }
    private void setConnectionStatus(boolean status)
    {
        m_displayConnected = status;
    }
    
    public void run()	
    {      
	while(!m_stopDisplayThread)
	{
            if(!getConnectionStatus())
            {
                System.out.println("Connecting Display...");
                while(m_twiComm.addressOnly())
                {
                    Timer.delay(.5);
                }
                initializeDisplay();
                clearScreen();
                welcomeMessage();
                setConnectionStatus(true);
                Timer.delay(2);
                clearScreen();
            }	
            else
            {
                while(!m_stopDisplayThread)
                {
                    if(m_twiComm.addressOnly())
                    {
                        setConnectionStatus(false);
                        break;
                    }
                    for(int x = 1; x < 5; x++)
                    {					
                        Zone tmpZone = getZone(x);
                        
                        if(tmpZone != null)
                        {
                            tmpZone.update();
                            writeMessage(tmpZone.getLineOne(), tmpZone.getLine(), tmpZone.getPosition());                           
                            if(tmpZone.isTwoLines())
                            {
                                writeMessage(tmpZone.getLineTwo(), tmpZone.getLine() + 1, tmpZone.getPosition());
                            }
                        }
                    }	
                    Timer.delay(.05);
                }                
            }
        }
        setConnectionStatus(false);
    }
    
    private void initializeDisplay()
    {
        	
	byte[] buffer = new byte[6];
	byte[] emptyArray = new byte[0];
        
	buffer[0] = 0x00;		
	buffer[1] = 0x38;		
	buffer[2] = 0x39;				
	buffer[3] = 0x14;
	buffer[4] = 0x78;
	buffer[5] = 0x5E;
	m_twiComm.transaction(buffer, 6, emptyArray, 0);
	
	buffer[0] = 0x00;
	buffer[1] = 0x6D;	
	m_twiComm.transaction(buffer, 2, emptyArray, 0);
	Timer.delay(.01);			
	
	buffer[0] = 0x00;
	buffer[1] = 0x0C;
	buffer[2] = 0x01;
	buffer[3] = 0x06;
	m_twiComm.transaction(buffer, 4, emptyArray, 0);			
	Timer.delay(.01);
    }
    
    private void welcomeMessage()
    {
        writeMessage("Bit Built Tech", LINE_1, 0);
        writeMessage("Robot Diagnostics", LINE_2, 3);
    }
    
    private void config(int option)
    {        	
	switch(option)
	{
	case FOUR_ZONES:
		m_zones.addElement(new Zone(LINE_1, 0, 10, 1, 1500));
		m_zones.addElement(new Zone(LINE_1, 10, 10, 1, 1500));
		m_zones.addElement(new Zone(LINE_2, 0, 10, 1, 1500));
		m_zones.addElement(new Zone(LINE_2, 10, 10, 1, 1500));
	case TWO_ONE_LINE_ZONES:
		m_zones.addElement(new Zone(LINE_1, 0, 20, 1, 1500));
		m_zones.addElement(new Zone(LINE_2, 0, 20, 1, 1500));
		break;
	case ONE_TWO_LINE_ZONE:
	default:
		m_zones.addElement(new Zone(LINE_1, 0, 20, 2, 1500));
		break;
	}
    }

    private DigitalModule module;
    private Thread thread;
    private I2C m_twiComm;
    private boolean m_wasPaused;
    private boolean m_displayConnected;
    private boolean m_started;
    private boolean m_stopDisplayThread;
    private Vector m_zones;
}