io.github.thunderbots.lightning.control

Class JoystickMonitor

java.lang.Object

io.github.thunderbots.lightning.control.JoystickMonitor

public class JoystickMonitor
extends java.lang.Object

A JoystickMonitor is an object that attaches to a specific joystick object, and monitors any changes in the joystick inputs. Any detected changes are forwarded to the objects that are listening to the specific joystick.

Objects that should listen to the joysticks should register themselves with the appropriate JoystickMonitor.

Author:

Zach Ohara, Pranav Mathur

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
private class	JoystickMonitor.MonitorUpdateRunnable The MonitorUpdateRunnable class is run through the task scheduler, and is used to continuously check the joystick for any changes.

Field Summary

Fields

Modifier and Type	Field and Description
private java.util.Map<JoystickButton,java.util.List<java.lang.reflect.Method>>	handlers The Methods that are called when buttons specified in the ButtonHandler annotation are updated.
private java.util.Map<java.lang.reflect.Method,JoystickListener>	instances The map of all the appropriate methods to the specific objects that contain them.
private int	joystick The joystick to monitor.
private java.util.List<JoystickButton>	lastButtons The latest 'snapshot' of the buttons on the gamepad.

Constructor Summary

Constructors

Constructor and Description
JoystickMonitor(int joystick) Constructs a new JoystickMonitor that should monitor the given joystick.

Method Summary

Modifier and Type	Method and Description
private void	fillHandlerMap() Populates the maip of button handlers with an entry for every joystick button.
private void	invokeListenerMethod(java.lang.reflect.Method method, java.lang.Object instance) Invokes the given method on the given instance, and catches all exceptions.
void	registerJoystickListener(JoystickListener listener) Registers the given joystick listener so that joystick updates can be sent to it.
private void	runHandlers() Checks for updates in the joystick, and forwards those updates to all the registered joystick listeners.

Methods inherited from class java.lang.Object

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

Field Detail

joystick

private int joystick

The joystick to monitor.

handlers

private java.util.Map<JoystickButton,java.util.List<java.lang.reflect.Method>> handlers

The Methods that are called when buttons specified in the ButtonHandler annotation are updated.

instances

private java.util.Map<java.lang.reflect.Method,JoystickListener> instances

The map of all the appropriate methods to the specific objects that contain them.

lastButtons

private java.util.List<JoystickButton> lastButtons

The latest 'snapshot' of the buttons on the gamepad. The list contains every button on the joystick that is pressed, in no specific order.

Constructor Detail

JoystickMonitor

public JoystickMonitor(int joystick)

Constructs a new JoystickMonitor that should monitor the given joystick.

Parameters:

joystick - the joystick to monitor.

Method Detail

registerJoystickListener

public void registerJoystickListener(JoystickListener listener)

Registers the given joystick listener so that joystick updates can be sent to it.

runHandlers

private void runHandlers()

Checks for updates in the joystick, and forwards those updates to all the registered joystick listeners.

invokeListenerMethod

private void invokeListenerMethod(java.lang.reflect.Method method,
                                  java.lang.Object instance)

Invokes the given method on the given instance, and catches all exceptions.

Parameters:

method - the method to call.

instance - the instance to call the method on.

fillHandlerMap

private void fillHandlerMap()

Populates the maip of button handlers with an entry for every joystick button.