servodamper.java

这是一个以JAVA编写的程序,本人还没有试过,是一个简单的温度控制系统

package net.sf.dz.device.actuator.impl;

import java.io.IOException;

import java.util.HashSet;
import java.util.Iterator;
import java.util.Set;

import org.freehold.jukebox.logger.LogChannel;

import org.freehold.servomaster.device.model.Servo;
import org.freehold.servomaster.device.model.ServoController;
import org.freehold.servomaster.device.model.transform.LinearTransformer;
import org.freehold.servomaster.device.model.transform.Reverser;
import org.freehold.servomaster.device.model.transition.CrawlTransitionController;

import net.sf.dz.util.ObjectFactory;

/**
 * Damper controlled by a RC Servo.
 *
 * The configuration elements read are the servo controller class and the
 * servo name.
 *
 */
public class ServoDamper extends AbstractDamper {

    public static final LogChannel CH_ST = new LogChannel("ServoDamper");

    /**
     * Set of controllers we know about.
     */
    private static Set controllerSet = new HashSet();
    
    private Servo servo;
    
    public ServoDamper() {
    
    }
    
    protected void configure() throws Throwable {
    
        super.configure();
        
        String controllerClass = getConfiguration().getString(getConfigurationRoot() + ".controller.class");
        String controllerPort = getConfiguration().getString(getConfigurationRoot() + ".controller.port");
        String servoID = getConfiguration().getString(getConfigurationRoot() + ".controller.id");
        boolean reverse = getConfiguration().getBoolean(getConfigurationRoot() + ".reverse.enabled", false);
        boolean crawl = getConfiguration().getBoolean(getConfigurationRoot() + ".crawl.enabled", false);
        
        complain(LOG_DEBUG, CH_ST, getConfigurationRoot() + ".controller.class: " + controllerClass);
        
        try {

            synchronized ( controllerSet ) {

                for ( Iterator i = controllerSet.iterator(); i.hasNext(); ) {
                
                    ServoController c = (ServoController)i.next();
                    
                    if ( c.getClass().getName().equals(controllerClass) ) {
                    
                        // Let's find out if this controller works on the same port
                        
                        if ( c.getPort().equals(controllerPort) ) {
                        
                            // Cool, we have the controller of the same class on the
                            // same port
                            
                            complain(LOG_DEBUG, CH_ST, "Found existing " + controllerClass + " on " + controllerPort);
                            
                            servo = c.getServo(servoID);
                            return;
                        }
                    }
                }
                
                // If we're here, it means that no suitable controller was found,
                // thus we'll have to instantiate it.
                
                complain(LOG_DEBUG, CH_ST, "Instantiating " + controllerClass + " on " + controllerPort);
                
                ServoController c = (ServoController)ObjectFactory.instantiate(controllerClass, ServoController.class);
                    
                c.init(controllerPort);
                
                // VT: FIXME: FT639 HACK:
                
                // Default setting for FT639 is 90 degree range. This is not
                // enough for at least the servo damper described at
                // http://diy-zoning.sourceforge.net/docs/teasers/damper.html
                // - 180 degrees is more like it.
                
                if ( c instanceof org.freehold.servomaster.device.impl.ft.FT639ServoController ) {
                
                    ((org.freehold.servomaster.device.impl.ft.FT639ServoController)c).setRange(true);
                }
                
                // VT: FIXME: For other controllers, there will be other
                // hacks. For example, Phidget has a nice feature allowing
                // to set the servo operating range in a very gentle and
                // precise way, and it would be a really good idea to make
                // use of it. Just a little bit later.
                
                try {
                
                    c.setSilentMode(true);
                    
                } catch ( UnsupportedOperationException ex ) {
                
                    complain(LOG_NOTICE, CH_ST, "Controller doesn't support the silent mode");
                }
                
                controllerSet.add(c);
                
                servo = c.getServo(servoID);
            }
        
        } finally {
        
            if ( servo != null ) {
            
                if ( false ) {
                
                    // VT: FIXME: This slows down the startup by 15 seconds
                    // and possibly annoys my wife if she's sleeping while
                    // I'm debugging the app, so the hell with it so far.
                    // May need to enable it in a final setup.
                
                    servo.setPosition(0);
                    Thread.sleep(1000);
                    servo.setPosition(1);
                    Thread.sleep(1000);
                    
                }
                
                // This is a safe position - if by chance there's a logic or
                // wiring problem, we're not going to end up blowing A/C
                // into all closed throttles.
                
                servo.setPosition(0.5);

                if ( crawl ) {
                
                    servo.attach(new CrawlTransitionController());
                }
                
                servo = new LinearTransformer(servo);
                
                if ( reverse ) {
                
                    servo = new Reverser(servo);
                }
                
            }
        }
    }
    
    public void moveDamper(double throttle) {
    
        try {
        
            if ( servo.getPosition() != throttle ) {
            
                complain(LOG_DEBUG, CH_ST, servo.getName() + ": " + throttle);
            }
            
            servo.setPosition(throttle);
            
        } catch ( Throwable t ) {
        
            complain(LOG_ERR, CH_ST, "Can't move throttle:", t);
        }
    }
    
    public Set getControllerSet() {
    
        return controllerSet;
    }
    
    public String getServoName() {
    
        return servo.getName();
    }
    
    /**
     * Get the servo.
     *
     * FIXME: This is a hack to allow a space-saving display for the servo
     * controller status.
     */
    public Servo getServo() {
    
        return servo;
    }
    
    public double getThrottle() throws IOException {
    
        return servo.getPosition();
    }
}