Device.java

/*
 * This file is part of CBCJVM.
 * CBCJVM is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * CBCJVM is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with CBCJVM.  If not, see <http://www.gnu.org/licenses/>.
 */

package cbccore;

import cbccore.low.*;
import cbccore.low.CBCSimulator;

/**
 * A static class with static access to instantiations cbccore.low classes.
 * <p>
 * It is recommended that you use the higher level libraries in
 * cbccore.movement, cbccore.motors, and cbccore.sensors
 * <p>
 * The cbccore.low classes provide a link between the CBC APIs and Java. They
 * are native and contain no Java implementation (except the simulator). They
 * can be useful for quick porting of C code, although, it is highly encouraged
 * to do a clean port atop the CBCJVM API.
 *
 * @author Braden McDorman / Benjamin Woodruff
 *
 */

public class Device {
	private static CBCSimulator simulator;
	private static Motor lowMotors;
	private static Display lowDisplay;
	private static Create lowCreate;
	private static Servo lowServos;
	private static Camera lowCamera;
	private static cbccore.low.Device lowDevice;
	private static Input lowInput;
	private static Sound lowSound;
	private static Sensor lowSensors;
	private static boolean onCBC = true;

	static {
		//we could probably shorten this, some duplication
		try {
			if(System.getProperty("CBC") == null) throw new Exception();
			System.load("/mnt/user/jvm/cbc/CBC.so");
		}
		catch(Exception e) {
			onCBC = false;
		}
		try {
			if(onCBC) {
				System.out.println("On CBC!");
				lowSound = new Sound();
				lowSensors = new Sensor();
				lowDevice = new cbccore.low.Device();
				lowDisplay = new Display();
				lowInput = new Input();
				lowServos = new Servo();
				lowMotors = new Motor();
				lowCamera = new Camera();
				lowCreate = new Create();
			} else {
				simulator = new CBCSimulator();
				lowSound = simulator.sound;
				lowSensors = simulator.sensor;
				lowDevice = simulator.device;
				lowDisplay = simulator.display;
				lowInput = simulator.input;
				lowServos = simulator.servo;
				lowMotors = simulator.motor;
				lowCamera = simulator.camera;
				lowCreate = simulator.create;
			}
		}
		catch(UnsatisfiedLinkError e) {
			e.printStackTrace();
		}
	}

	/**
	 * Getter for the CBCSimulator object. You probably don't want this. It
	 * should, in theory, remain invisible. Checking this for null could be
	 * handy to see if you should activate a simulator work-around.
	 *
	 * @return  returns null if not in simulator mode, otherwise the simulator controller
	 * @see     cbccore.low.CBCSimulator
	 */
	public static CBCSimulator getSimulatorController() {
		return simulator;
	}

	/**
	 * Getter for the low level Motor object. It is recommended you use a higher
	 * level library.
	 *
	 * @return  an instance of Motor
	 * @see     cbccore.low.Motor
	 */
	public static Motor getLowMotorController() {
		return lowMotors;
	}

	/**
	 * Getter for the low level Create object. It is recommended you use a
	 * higher level library.
	 *
	 * @return  an instance of Create
	 * @see     cbccore.low.Create
	 */
	public static Create getLowCreateController() {
		return lowCreate;
	}

	/**
	 * Getter for the low level Display object. It is recommended you use a
	 * higher level library.
	 *
	 * @return  an instance of Display
	 * @see     cbccore.low.Display
	 */
	public static Display getLowDisplayController() {
		return lowDisplay;
	}

	/**
	 * Getter for the low level Servo object. It is recommended you use a
	 * higher level library.
	 *
	 * @return  an instance of Servo
	 * @see     cbccore.low.Servo
	 */
	public static Servo getLowServoController() {
		return lowServos;
	}

	/**
	 * Getter for the low level Camera object. It is recommended you use a
	 * higher level library.
	 *
	 * @return  an instance of Camera
	 * @see     cbccore.low.Camera
	 */
	public static Camera getLowCameraController() {
		return lowCamera;
	}

	/**
	 * Getter for the low level Device object. It is recommended you use a
	 * higher level library. (Not to be confused with this "Device" class)
	 *
	 * @return  an instance of Device
	 * @see     cbccore.low.Device
	 */
	public static cbccore.low.Device getLowDeviceController() {
		return lowDevice;
	}

	/**
	 * Getter for the low level Input object. It is recommended you use a
	 * higher level library.
	 *
	 * @return  an instance of Input
	 * @see     cbccore.low.Input
	 */
	public static Input getLowInputController() {
		return lowInput;
	}

	/**
	 * Getter for the low level Sound object. It is recommended you use a
	 * higher level library.
	 *
	 * @return  an instance of Sound
	 * @see     cbccore.low.Sound
	 */
	public static Sound getLowSoundController() {
		return lowSound;
	}

	/**
	 * Getter for the low level Sensor object. It is recommended you use a
	 * higher level library.
	 *
	 * @return  an instance of Sensor
	 * @see     cbccore.low.Sensor
	 */
	public static Sensor getLowSensorController() {
		return lowSensors;
	}
	
	/**
	 * Getter for the onCBC variable.
	 *
	 * @return  an boolean: true if the current device is the CBC, else false.
	 */
	public static boolean isOnCBC() {
		return onCBC;
	}
}