import lejos.hardware.port.Port; //导入依赖的package包/类
private void initRegulatedMotor(ActorPort actorPort, Actor actorType, Port hardwarePort) {
    this.lcd.clear();
    // Hal.formatInfoMessage("Initializing motor on port " + actorPort, this.lcd);
    switch ( actorType.getName() ) {
        case LARGE:
            this.lejosRegulatedMotors.put(actorPort, new EV3LargeRegulatedMotor(hardwarePort));
            break;
        case MEDIUM:
            this.lejosRegulatedMotors.put(actorPort, new EV3MediumRegulatedMotor(hardwarePort));
            break;
        case REGULATED:
            this.lejosRegulatedMotors.put(actorPort, new NXTRegulatedMotor(hardwarePort));
            break;
        default:
            throw new DbcException("Actor type " + actorType.getName() + " does not exists!");
    }
}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
/**
 * Initialise sensor ports and retrieve their modename.<br>
 * 
 * @return sensorname per port in an array
 */
private String[] getActualSensorConfig() {
    int sensorCount = 4;
    String[] actualSensorConfig = new String[sensorCount];
    Port[] p = new Port[sensorCount];
    p[0] = LocalEV3.get().getPort("S1");
    p[1] = LocalEV3.get().getPort("S2");
    p[2] = LocalEV3.get().getPort("S3");
    p[3] = LocalEV3.get().getPort("S4");
    for ( int i = 0; i < actualSensorConfig.length; i++ ) {
        actualSensorConfig[i] = getSensorName(p[i]).trim(); // remove spaces
        // map the sensor mode names to lejos sensor class names!
        actualSensorConfig[i] = this.sensorModes.getProperty(actualSensorConfig[i]);
    }
    return actualSensorConfig;
}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
/**
 * Constructor
 *
 * @param motorPort port
    */
public BasicMotor(final Port motorPort) {

	if(!this.getPlatform().equals(EV3DevPlatform.EV3BRICK)){
		throw new RuntimeException("This device is not supported in this platform");
	}

	final String port = this.getMotorPort(motorPort);

       log.debug("Detecting motor on port: {}", port);
       this.detect(LEGO_PORT, port);
       log.debug("Setting port in mode: {}", DC_MOTOR);
       this.setStringAttribute(MODE, DC_MOTOR);
       Delay.msDelay(500);
	this.detect(DC_MOTOR, port);
}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
/**
* Every device connected in a EV3 Brick with EV3Dev appears in /sys/class in a determinated category.
* It is necessary to indicate the type and ports.
*
* @param portName The ports where is connected the sensors or the actuators.
   * @param mode mode
   * @param device device
   */
  protected EV3DevSensorDevice(final Port portName, final String mode, final String device) {

final String port = this.getSensorPort(portName);

//EV3 Brick detect in a automatic way the sensors
if(this.getPlatform().equals(EV3DevPlatform.EV3BRICK)){

	this.detect(LEGO_SENSOR, port);
}else {

	//With Pi Boards, it is necessary to detect in 2 paths the sensors
	this.detect(LEGO_PORT, port);
	log.info("detected lego port: {}", this.PATH_DEVICE);
	this.setStringAttribute(MODE, mode);
	this.setStringAttribute(DEVICE, device);
	Delay.msDelay(1000);
	this.detect(LEGO_SENSOR, port);
	log.info("detected lego sensor: {}", this.PATH_DEVICE);
}

  }
 

import lejos.hardware.port.Port; //导入依赖的package包/类
private static Port getSensorPort(String p) throws EV3ScriptException {
  switch (p) {
  case "1":
  case EV3Constants.S1:
    return SensorPort.S1;
  case "2":
  case EV3Constants.S2:
    return SensorPort.S2;
  case "3":
  case EV3Constants.S3:
    return SensorPort.S3;
  case "4":
  case EV3Constants.S4:
    return SensorPort.S4;
  }
  throw new EV3ScriptException(EV3ScriptException.INVALID_SENSOR_PORT, MapBuilder.buildHashMap("port", p).build());
}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
public SimpleEV3ColorSensor(Port port) {
  delegate = new EV3ColorSensor(port);
  logger = SensorMonitorFactory.getLogger(port);
  // Reflected light mode
  reflectedLightMode = delegate.getRedMode();
  reflectedLightSample = new float[reflectedLightMode.sampleSize()];
  // Ambient light mode
  ambientLightMode = delegate.getAmbientMode();
  ambientLightSample = new float[ambientLightMode.sampleSize()];
  // Color mode
  colorMode = delegate.getColorIDMode();
  colorModeSample = new float[colorMode.sampleSize()];
}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
protected RMIRemoteSampleProvider(String portName, String sensorName, String modeName) throws RemoteException {
	super(0);
   	try {
		Class<?> c = Class.forName(sensorName);
		Class<?>[] params = new Class<?>[1];
		params[0] = Port.class;
		Constructor<?> con = c.getConstructor(params);
		Object[] args = new Object[1];
		args[0] = LocalEV3.get().getPort(portName);
		Object obj = con.newInstance(args);
		provider = (SampleProvider) obj;
		closer = (Closeable) obj;
	} catch (Exception e) {
		e.printStackTrace();
	}
}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
public MediumRegulatedMotor(Port motorPort) throws IOException {
	super(motorPort);
	this.motor = createMotor(motorPort);
	this.motortype = Motors.MediumRegulatedMotor;
	this.motorState = new RegulatedMotorMessages.MotorState();

}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
public EV3UltrasonicSensor(Port sensorPort, SensorMessages.SensorMode_ mode) {
    super(SensorSampleRates.SENS_ULTRASONIC_SAMPLERATE);

    isSensorCreated = create(sensorPort, Sensors.EV3UltrasonicSensor,mode); //Creates Lejos.EV3ColorSensor. acceptable

    if(isSensorCreated){
        sendSensorData();
    }
    System.out.println(toString());;
}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
public EV3IRSensor(Port sensorPort, SensorMessages.SensorMode_ mode) {
    super(SensorSampleRates.SENS_IR_SAMPLERATE);
    isSensorCreated = create(sensorPort, Sensors.EV3IRSensor,mode); //Creates Lejos.EV3ColorSensor. acceptable
    if(isSensorCreated){
        sendSensorData();
    }
    System.out.println(toString());;
}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
public EV3TouchSensor(Port sensorPort, SensorMessages.SensorMode_ mode) {
    super(SensorSampleRates.SENS_TOUCH_SAMPLERATE);

    isSensorCreated = create(sensorPort, Sensors.EV3TouchSensor,mode); //Creates Lejos.EV3ColorSensor. acceptable

    if(isSensorCreated){
        sendSensorData();
    }
    System.out.println(toString());;
}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
public EV3GyroSensor(Port sensorPort, SensorMessages.SensorMode_ mode) {
super(SensorSampleRates.SENS_GYRO_SAMPLERATE);
isSensorCreated = create(sensorPort, Sensors.EV3GyroSensor,mode); //Creates Lejos.EV3ColorSensor. acceptable
if(isSensorCreated){
    sendSensorData();
}
System.out.println(toString());;}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
public EV3ColorSensor(Port sensorPort,SensorMessages.SensorMode_ mode){
    super(SensorSampleRates.SENS_COLOR_SAMPLERATE);
    isSensorCreated = create(sensorPort,Sensors.EV3ColorSensor,mode); //Creates Lejos.EV3ColorSensor. acceptable
    if(isSensorCreated){
        sendSensorData();
    }
    
    System.out.println(toString());;
}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
protected boolean create(Port sensorPort,Sensors sensortype,SensorMessages.SensorMode_ sensormode) {
    assert sensortype != null && sensorPort != null && sensormode != null;

    this.sensorPort = sensorPort;
    
    switch(sensortype){
        case EV3ColorSensor:
            this.sensor = new EV3ColorSensor(sensorPort);
            this.sensortype = Sensors.EV3ColorSensor;
            break;
        case EV3UltrasonicSensor:
        	this.sensor = new EV3UltrasonicSensor(sensorPort);
        	this.sensortype = Sensors.EV3UltrasonicSensor;
            break;
        case EV3GyroSensor:
        	this.sensor = new EV3GyroSensor(sensorPort);
        	this.sensortype = Sensors.EV3GyroSensor;
            break;
        case EV3IRSensor:
        	this.sensor = new EV3IRSensor(sensorPort);
        	this.sensortype = Sensors.EV3IRSensor;
            break;
        case EV3TouchSensor:
        	this.sensor = new EV3TouchSensor(sensorPort);
        	this.sensortype = Sensors.EV3TouchSensor;
            break;
        default: return false;
    }

    if(sensor != null && setSensorMode(sensormode)){
        this.sensormode = sensormode;
    }
    return true;
}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
/**
 * 
 * @param port
 * @param motorType
 * @param networkPort
 * @throws IOException
 */
private boolean createMotorEndpoint(Port port, Motors motorType, int networkPort) {
	try {
		return mm.createMotorEndpoint(port,motorType,networkPort);
	} catch (IOException e) {
		// TODO Auto-generated catch block
		e.printStackTrace();
	}
	return false;
}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
TouchSensor(Port port) {
    touched = Observable.using(
            () -> createSensor(port),
            sensor -> new Sampler(() -> sensor.getTouchMode()).sample(),
            sensor -> closeSensor(sensor)
    )
            .share()
            .map(sample -> sample.values[sample.offset])
            .distinctUntilChanged()
            .map(value -> value == 1);
}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
public Canon(Port canonEnginePort, Port rotationEnginePort) {
    canonEngine = new EV3MediumRegulatedMotor(canonEnginePort);
    rotationEngine = new EV3LargeRegulatedMotor(rotationEnginePort);
    resetEngine(canonEngine);
    resetEngine(rotationEngine);

}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
private static void openPort(Port p) {
    try {
        UARTPort port = brick().getPort(p.getName()).open(UARTPort.class);
        port.close();
        System.out.println("Port opened " + p);
    } catch (Exception e) {
        System.out.println("Could not open port " + p);
    }
}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
private void initMotor(ActorPort actorPort, Actor actorType, Port hardwarePort) {
    if ( actorType != null ) {
        if ( actorType.isRegulated() ) {
            initRegulatedMotor(actorPort, actorType, hardwarePort);
        } else {
            initUnregulatedMotor(actorPort, hardwarePort);
        }
    }
}
 

import lejos.hardware.port.Port; //导入依赖的package包/类
private void initSensor(SensorPort sensorPort, Sensor sensorType, Port hardwarePort) {
    if ( sensorType != null && isUsed(sensorType) ) {
        this.lcd.clear();
        // Hal.formatInfoMessage("Initializing " + sensorType.getComponentType().getShortName() + " on port " + sensorPort + " ...", this.lcd);
        switch ( sensorType.getType() ) {
            case COLOR:
                this.lejosSensors.put(sensorPort, sensorSampleProviders(new EV3ColorSensor(hardwarePort)));
                break;
            case INFRARED:
                this.lejosSensors.put(sensorPort, sensorSampleProviders(new EV3IRSensor(hardwarePort)));
                break;
            case GYRO:
                this.gyroSensor = new EV3GyroSensor(hardwarePort);
                this.lejosSensors.put(sensorPort, sensorSampleProviders(this.gyroSensor));
                break;
            case TOUCH:
                this.lejosSensors.put(sensorPort, sensorSampleProviders(new EV3TouchSensor(hardwarePort)));
                break;
            case ULTRASONIC:
                this.lejosSensors.put(sensorPort, sensorSampleProviders(new EV3UltrasonicSensor(hardwarePort)));
                break;
            case COMPASS_HI_TEC:
                this.hiTechnicCompass = new HiTechnicCompass(hardwarePort);
                this.lejosSensors.put(sensorPort, sensorSampleProviders(this.hiTechnicCompass));
                break;
            case SOUND:
                this.lejosSensors.put(sensorPort, sensorSampleProviders(new NXTSoundSensor(hardwarePort)));
                break;
            default:
                throw new DbcException("Sensor type " + sensorType.getType() + " does not exists!");
        }
    }
}