AcrComm (LSST CCS - Parker Motor Driver 2.2 API)

java.lang.Object
- org.lsst.ccs.drivers.parker.AcrComm

```
public final class AcrComm
extends Object
```
Communicates with a Parker ACR-type motor controller via Ethernet. Use the standard CCS logging.properties file to control the driver's logger org.lsst.ccs.drivers.parker. AcrComm can also write some output to an open PrintStream if you give it one, for example System.out if you're using the driver in an interactive session as does the TestAcrComm class
Note that there's a 200 ms timeout set on all reception of replies from the controller. That's more than 100 times the time it usually takes for the controller to start sending a reply, unless you send a command that takes longer to execute. In particular you should avoid long sleeps using the dwell command DWL, long waits for flags using the inhibit command INH, or long waits for other events using the capture command INTCAP.
This version of the driver doesn't implement watchdog requests for the TCP connection to the controller. This may be added when we figure out how to use it and if we can make good use of it.
For most LSST-related work you should use only the get() and set() methods that take enumerations as arguments, plus the sendStr() method that sends ASCII commands and cleanup() that gracefully terminates the connection to the controller. The lower-level methods such as getLongParameter() that take simple parameter index numbers should be used only if the parameters you want don't have names in any of the public enumeration classes. The low-level methods may one day be split off into another class, as AcrComm has gotten rather large. It's probably best to have the maintainer of this package add the names you need.

Author:

saxton, tether

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

static class AcrComm.Exception
Inner exception class for laundering non-runtime exceptions.

Nested Classes
Modifier and Type	Class and Description
`static class`	`AcrComm.Exception` Inner exception class for laundering non-runtime exceptions.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`cleanup()` Drains and closes sockets, closes logs.
`double[]`	`decodeDoubles(byte... value)` Decodes as a double each 8-byte section of a byte string.
`long[]`	`decodeLongs(byte... value)` Decode a byte sequence sent from the controller as a series of signed 32-bit integer values.
`double[]`	`decodeSingles(byte... value)` Decodes a series of float values sent from the controller as bytes.
`String[]`	`decodeStrings(int elementWordCount, byte... value)` Reverses the encoding performed by `encodeStrings(int, java.lang.String...)`, turning AcroBasic strings represented a byte sequences into Java Strings.
`long[]`	`decodeUnsigneds(byte... value)` Decode a byte sequence sent from the controller as a series of unsigned 32-bit integer values.
`void`	`drain()` Discards any unread input from the controller socket.
`byte[]`	`encodeDoubles(double... value)` Encodes as bytes a series of double values.
`byte[]`	`encodeLongs(long... value)` Encodes as bytes a series of 32-bit signed integer values.
`byte[]`	`encodeSingles(double... value)` Encodes as bytes a series of double values after conversion to floats.
`byte[]`	`encodeStrings(int elementWordCount, String... value)` Encodes a series of Strings as a byte sequence.
`byte[]`	`encodeUnsigneds(long... value)` Encodes as bytes a series of 32-bit unsigned integer values.
`boolean`	`get(AxisName axis, AxisBit axbit)` Gets from the controller an axis flag bit's state for a given axis.
`long`	`get(AxisName axis, AxisLong axlong)` Gets from the controller a signed 32-bit integer axis parameter for a given axis.
`double`	`get(AxisName axis, AxisSingle axsingle)` Gets from the controller a single-float axis parameter for the given axis.
`long`	`get(AxisName axis, AxisUnsigned axunsigned)` Gets from the controller an unsigned 32-bit integer axis parameter for a given axis.
`long`	`get(ConnectionName conn, ConnectionUnsigned connunsigned)` Gets from the controller one of the unsigned 32-bit parameters associated with a communications connection.
`long`	`get(EncoderName encoder, EncoderLong enclong)` Gets from the controller a 32-bit signed encoder parameter for a given encoder.
`boolean`	`get(MasterName master, MasterBit mbit)` Gets from the controller the state of a flag bit for a given master.
`long`	`get(MasterName master, MasterUnsigned munsigned)` Gets from the controller the value of an unsigned 32-bit parameter for a given master.
`double`	`get(ProgramName program, LocalDouble locdouble)` Gets from the controller the value of a double-float local scalar variable for a given program.
`double[]`	`get(ProgramName program, LocalDoubleArray ldarray)` Gets from the controller all the elements of a double-float local array variable for a given program.
`long`	`get(ProgramName program, LocalLong loclong)` Gets from the controller the value of a local long scalar variable for a given program.
`long[]`	`get(ProgramName program, LocalLongArray llarray)` Gets from the controller all the elements of a local long array for a given program.
`double`	`get(ProgramName program, LocalSingle locsingle)` Gets from the controller the value of a single-float local scalar variable for a given program.
`double[]`	`get(ProgramName program, LocalSingleArray lsarray)` Gets from the controller the values of a single-float local array for a given program.
`String`	`get(ProgramName program, LocalString locstring)` Gets from the controller the value of a local ASCII string scalar variable for a given program.
`String[]`	`get(ProgramName program, LocalStringArray lstrarray)` Gets from the controller the values of a local string array for a given program.
`boolean`	`get(ProgramName program, ProgramBit progbit)` Gets from the controller an program bit's state for a given program.
`long`	`get(ProgramName program, ProgramUnsigned progunsigned)` Gets from the controller a 32-bit unsigned program-related parameter.
`boolean`	`get(SystemBit sysbit)` Gets from the controller the value of a system flag bit.
`long`	`get(SystemUnsigned sysul)` Gets from the controller the value of an unsigned 32-bit system parameter.
`double`	`get(UserParameter uparam)` Gets from the controller the value of a user parameter (always a double-float).
`long`	`getLongParameter(int parameterIndex)` Gets a controller LONG parameter as a signed value.
`double`	`getSingleParameter(int parameterIndex)` Gets a controller FP32 (single-float) parameter.
`long`	`getUnsignedParameter(int parameterIndex)` Gets a controller LONG parameter as an unsigned value.
`long`	`globalAddress(UserParameter uparam)` Uses the controller's System Pointer to calculate the address in controller memory of a given user parameter.
`void`	`kick()` Waits for unsolicited output from the controller and if none is forthcoming attempts to generate some by sending a VER command.
`long`	`localAddress(int programNumber, byte typeCode, int arrayNumber, int arrayIndex)` Gets the address in controller memory of an element in a local array.
`static AcrComm`	`newInstance(ControllerType ctrlType, String controllerHost, Optional<PrintStream> out)` Opens a TCP connection to the controller and makes a new instance of this class.
`byte[]`	`peek(long address, int wordCount, byte conversion)` Uses the controller's binary-peek operation to get a number of 32-bit words from memory.
`void`	`poke(long address, byte conversion, byte... value)` Uses the controller's binary-poke operation to set a number of 32-bit words from memory.
`int`	`receiveAscii()` Collects ASCII data coming from the controller, relaying it to the console and, if logging is enabled, logging it.
`byte[]`	`receiveBinary(int leng)` Receives a binary reply from the controller
`void`	`sendBinary(byte[] cmnd)` Sends a binary command to the controller.
`void`	`sendFile(String fName, boolean echo)` Reads a file line by line and sends each line to the controller.
`int`	`sendStr(String cmnd)` Sends an ASCII line to the controller and receives any reply, which is sent to the console.
`void`	`set(AxisName axis, AxisBit axbit, boolean value)` Sets or clears a controller axis flag bit.
`void`	`set(AxisName axis, AxisLong axlong, long value)` Sets the value of a controller axis parameter that's a signed long.
`void`	`set(AxisName axis, AxisSingle axsingle, double value)` Sets the value of a controller axis parameter that's a single-float (FP32).
`void`	`set(EncoderName encoder, EncoderLong enclong, long value)` Sets the value of an controller encoder parameter that's a signed 32-bit long.
`void`	`set(MasterName master, MasterBit mbit, boolean value)` Sets or clears a controller flag bit belonging to a master.
`void`	`set(ProgramName program, LocalDoubleArray ldarray, double[] value)` Sets the value of a double array local to a controller program.
`void`	`set(ProgramName program, LocalDouble locdouble, double value)` Sets the value of double scalar local to a controller program.
`void`	`set(ProgramName program, LocalLongArray llarray, long[] value)` Sets the values of a long (signed 32-bit) array local to a controller program.
`void`	`set(ProgramName program, LocalLong loclong, long value)` Sets the value of a long (signed 32-bit) scalar local to a controller program.
`void`	`set(ProgramName program, LocalSingleArray lsarray, double[] value)` Sets the values of a single-float array local to a controller program.
`void`	`set(ProgramName program, LocalSingle locsingle, double value)` Sets the value of a single-float scalar local to a controller program.
`void`	`set(ProgramName program, LocalStringArray lstrarray, String[] value)` Sets the value of a string array local to a controller program.
`void`	`set(ProgramName program, LocalString locstring, String value)` Sets the value of a string scalar local to a controller program.
`void`	`set(SystemBit sysbit, boolean value)` Set or clear a system flag bit in the controller.
`void`	`set(SystemUnsigned sysul, long value)` Set in the controller a system parameter that is an unsigned 32-bit long.
`void`	`set(UserParameter uparam, double... value)` Sets a sequence of user parameters in the controller (always double-float).
`void`	`setLongParameter(int parameterIndex, long value)` Sets a controller LONG parameter as a signed value.
`void`	`setOrClearBit(int bitIndex, boolean value)` Sets or clears a controller bit according to a boolean value.
`void`	`setSingleParameter(int parameterIndex, double value)` Sets a controller FP32 (single-float) parameter.
`void`	`setUnsignedParameter(int parameterIndex, long value)` Sets a controller LONG parameter as an unsigned value.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Method Detail
  - newInstance
```
public static AcrComm newInstance(ControllerType ctrlType,
                                  String controllerHost,
                                  Optional<PrintStream> out)
                           throws IOException
```
    Opens a TCP connection to the controller and makes a new instance of this class.
    
    Parameters:
    
    ctrlType - the controller type.
    
    controllerHost - the host name or dotted IPv4 address of the controller.
    
    out - the optional console output stream. Use a non-empty value when using the driver interactively.
    
    Returns:
    
    the new AcrComm instance.
    
    Throws:
    
    IOException - if there's a problem creating or managing the socket.
  - kick
```
public void kick()
```
    Waits for unsolicited output from the controller and if none is forthcoming attempts to generate some by sending a VER command. Use after creating a new instance of this class; newInstance(org.lsst.ccs.drivers.parker.ControllerType, java.lang.String, java.util.Optional) does this automatically.
  - cleanup
```
public void cleanup()
```
    Drains and closes sockets, closes logs.
  - get
```
public boolean get(AxisName axis,
                   AxisBit axbit)
```
    Gets from the controller an axis flag bit's state for a given axis.
    
    Parameters:
    
    axis - the axis.
    
    axbit - the flag bit to get.
    
    Returns:
    
    true if the bit is set, else false.
  - get
```
public long get(AxisName axis,
                AxisUnsigned axunsigned)
```
    Gets from the controller an unsigned 32-bit integer axis parameter for a given axis.
    
    Parameters:
    
    axis - the axis.
    
    axunsigned - the axis parameter to get.
    
    Returns:
    
    the parameter value, as a Java long.
  - get
```
public long get(AxisName axis,
                AxisLong axlong)
```
    Gets from the controller a signed 32-bit integer axis parameter for a given axis.
    
    Parameters:
    
    axis - the axis.
    
    axlong - the axis parameter to get.
    
    Returns:
    
    the parameter value, as a Java long.
  - get
```
public double get(AxisName axis,
                  AxisSingle axsingle)
```
    Gets from the controller a single-float axis parameter for the given axis.
    
    Parameters:
    
    axis - the axis.
    
    axsingle - the axis parameter to get.
    
    Returns:
    
    the parameter value, as a Java double.
  - get
```
public long get(ConnectionName conn,
                ConnectionUnsigned connunsigned)
```
    Gets from the controller one of the unsigned 32-bit parameters associated with a communications connection.
    
    Parameters:
    
    conn - the connection.
    
    connunsigned - the parameter.
    
    Returns:
    
    the value of the parameter.
  - get
```
public long get(EncoderName encoder,
                EncoderLong enclong)
```
    Gets from the controller a 32-bit signed encoder parameter for a given encoder.
    
    Parameters:
    
    encoder - the encoder.
    
    enclong - the encoder parameter to get.
    
    Returns:
    
    the parameter value, as a Java long.
  - get
```
public long get(ProgramName program,
                ProgramUnsigned progunsigned)
```
    Gets from the controller a 32-bit unsigned program-related parameter.
    
    Parameters:
    
    program - the program.
    
    progunsigned - the parameter to get.
    
    Returns:
    
    the parameter value, as a Java long.
  - get
```
public boolean get(ProgramName program,
                   ProgramBit progbit)
```
    Gets from the controller an program bit's state for a given program.
    
    Parameters:
    
    program - the program.
    
    progbit - the flag bit to get.
    
    Returns:
    
    true if the bit is set, else false.
  - get
```
public double get(ProgramName program,
                  LocalDouble locdouble)
```
    Gets from the controller the value of a double-float local scalar variable for a given program.
    
    Parameters:
    
    program - the program.
    
    locdouble - the variable to get.
    
    Returns:
    
    the variable value, as a Java double.
  - get
```
public double[] get(ProgramName program,
                    LocalDoubleArray ldarray)
```
    Gets from the controller all the elements of a double-float local array variable for a given program.
    
    Parameters:
    
    program - the program.
    
    ldarray - the variable to get.
    
    Returns:
    
    the array's values, as Java doubles.
  - get
```
public long get(ProgramName program,
                LocalLong loclong)
```
    Gets from the controller the value of a local long scalar variable for a given program.
    
    Parameters:
    
    program - the program.
    
    loclong - the variable to get.
    
    Returns:
    
    the variable's value, always signed, as a Java long.
  - get
```
public long[] get(ProgramName program,
                  LocalLongArray llarray)
```
    Gets from the controller all the elements of a local long array for a given program.
    
    Parameters:
    
    program - the program.
    
    llarray - the array to get.
    
    Returns:
    
    the array values, always signed, as Java longs.
  - get
```
public double get(ProgramName program,
                  LocalSingle locsingle)
```
    Gets from the controller the value of a single-float local scalar variable for a given program.
    
    Parameters:
    
    program - the program.
    
    locsingle - the variable to get.
    
    Returns:
    
    the variable value, as a Java double.
  - get
```
public double[] get(ProgramName program,
                    LocalSingleArray lsarray)
```
    Gets from the controller the values of a single-float local array for a given program.
    
    Parameters:
    
    program - the program.
    
    lsarray - the array to get.
    
    Returns:
    
    the array values as Java doubles.
  - get
```
public String get(ProgramName program,
                  LocalString locstring)
```
    Gets from the controller the value of a local ASCII string scalar variable for a given program.
    
    Parameters:
    
    program - the program.
    
    locstring - the variable to get.
    
    Returns:
    
    the value of the string, each byte as a Java char.
  - get
```
public String[] get(ProgramName program,
                    LocalStringArray lstrarray)
```
    Gets from the controller the values of a local string array for a given program.
    
    Parameters:
    
    program - the program.
    
    lstrarray - the array to get.
    
    Returns:
    
    the array's values, each byte as a Java char.
  - get
```
public boolean get(MasterName master,
                   MasterBit mbit)
```
    Gets from the controller the state of a flag bit for a given master.
    
    Parameters:
    
    master - the master.
    
    mbit - the bit to get.
    
    Returns:
    
    true if the bit is set, else false.
  - get
```
public long get(MasterName master,
                MasterUnsigned munsigned)
```
    Gets from the controller the value of an unsigned 32-bit parameter for a given master.
    
    Parameters:
    
    master - the master.
    
    munsigned - the parameter to get.
    
    Returns:
    
    the parameter value as a Java long.
  - get
```
public boolean get(SystemBit sysbit)
```
    Gets from the controller the value of a system flag bit.
    
    Parameters:
    
    sysbit - the bit to get.
    
    Returns:
    
    true if the bit is set, else false.
  - get
```
public long get(SystemUnsigned sysul)
```
    Gets from the controller the value of an unsigned 32-bit system parameter.
    
    Parameters:
    
    sysul - the parameter to get.
    
    Returns:
    
    the value as a Java long.
  - get
```
public double get(UserParameter uparam)
```
    Gets from the controller the value of a user parameter (always a double-float).
    
    Parameters:
    
    uparam - the parameter to get.
    
    Returns:
    
    the value as a Java double.
  - set
```
public void set(AxisName axis,
                AxisBit axbit,
                boolean value)
```
    Sets or clears a controller axis flag bit.
    
    Parameters:
    
    axis - the axis.
    
    axbit - the axis flag bit to set.
    
    value - true to set the bit, false to clear it.
  - set
```
public void set(AxisName axis,
                AxisLong axlong,
                long value)
```
    Sets the value of a controller axis parameter that's a signed long.
    
    Parameters:
    
    axis - the axis.
    
    axlong - the axis parameter to set.
    
    value - the new value.
  - set
```
public void set(AxisName axis,
                AxisSingle axsingle,
                double value)
```
    Sets the value of a controller axis parameter that's a single-float (FP32).
    
    Parameters:
    
    axis - the axis.
    
    axsingle - the axis parameter to set.
    
    value - the new value, which will be rounded to fit.
  - set
```
public void set(EncoderName encoder,
                EncoderLong enclong,
                long value)
```
    Sets the value of an controller encoder parameter that's a signed 32-bit long.
    
    Parameters:
    
    encoder - the encoder.
    
    enclong - the encoder parameter to set.
    
    value - the new value, which will be truncated on the left to fit.
  - set
```
public void set(ProgramName program,
                LocalDouble locdouble,
                double value)
```
    Sets the value of double scalar local to a controller program.
    
    Parameters:
    
    program - the program.
    
    locdouble - the scalar variable to set.
    
    value - the new value.
  - set
```
public void set(ProgramName program,
                LocalDoubleArray ldarray,
                double[] value)
```
    Sets the value of a double array local to a controller program.
    
    Parameters:
    
    program - the program.
    
    ldarray - the local double array to set.
    
    value - the new values.
  - set
```
public void set(ProgramName program,
                LocalLong loclong,
                long value)
```
    Sets the value of a long (signed 32-bit) scalar local to a controller program.
    
    Parameters:
    
    program - the program.
    
    loclong - the local variable to set.
    
    value - the new value, which will be truncated on the left to fit.
  - set
```
public void set(ProgramName program,
                LocalLongArray llarray,
                long[] value)
```
    Sets the values of a long (signed 32-bit) array local to a controller program.
    
    Parameters:
    
    program - the program.
    
    llarray - the local array to set.
    
    value - the new values, which will be truncated on the left to fit.
  - set
```
public void set(ProgramName program,
                LocalSingle locsingle,
                double value)
```
    Sets the value of a single-float scalar local to a controller program.
    
    Parameters:
    
    program - the program.
    
    locsingle - the variable to set.
    
    value - the new value, which will be rounded down to single precision.
  - set
```
public void set(ProgramName program,
                LocalSingleArray lsarray,
                double[] value)
```
    Sets the values of a single-float array local to a controller program.
    
    Parameters:
    
    program - the program.
    
    lsarray - the array variable to set.
    
    value - the new values, which will be rounded down to single precision.
  - set
```
public void set(ProgramName program,
                LocalString locstring,
                String value)
```
    Sets the value of a string scalar local to a controller program.
    
    Parameters:
    
    program - the program.
    
    locstring - the string variable to set.
    
    value - the new value, where each Java char will be truncated down to eight bits.
  - set
```
public void set(ProgramName program,
                LocalStringArray lstrarray,
                String[] value)
```
    Sets the value of a string array local to a controller program.
    
    Parameters:
    
    program - the program.
    
    lstrarray - the string array to set.
    
    value - the new values, where each Java char will be truncated to eight bits.
  - set
```
public void set(MasterName master,
                MasterBit mbit,
                boolean value)
```
    Sets or clears a controller flag bit belonging to a master.
    
    Parameters:
    
    master - the master.
    
    mbit - the flag bit to set/clear.
    
    value - true to set the bit, false to clear it.
  - set
```
public void set(SystemBit sysbit,
                boolean value)
```
    Set or clear a system flag bit in the controller.
    
    Parameters:
    
    sysbit - the flag bit to set/clear.
    
    value - true to set the bit, false to clear it.
  - set
```
public void set(SystemUnsigned sysul,
                long value)
```
    Set in the controller a system parameter that is an unsigned 32-bit long.
    
    Parameters:
    
    sysul - the parameter to set.
    
    value - the new value, which will be truncated on the left to fit.
  - set
```
public void set(UserParameter uparam,
                double... value)
```
    Sets a sequence of user parameters in the controller (always double-float).
    
    Parameters:
    
    uparam - the first parameter to set.
    
    value - the new values.
  - globalAddress
```
public long globalAddress(UserParameter uparam)
```
    Uses the controller's System Pointer to calculate the address in controller memory of a given user parameter. User parameters are stored at the beginning of the global data area.
    
    Parameters:
    
    uparam - the parameter.
    
    Returns:
    
    the address of the parameter, or 0 if it doesn't exist.
  - localAddress
```
public long localAddress(int programNumber,
                         byte typeCode,
                         int arrayNumber,
                         int arrayIndex)
```
    Gets the address in controller memory of an element in a local array.
    
    Parameters:
    
    programNumber - the index of the program whose data we want the address of.
    
    typeCode - the type code to use in the address command.
    
    arrayNumber - for array types, the index of the particular array we want. For scalar types this parameter is ignored and we use the implicit array of all scalar variables of the given type.
    
    arrayIndex - the index number of the array element we want.
    
    Returns:
    
    the address of the first real element of the array, past any metadata.
  - getUnsignedParameter
```
public long getUnsignedParameter(int parameterIndex)
```
    Gets a controller LONG parameter as an unsigned value.
    
    Parameters:
    
    parameterIndex - the index number of the parameter.
    
    Returns:
    
    the parameter value.
  - setUnsignedParameter
```
public void setUnsignedParameter(int parameterIndex,
                                 long value)
```
    Sets a controller LONG parameter as an unsigned value.
    
    Parameters:
    
    parameterIndex - the index number of the parameter.
    
    value - the parameter value.
  - getLongParameter
```
public long getLongParameter(int parameterIndex)
```
    Gets a controller LONG parameter as a signed value.
    
    Parameters:
    
    parameterIndex - the index number of the parameter.
    
    Returns:
    
    the parameter value.
  - setLongParameter
```
public void setLongParameter(int parameterIndex,
                             long value)
```
    Sets a controller LONG parameter as a signed value.
    
    Parameters:
    
    parameterIndex - the index number of the parameter.
    
    value - the parameter value.
  - getSingleParameter
```
public double getSingleParameter(int parameterIndex)
```
    Gets a controller FP32 (single-float) parameter.
    
    Parameters:
    
    parameterIndex - the index number of the parameter.
    
    Returns:
    
    the parameter value.
  - setSingleParameter
```
public void setSingleParameter(int parameterIndex,
                               double value)
```
    Sets a controller FP32 (single-float) parameter.
    
    Parameters:
    
    parameterIndex - the index number of the parameter.
    
    value - the parameter value.
  - setOrClearBit
```
public void setOrClearBit(int bitIndex,
                          boolean value)
```
    Sets or clears a controller bit according to a boolean value.
    
    Parameters:
    
    bitIndex - the bit index number.
    
    value - true to set the bit, false to clear it.
  - encodeUnsigneds
```
public byte[] encodeUnsigneds(long... value)
```
    Encodes as bytes a series of 32-bit unsigned integer values. Each value is encoded as four bytes in little-endian order.
    
    Parameters:
    
    value - a series of values between 0 and 2**32 - 1 inclusive.
    
    Returns:
    
    the encoded values, end to end, in the order given.
  - decodeUnsigneds
```
public long[] decodeUnsigneds(byte... value)
```
    Decode a byte sequence sent from the controller as a series of unsigned 32-bit integer values. The byte order is assumed to be little-endian.
    
    Parameters:
    
    value - the series of bytes.
    
    Returns:
    
    the decoded values, where value i is derived from bytes 4*i through 4*i+3 inclusive.
  - encodeLongs
```
public byte[] encodeLongs(long... value)
```
    Encodes as bytes a series of 32-bit signed integer values. Each value is encoded as four bytes in little-endian order.
    
    Parameters:
    
    value - a series of values between -2**31 and 2**31 - 1 inclusive.
    
    Returns:
    
    the encoded values, end to end, in the order given.
  - decodeLongs
```
public long[] decodeLongs(byte... value)
```
    Decode a byte sequence sent from the controller as a series of signed 32-bit integer values. The byte order is assumed to be little-endian.
    
    Parameters:
    
    value - the series of bytes.
    
    Returns:
    
    the decoded values, where value i is derived from bytes 4*i through 4*i+3 inclusive.
  - encodeSingles
```
public byte[] encodeSingles(double... value)
```
    Encodes as bytes a series of double values after conversion to floats. Each value is rounded to single precision and then converted to an integer using Float.floatToIntBits(}. Each integer is encoded using encodeUnsigneds(long...).
    
    Parameters:
    
    value - a series of double values.
    
    Returns:
    
    the encoded values, end to end, in the order given.
  - decodeSingles
```
public double[] decodeSingles(byte... value)
```
    Decodes a series of float values sent from the controller as bytes. First the bytes are converted to integers using decodeUnsigneds(byte...). The integers are then converted to floats using Float.intBitsToFloat(} and the resulting floats are widened to doubles.
    
    Parameters:
    
    value - a series of bytes.
    
    Returns:
    
    the decoded and widened values.
  - encodeDoubles
```
public byte[] encodeDoubles(double... value)
```
    Encodes as bytes a series of double values. Each value is converted to a long using Double.doubleToLongBits(}. Each long is broken into two 32-bit halves and encoded using encodeUnsigneds(long...), the low -order half being encoded first.
    
    Parameters:
    
    value - a series of double values.
    
    Returns:
    
    the encoded values, end to end, in the order given.
  - decodeDoubles
```
public double[] decodeDoubles(byte... value)
```
    Decodes as a double each 8-byte section of a byte string. First the bytes are assembled into 32-bit integers using decodeUnsigneds(byte...). Each pair of integers is combined into a single long, the first member of each pair becoming the low order part. Then the longs are converted to doubles using Double.longBitsToDouble(}.
    
    Parameters:
    
    value - the series of bytes to decode.
    
    Returns:
    
    the decoded doubles.
  - encodeStrings
```
public byte[] encodeStrings(int elementWordCount,
                            String... value)
```
    Encodes a series of Strings as a byte sequence. Each string's encoding is zero-padded to a given multiple of four bytes; this is needed when poking a series of strings into an array since each array element must have the same size, and space allocation by AcroBasic is always in units of words. Encoding of strings to bytes is done using ISO-8859-1 so any character value not in the range 0-255 is converted to a question mark. We follow the AcroBasic convention of representing each string value as a 1-word byte count followed by the encoded string bytes.
    
    Parameters:
    
    elementWordCount - the number of words to use for each string (including the byte count word), padding with zero-valued bytes if needed.
    
    value - the series of strings.
    
    Returns:
    
    the encoded strings in the given order, one after another.
  - decodeStrings
```
public String[] decodeStrings(int elementWordCount,
                              byte... value)
```
    Reverses the encoding performed by encodeStrings(int, java.lang.String...), turning AcroBasic strings represented a byte sequences into Java Strings.
    
    Parameters:
    
    elementWordCount - the number of 4-byte words occupied by each AcroBasic string, which includes the byte-count word.
    
    value - the byte array containing encoded string values.
    
    Returns:
    
    the array of decoded strings.
  - peek
```
public byte[] peek(long address,
                   int wordCount,
                   byte conversion)
```
    Uses the controller's binary-peek operation to get a number of 32-bit words from memory.
    
    Parameters:
    
    address - the memory address of the first, lowest-addressed word.
    
    wordCount - the number of words to get.
    
    conversion - the conversion code to use, for instance LONG_CONVERSION.
    
    Returns:
    
    the words, as a Java byte array. Each word is in little-endian order.
  - poke
```
public void poke(long address,
                 byte conversion,
                 byte... value)
```
    Uses the controller's binary-poke operation to set a number of 32-bit words from memory.
    
    Parameters:
    
    address - the memory address of the first, lowest-addressed word.
    
    conversion - one of the conversion codes, for instance FP64_CONVERSION.
  - sendFile
```
public void sendFile(String fName,
                     boolean echo)
```
    Reads a file line by line and sends each line to the controller.
    
    Parameters:
    
    fName - the pathname of the file.
    
    echo - true to have the controller echo what we send it, else false.
  - sendStr
```
public int sendStr(String cmnd)
```
    Sends an ASCII line to the controller and receives any reply, which is sent to the console. If logging is in effect then both sends and receives are logged. String codepoints are translated to and from bytes using the seven-bit US-ASCII encoding.
    
    Parameters:
    
    cmnd - the command line, without the line termination which will be added.
    
    Returns:
    
    the number of characters received in reply.
  - receiveAscii
```
public int receiveAscii()
```
    Collects ASCII data coming from the controller, relaying it to the console and, if logging is enabled, logging it.
    
    Returns:
    
    the number of characters collected, or -1 if EOF was seen.
  - sendBinary
```
public void sendBinary(byte[] cmnd)
```
    Sends a binary command to the controller.
    
    Parameters:
    
    cmnd - the byte array containing the encoded command, which is assumed to take up the entire array.
  - receiveBinary
```
public byte[] receiveBinary(int leng)
```
    Receives a binary reply from the controller
    
    Parameters:
    
    leng - the expected length of the reply.
  - drain
```
public void drain()
```
    Discards any unread input from the controller socket.

Class AcrComm

Nested Class Summary

Method Summary

Methods inherited from class java.lang.Object

Method Detail

newInstance

kick

cleanup

get

get

get

get

get

get

get

get

get

get

get

get

get

get

get

get

get

get

get

get

get

set

set

set

set

set

set

set

set

set

set

set

set

set

set

set

set

globalAddress

localAddress

getUnsignedParameter

setUnsignedParameter

getLongParameter

setLongParameter

getSingleParameter

setSingleParameter

setOrClearBit

encodeUnsigneds

decodeUnsigneds

encodeLongs

decodeLongs

encodeSingles

decodeSingles

encodeDoubles

decodeDoubles

encodeStrings

decodeStrings

peek

poke

sendFile

sendStr

receiveAscii

sendBinary

receiveBinary

drain