34: init migration to pi4jv2

build.gradle

@@ -178,6 +178,7 @@ project("robo4j-hw-rpi") {
     dependencies {
         implementation(project(":robo4j-math"))
         implementation "com.pi4j:pi4j-core:${pi4jVersion}"
+        implementation "com.pi4j:pi4j-plugin-pigpio:${pi4jVersion}"
         implementation "com.pi4j:pi4j-plugin-raspberrypi:${pi4jVersion}"
     }
 

robo4j-hw-rpi/pom.xml

@@ -30,6 +30,11 @@
             <artifactId>pi4j-plugin-raspberrypi</artifactId>
             <version>${pi4j.version}</version>
         </dependency>
+        <dependency>
+            <groupId>com.pi4j</groupId>
+            <artifactId>pi4j-plugin-pigpio</artifactId>
+            <version>${pi4j.version}</version>
+        </dependency>
 
         <!--   TEST     -->
         <dependency>
@@ -43,4 +48,4 @@
             <scope>test</scope>
         </dependency>
     </dependencies>
-</project>
+</project>

robo4j-hw-rpi/src/main/java/com/robo4j/hw/rpi/i2c/accelerometer/AccelerometerLSM303Device.java

@@ -16,13 +16,13 @@
  */
 package com.robo4j.hw.rpi.i2c.accelerometer;
 
-import com.pi4j.io.i2c.I2CBus;
+import java.io.IOException;
+
 import com.robo4j.hw.rpi.i2c.AbstractI2CDevice;
 import com.robo4j.hw.rpi.i2c.ReadableDevice;
+import com.robo4j.hw.rpi.utils.I2cBus;
 import com.robo4j.math.geometry.Tuple3f;
 
-import java.io.IOException;
-
 /**
  * Abstraction for reading data from a LSM303 accelerometer, for example the one
  * on the Adafruit IMU breakout board.
@@ -65,6 +65,7 @@ public int getCtrlCode() {
 
 	public enum PowerMode {
 		NORMAL(0x0), LOW_POWER(0x8);
+
 		private int ctrlCode;
 
 		PowerMode(int ctrlCode) {
@@ -78,6 +79,7 @@ public int getCtrlCode() {
 
 	public enum FullScale {
 		G_2(0x0, 1), G_4(0x10, 1), G_8(0x20, 4), G_16(0x30, 12);
+
 		private int ctrlCode;
 		private int sensitivity;
 
@@ -104,10 +106,10 @@ public AccelerometerLSM303Device() throws IOException {
 
 	public AccelerometerLSM303Device(PowerMode mode, DataRate rate, FullScale scale, boolean highres)
 			throws IOException {
-		this(I2CBus.BUS_1, DEFAULT_I2C_ADDRESS, mode, rate, AXIS_ENABLE_ALL, scale, highres);
+		this(I2cBus.BUS_1, DEFAULT_I2C_ADDRESS, mode, rate, AXIS_ENABLE_ALL, scale, highres);
 	}
 
-	public AccelerometerLSM303Device(int bus, int address, PowerMode mode, DataRate rate, int axisEnable,
+	public AccelerometerLSM303Device(I2cBus bus, int address, PowerMode mode, DataRate rate, int axisEnable,
 			FullScale scale, boolean highres) throws IOException {
 		super(bus, address);
 		this.scale = scale;
@@ -122,7 +124,8 @@ public AccelerometerLSM303Device(int bus, int address, PowerMode mode, DataRate
 	public synchronized Tuple3f read() throws IOException {
 		Tuple3f rawData = new Tuple3f();
 		byte[] data = new byte[6];
-		int n = i2CConfig.read(OUT_X_L_A | 0x80, data, 0, 6);
+		// int n = i2CConfig.read(OUT_X_L_A | 0x80, data, 0, 6);
+		int n = readBufferByAddress(OUT_X_L_A | 0x80, data, 0, 6);
 		if (n != 6) {
 			getLogger().warning("Failed to read all data from accelerometer. Should have read 6, could only read " + n);
 		}

robo4j-hw-rpi/src/main/java/com/robo4j/hw/rpi/i2c/adafruitbackpack/AbstractBackpack.java

@@ -19,8 +19,8 @@
 
 import java.io.IOException;
 
-import com.pi4j.io.i2c.I2CBus;
 import com.robo4j.hw.rpi.i2c.AbstractI2CDevice;
+import com.robo4j.hw.rpi.utils.I2cBus;
 
 /**
  * AbstractBackpack is the abstraction for all Adafruit Backpack devices
@@ -33,6 +33,7 @@
 public abstract class AbstractBackpack extends AbstractI2CDevice {
 
 	public static final int DEFAULT_BRIGHTNESS = 15;
+	private static final int DEFAULT_ADDRESS = 0x70;
 	private static final int OSCILLATOR_TURN_ON = 0x21;
 	private static final int HT16K33_BLINK_CMD = 0x80;
 	private static final int HT16K33_BLINK_DISPLAY_ON = 0x01;
@@ -41,10 +42,10 @@ public abstract class AbstractBackpack extends AbstractI2CDevice {
 	private final short[] buffer = new short[8]; // uint16_t
 
 	AbstractBackpack() throws IOException {
-		this(I2CBus.BUS_1, 0x70, DEFAULT_BRIGHTNESS);
+		this(I2cBus.BUS_1, DEFAULT_ADDRESS, DEFAULT_BRIGHTNESS);
 	}
 
-	AbstractBackpack(int bus, int address, int brightness) throws IOException {
+	AbstractBackpack(I2cBus bus, int address, int brightness) throws IOException {
 		super(bus, address);
 		initiate(brightness);
 	}
@@ -53,15 +54,15 @@ public void display() {
 		try {
 			writeDisplay();
 		} catch (IOException e) {
-			System.out.println(String.format("error display: %s", e.getMessage()));
+			System.out.printf("error display: %s%n", e.getMessage());
 		}
 	}
 
 	public void clear() {
 		try {
 			clearBuffer();
 		} catch (IOException e) {
-			System.out.println(String.format("error clear: %s", e.getMessage()));
+			System.out.printf("error clear: %s%n", e.getMessage());
 		}
 	}
 
@@ -172,16 +173,21 @@ void setColorToBarBuffer(short a, short c, BiColor color) {
 	}
 
 	private void initiate(int brightness) throws IOException {
-		i2CConfig.write((byte) (OSCILLATOR_TURN_ON)); // Turn on oscilator
-		i2CConfig.write(blinkRate(HT16K33_BLINK_OFF));
-		i2CConfig.write(setBrightness(brightness));
+//		i2CConfig.write((byte) (OSCILLATOR_TURN_ON)); // Turn on oscilator
+//		i2CConfig.write(blinkRate(HT16K33_BLINK_OFF));
+//		i2CConfig.write(setBrightness(brightness));
+		writeByte((byte) (OSCILLATOR_TURN_ON)); // Turn on oscilator
+		writeByte(blinkRate(HT16K33_BLINK_OFF));
+		writeByte(setBrightness(brightness));
 	}
 
 	private void writeDisplay() throws IOException {
 		int address = 0;
 		for (int i = 0; i < buffer.length; i++) {
-			i2CConfig.write(address++, (byte) (buffer[i] & 0xFF));
-			i2CConfig.write(address++, (byte) (buffer[i] >> 8));
+//			i2CConfig.write(address++, (byte) (buffer[i] & 0xFF));
+//			i2CConfig.write(address++, (byte) (buffer[i] >> 8));
+			writeByte(address++, (byte) (buffer[i] & 0xFF));
+			writeByte(address++, (byte) (buffer[i] >> 8));
 		}
 	}
 

robo4j-hw-rpi/src/main/java/com/robo4j/hw/rpi/i2c/adafruitbackpack/AlphanumericDevice.java

@@ -17,7 +17,7 @@
 
 package com.robo4j.hw.rpi.i2c.adafruitbackpack;
 
-import com.pi4j.io.i2c.I2CBus;
+import com.robo4j.hw.rpi.utils.I2cBus;
 
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicInteger;
@@ -146,10 +146,10 @@ public class AlphanumericDevice extends AbstractBackpack {
 	private final AtomicInteger position = new AtomicInteger(0);
 
 	public AlphanumericDevice() throws IOException {
-		this(I2CBus.BUS_1, 0x70, DEFAULT_BRIGHTNESS);
+		this(I2cBus.BUS_1, 0x70, DEFAULT_BRIGHTNESS);
 	}
 
-	public AlphanumericDevice(int bus, int address, int brightness) throws IOException {
+	public AlphanumericDevice(I2cBus bus, int address, int brightness) throws IOException {
 		super(bus, address, brightness);
 	}
 

robo4j-hw-rpi/src/main/java/com/robo4j/hw/rpi/i2c/adafruitbackpack/BiColor24BarDevice.java

@@ -17,6 +17,8 @@
 
 package com.robo4j.hw.rpi.i2c.adafruitbackpack;
 
+import com.robo4j.hw.rpi.utils.I2cBus;
+
 import java.io.IOException;
 
 /**
@@ -31,7 +33,7 @@ public class BiColor24BarDevice extends AbstractBackpack {
 
 	public static final int MAX_BARS = 24;
 
-	public BiColor24BarDevice(int bus, int address, int brightness) throws IOException {
+	public BiColor24BarDevice(I2cBus bus, int address, int brightness) throws IOException {
 		super(bus, address, brightness);
 	}
 

robo4j-hw-rpi/src/main/java/com/robo4j/hw/rpi/i2c/adafruitbackpack/BiColor8x8MatrixDevice.java

@@ -17,6 +17,8 @@
 
 package com.robo4j.hw.rpi.i2c.adafruitbackpack;
 
+import com.robo4j.hw.rpi.utils.I2cBus;
+
 import java.io.IOException;
 
 /**
@@ -31,13 +33,13 @@ public class BiColor8x8MatrixDevice extends AbstractBackpack implements MatrixLe
 	private static final short MATRIX_SIZE = 8;
 	private MatrixRotation rotation;
 
-	public BiColor8x8MatrixDevice(int bus, int address, int brightness, MatrixRotation rotation) throws IOException {
+	public BiColor8x8MatrixDevice(I2cBus bus, int address, int brightness, MatrixRotation rotation) throws IOException {
 		super(bus, address, brightness);
 		this.rotation = rotation;
 
 	}
 
-	public BiColor8x8MatrixDevice(int bus, int address, int brightness) throws IOException {
+	public BiColor8x8MatrixDevice(I2cBus bus, int address, int brightness) throws IOException {
 		super(bus, address, brightness);
 		this.rotation = MatrixRotation.DEFAULT_X_Y;
 

robo4j-hw-rpi/src/main/java/com/robo4j/hw/rpi/i2c/adafruitbackpack/LedBackpackFactory.java

@@ -17,6 +17,8 @@
 
 package com.robo4j.hw.rpi.i2c.adafruitbackpack;
 
+import com.robo4j.hw.rpi.utils.I2cBus;
+
 import java.io.IOException;
 
 /**
@@ -27,7 +29,7 @@
  */
 public final class LedBackpackFactory {
 
-	public static AbstractBackpack createDevice(int bus, int address, LedBackpackType type, int brightness)
+	public static AbstractBackpack createDevice(I2cBus bus, int address, LedBackpackType type, int brightness)
 			throws IOException {
 		switch (type) {
 		case BI_COLOR_BAR_24:

robo4j-hw-rpi/src/main/java/com/robo4j/hw/rpi/i2c/adafruitlcd/AdafruitLcd.java

@@ -24,13 +24,14 @@
  */
 
 import com.robo4j.hw.rpi.i2c.adafruitlcd.impl.AdafruitLcdImpl.Direction;
+import com.robo4j.hw.rpi.utils.I2cBus;
 
 import java.io.IOException;
 
 public interface AdafruitLcd {
 	// Not using the Pi4J bus specification here, since we may not be able to
 	// load the class (we can run with a mock up).
-	int DEFAULT_BUS = 1;
+	I2cBus DEFAULT_BUS = I2cBus.BUS_1;
 	int DEFAULT_ADDRESS = 0x20;
 
 	/**
@@ -231,4 +232,4 @@ public interface AdafruitLcd {
 	 *             exception
 	 */
 	void createChar(int location, byte[] pattern) throws IOException;
-}
+}

robo4j-hw-rpi/src/main/java/com/robo4j/hw/rpi/i2c/adafruitlcd/LcdFactory.java

@@ -19,6 +19,7 @@
 import com.pi4j.exception.InitializeException;
 import com.robo4j.hw.rpi.i2c.adafruitlcd.impl.AdafruitLcdImpl;
 import com.robo4j.hw.rpi.i2c.adafruitlcd.mockup.AdafruitLcdMockup;
+import com.robo4j.hw.rpi.utils.I2cBus;
 
 import java.io.IOException;
 
@@ -44,7 +45,7 @@ public static AdafruitLcd createLCD() throws IOException, InitializeException {
         return new AdafruitLcdImpl();
     }
 
-    public static AdafruitLcd createLCD(int bus, int address) throws IOException, InitializeException {
+    public static AdafruitLcd createLCD(I2cBus bus, int address) throws IOException, InitializeException {
         if (Boolean.getBoolean(SYSTEM_PROPERTY_MOCK)) {
             return new AdafruitLcdMockup(bus, address);
         }