add spi controller

src/main/java/xbot/common/controls/sensors/XSpiController.java

@@ -0,0 +1,24 @@
+package xbot.common.controls.sensors;
+
+import java.nio.ByteBuffer;
+
+import edu.wpi.first.wpilibj.SPI;
+import xbot.common.injection.DevicePolice;
+import xbot.common.injection.DevicePolice.DeviceType;
+
+public abstract class XSpiController {
+    public interface XSpiControllerFactory {
+        XSpiController create(
+                SPI.Port port);
+    }
+
+    public XSpiController(
+            SPI.Port port,
+            DevicePolice police) {
+
+        police.registerDevice(DeviceType.SPI, port.value, this);
+    }
+
+    public abstract int write(ByteBuffer dataToSend, int size);
+    public abstract void close();
+}

src/main/java/xbot/common/controls/sensors/mock_adapters/MockSpiController.java

@@ -0,0 +1,47 @@
+package xbot.common.controls.sensors.mock_adapters;
+
+import java.nio.ByteBuffer;
+
+import org.json.JSONObject;
+
+import dagger.assisted.Assisted;
+import dagger.assisted.AssistedFactory;
+import dagger.assisted.AssistedInject;
+import edu.wpi.first.wpilibj.SPI.Port;
+import xbot.common.controls.sensors.XSpiController;
+import xbot.common.controls.sensors.XEncoder.XEncoderFactory;
+import xbot.common.controls.sensors.XSpiController.XSpiControllerFactory;
+import xbot.common.injection.DevicePolice;
+import xbot.common.properties.PropertyFactory;
+import xbot.common.simulation.ISimulatableSensor;
+
+public class MockSpiController extends XSpiController implements ISimulatableSensor{
+
+    @AssistedFactory
+    public abstract static class MockSpiControllerFactory implements XSpiControllerFactory {
+        public abstract MockSpiController create(
+            @Assisted("port") Port port);
+    }
+
+    @AssistedInject
+    public MockSpiController(
+        @Assisted("port") Port port,
+        DevicePolice police) {
+        super(port, police);
+    }
+
+    @Override
+    public int write(ByteBuffer dataToSend, int size) {
+        return 0;
+    }
+
+    @Override
+    public void close() {}
+
+    @Override
+    public void ingestSimulationData(JSONObject payload) {
+        // TODO
+        throw new UnsupportedOperationException("Unimplemented method 'ingestSimulationData'");
+    }
+
+}

src/main/java/xbot/common/controls/sensors/wpi_adapters/SpiWPIAdapter.java

@@ -0,0 +1,53 @@
+package xbot.common.controls.sensors.wpi_adapters;
+
+import java.nio.ByteBuffer;
+import java.util.Arrays;
+
+import org.apache.logging.log4j.LogManager;
+import org.apache.logging.log4j.Logger;
+
+import dagger.assisted.Assisted;
+import dagger.assisted.AssistedFactory;
+import dagger.assisted.AssistedInject;
+import edu.wpi.first.wpilibj.SPI;
+import edu.wpi.first.wpilibj.SPI.Port;
+import xbot.common.injection.DevicePolice;
+import xbot.common.controls.sensors.XSpiController;
+
+public class SpiWPIAdapter extends XSpiController {
+    private static final Character END_CHARACTER = '\uffff';
+    private SPI internalSpi;
+    private Logger log = LogManager.getLogger(SpiWPIAdapter.class);
+
+    @AssistedFactory
+    public abstract static class SpiWPIAdapterFactory implements XSpiControllerFactory {
+        @Override
+        public abstract SpiWPIAdapter create(
+            @Assisted("port") Port port);
+    }
+
+    @AssistedInject
+    public SpiWPIAdapter(
+        @Assisted("port")Port port,
+        DevicePolice police
+    ) {
+        super(port, police);
+        internalSpi = new SPI(port);
+    }
+
+    @Override
+    public int write(ByteBuffer dataToSend, int size) {
+        //add end char \uffff to signal end of package
+        int packetSize = size + Character.BYTES;
+        ByteBuffer packet = ByteBuffer.allocate(packetSize);
+        packet.put(dataToSend.array());
+        packet.putChar(END_CHARACTER);
+
+        return internalSpi.write(packet, packetSize);
+    }
+
+    @Override
+    public void close() {
+        internalSpi.close();
+    }  
+}

src/main/java/xbot/common/injection/components/BaseComponent.java

@@ -16,6 +16,8 @@
 import xbot.common.controls.sensors.XDutyCycleEncoder;
 import xbot.common.controls.sensors.XLaserCAN;
 import xbot.common.controls.sensors.XSettableTimerImpl;
+import xbot.common.controls.sensors.XSpiController;
+import xbot.common.controls.sensors.XSpiController.XSpiControllerFactory;
 import xbot.common.controls.sensors.XTimerImpl;
 import xbot.common.controls.sensors.XAbsoluteEncoder.XAbsoluteEncoderFactory;
 import xbot.common.controls.sensors.XAnalogDistanceSensor.XAnalogDistanceSensorFactory;
@@ -173,4 +175,6 @@ public abstract class BaseComponent {
     public abstract XDutyCycleEncoder.XDutyCycleEncoderFactory dutyCycleEncoderFactory();
 
     public abstract XLaserCAN.XLaserCANFactory laserCANFactory();
+
+    public abstract XSpiControllerFactory spiControllerFactory();
 }

src/main/java/xbot/common/injection/modules/MockDevicesModule.java

@@ -32,6 +32,7 @@
 import xbot.common.controls.sensors.XEncoder.XEncoderFactory;
 import xbot.common.controls.sensors.XGyro.XGyroFactory;
 import xbot.common.controls.sensors.XLaserCAN;
+import xbot.common.controls.sensors.XSpiController;
 import xbot.common.controls.sensors.XLidarLite.XLidarLiteFactory;
 import xbot.common.controls.sensors.XPowerDistributionPanel.XPowerDistributionPanelFactory;
 import xbot.common.controls.sensors.mock_adapters.MockAbsoluteEncoder.MockAbsoluteEncoderFactory;
@@ -40,6 +41,7 @@
 import xbot.common.controls.sensors.mock_adapters.MockEncoder.MockEncoderFactory;
 import xbot.common.controls.sensors.mock_adapters.MockGyro.MockGyroFactory;
 import xbot.common.controls.sensors.mock_adapters.MockLaserCAN;
+import xbot.common.controls.sensors.mock_adapters.MockSpiController;
 import xbot.common.networking.MockZeromqListener.MockZeromqListenerFactory;
 import xbot.common.networking.XZeromqListener.XZeromqListenerFactory;
 
@@ -129,4 +131,8 @@ public abstract class MockDevicesModule {
     @Binds
     @Singleton
     public abstract XLaserCAN.XLaserCANFactory getLaserCANFactory(MockLaserCAN.MockLaserCANFactory impl);
+
+    @Binds
+    @Singleton
+    public abstract XSpiController.XSpiControllerFactory getSpiControllerFactory(MockSpiController.MockSpiControllerFactory impl);
 }

src/main/java/xbot/common/injection/modules/RealDevicesModule.java

@@ -28,6 +28,7 @@
 import xbot.common.controls.sensors.XEncoder.XEncoderFactory;
 import xbot.common.controls.sensors.XGyro.XGyroFactory;
 import xbot.common.controls.sensors.XLaserCAN;
+import xbot.common.controls.sensors.XSpiController;
 import xbot.common.controls.sensors.XLidarLite.XLidarLiteFactory;
 import xbot.common.controls.sensors.XPowerDistributionPanel.XPowerDistributionPanelFactory;
 import xbot.common.controls.sensors.wpi_adapters.AnalogInputWPIAdapater.AnalogInputWPIAdapaterFactory;
@@ -37,6 +38,7 @@
 import xbot.common.controls.sensors.wpi_adapters.EncoderWPIAdapter.EncoderWPIAdapterFactory;
 import xbot.common.controls.sensors.wpi_adapters.InertialMeasurementUnitAdapter.InertialMeasurementUnitAdapterFactory;
 import xbot.common.controls.sensors.wpi_adapters.LaserCANWpiAdapter;
+import xbot.common.controls.sensors.wpi_adapters.SpiWPIAdapter;
 import xbot.common.controls.sensors.wpi_adapters.LidarLiteWpiAdapter.LidarLiteWpiAdapterFactory;
 import xbot.common.controls.sensors.wpi_adapters.PowerDistributionPanelWPIAdapter.PowerDistributionPanelWPIAdapaterFactory;
 import xbot.common.networking.XZeromqListener.XZeromqListenerFactory;
@@ -128,4 +130,8 @@ public abstract class RealDevicesModule {
     @Binds
     @Singleton
     public abstract XLaserCAN.XLaserCANFactory getLaserCANFactory(LaserCANWpiAdapter.LaserCANWpiAdapterFactory impl);
+
+    @Binds
+    @Singleton
+    public abstract XSpiController.XSpiControllerFactory getSpiControllerFactory(SpiWPIAdapter.SpiWPIAdapterFactory impl);
 }