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hidApiTest.groovy

@Grab(group='org.hid4java', module='hid4java', version='0.5.0')

import org.hid4java.*
import org.hid4java.event.*;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;

class PacketProcessor{
	HidDevice myHidDevice;
	ByteOrder be =ByteOrder.LITTLE_ENDIAN; 
	int packetSize = 64
	int numFloats =(packetSize/4)-1
	byte[] message = new byte[packetSize];
	
	PacketProcessor(HidDevice hidDevice){
		myHidDevice=hidDevice;
		
	}

	float[] command(int idOfCommand, float []values){
		ByteBuffer.wrap(message).order(be).putInt(0,idOfCommand).array();
		for(int i=0;i<numFloats && i< values.length;i++){
			int baseIndex = (4*i)+4;
			ByteBuffer.wrap(message).order(be).putFloat(baseIndex,values[i]).array();
		}
		float[] returnValues = new float[ numFloats]
		//println "Writing packet"
		int val = myHidDevice.write(message, packetSize, (byte) 0);
		if(val>0){
			//println "Reading packet"
			int read = myHidDevice.read(message, 1000);
			if(read>0){
				//println "Parsing packet"
				for(int i=0;i<numFloats;i++){
					int baseIndex = (4*i)+4;
					returnValues[i] = ByteBuffer.wrap(message).order(be).getFloat(baseIndex)
				}
			}else{
				println "Read failed"	
			}
		}else{
			println "Writing failed"
		}
		return returnValues
	}
	
}

HidServices hidServices = HidManager.getHidServices();
// Provide a list of attached devices
for (HidDevice hidDevice : hidServices.getAttachedHidDevices()) {
  
  if(hidDevice.isVidPidSerial(0x3742, 0x7, null)){
	  System.out.println("Found! "+hidDevice);
	  hidDevice.open();
	  
	  //byte[] bytes;
	  //float f = ByteBuffer.wrap(bytes).order(ByteOrder.LITTLE_ENDIAN).getFloat();
	  //byte[] data = ByteBuffer.allocate(4).order(ByteOrder.LITTLE_ENDIAN).putFloat(value).array();

	// Send the Initialise message
		PacketProcessor processor= new PacketProcessor(hidDevice)
		// command index 

		long sum
		int min =100000;
		int max =0;
		float []values=new float[9]
		float sinWaveInc =2000
		float seconds = 0.01;
		float range = 400
		for( int i=1;i<sinWaveInc;i++){
			for(int j=0;j<3;j++){
				values[(j*3)+0] = (Math.sin(((float)i)/sinWaveInc*Math.PI*2)* range) -range
				//values[(j*3)+1] = ((Math.cos(((float)i)/sinWaveInc*Math.PI*2)* range)/seconds)
				values[(j*3)+1] =0
				values[(j*3)+2] = 3
			}
			//System.out.println("down data " + values );
			long start = System.currentTimeMillis()
			float []returnValues = processor.command(37,values)
			long diff = System.currentTimeMillis()-start
			
			sum+=diff
			if(diff>max)
				max=diff
			if(diff<min){
				min=diff
			}
			//println "Time difference = "+diff +" average = "+(sum/i)+" min = "+min+" max = "+max
			System.out.println("sent data " + values +" returned "+ returnValues);
			Thread.sleep((long)(1000.0*seconds))
		}
		hidDevice.close();
  }else
    System.out.println("Other Device: "+hidDevice);
}

// Clean shutdown
hidServices.shutdown();