Update pi4j and address api changes

Author: ConnorWhalen

build.gradle

@@ -27,7 +27,7 @@ dependencies {
     compile files("${System.properties['java.home']}/../lib/tools.jar")
     compile "com.fasterxml.jackson.module:jackson-module-kotlin:2.8.7"
     compile 'com.neuronrobotics:nrjavaserial:3.11.0'
-    compile 'com.pi4j:pi4j-core:1.0'
+    compile 'com.pi4j:pi4j-core:1.1'
     compile 'commons-cli:commons-cli:1.3.1'
     compile 'io.reactivex:rxjava:1.2.7'
     compile 'io.reactivex:rxjavafx:1.1.0'

src/main/java/com/easternedgerobotics/rov/io/pololu/MaestroChannel.java

@@ -5,7 +5,9 @@
 import com.easternedgerobotics.rov.math.Range;
 
 import com.pi4j.io.serial.Serial;
+import org.pmw.tinylog.Logger;
 
+import java.io.IOException;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import java.util.BitSet;
@@ -141,7 +143,11 @@ private void setTarget(final short target) {
             final byte lsb = (byte) (microseconds & 0x7F);
             final byte msb = (byte) ((microseconds >> 7) & 0x7F);
 
-            serial.write(new byte[] {START_BYTE, maestro, COMMAND_SET_TARGET, channel, lsb, msb});
+            try {
+                serial.write(new byte[] {START_BYTE, maestro, COMMAND_SET_TARGET, channel, lsb, msb});
+            } catch (final IOException e) {
+                Logger.error(e);
+            }
         } finally {
             lock.unlock();
         }
@@ -156,9 +162,12 @@ private short getPosition() {
         lock.lock();
         try {
             serial.write(new byte[] {START_BYTE, maestro, COMMAND_GET_POSITION, channel});
-            final ByteBuffer response = ByteBuffer.allocate(4).putChar(serial.read()).putChar(serial.read());
+            final ByteBuffer response = ByteBuffer.allocate(4).put(serial.read(), 0, 4);
             return ByteBuffer.allocate(2).order(ByteOrder.LITTLE_ENDIAN).put(
                 new byte[]{response.get(1), response.get(3)}).getShort(0);
+        } catch (final IOException e) {
+            Logger.error(e);
+            return 0;
         } finally {
             lock.unlock();
         }
@@ -175,9 +184,14 @@ private short getPosition() {
     private BitSet getErrors() {
         lock.lock();
         try {
-            serial.write(new byte[] {START_BYTE, maestro, COMMAND_GET_ERRORS});
-            final ByteBuffer response = ByteBuffer.allocate(2).putChar(serial.read());
-            return BitSet.valueOf(new byte[]{response.get(1), response.get(0)});
+            try {
+                serial.write(new byte[] {START_BYTE, maestro, COMMAND_GET_ERRORS});
+                final ByteBuffer response = ByteBuffer.allocate(2).put(serial.read(), 0, 2);
+                return BitSet.valueOf(new byte[]{response.get(1), response.get(0)});
+            } catch (final IOException e) {
+                Logger.error(e);
+                return BitSet.valueOf(new byte[]{0});
+            }
         } finally {
             lock.unlock();
         }

src/main/java/com/easternedgerobotics/rov/io/rpi/RaspberryI2CBus.java

@@ -4,6 +4,8 @@
 
 import com.pi4j.io.i2c.I2CBus;
 import com.pi4j.io.i2c.I2CFactory;
+import com.pi4j.io.i2c.I2CFactory.UnsupportedBusNumberException;
+
 import org.pmw.tinylog.Logger;
 
 import java.io.IOException;
@@ -40,7 +42,7 @@ public RaspberryI2CBus(final int channel) {
         I2CBus bus;
         try {
             bus = I2CFactory.getInstance(channel);
-        } catch (final IOException e) {
+        } catch (final IOException | UnsupportedBusNumberException e) {
             bus = null;
         }
         this.bus = bus;

src/test/java/com/easternedgerobotics/rov/integration/IndividualLightTest.java

@@ -15,6 +15,7 @@
 import rx.broadcast.BasicOrder;
 import rx.broadcast.UdpBroadcast;
 
+import java.io.IOException;
 import java.net.DatagramSocket;
 import java.net.InetAddress;
 import java.net.SocketException;
@@ -26,7 +27,11 @@ private IndividualLightTest() {
 
     }
 
-    public static void main(final String[] args) throws InterruptedException, SocketException, UnknownHostException {
+    public static void main(final String[] args) throws
+        IOException,
+        InterruptedException,
+        SocketException,
+        UnknownHostException {
         final LaunchConfig launchConfig = new MockLaunchConfig();
         final byte deviceNumber = Byte.parseByte(args[0]);
         final byte channel = Byte.parseByte(args[1]);

src/test/java/com/easternedgerobotics/rov/integration/IndividualMotorTest.java

@@ -10,6 +10,7 @@
 import com.pi4j.io.serial.SerialFactory;
 import rx.subjects.PublishSubject;
 
+import java.io.IOException;
 import java.net.SocketException;
 import java.net.UnknownHostException;
 
@@ -19,7 +20,11 @@ private IndividualMotorTest() {
 
     }
 
-    public static void main(final String[] args) throws InterruptedException, SocketException, UnknownHostException {
+    public static void main(final String[] args) throws
+        IOException,
+        InterruptedException,
+        SocketException,
+        UnknownHostException {
         final byte maestroAddress = 0x01;
         final int baud = 115200;
         final Serial serial = SerialFactory.createInstance();