dsl/runtime/src/nl/ru/des/MarsRover.java

   1 package nl.ru.des;
   2
   3 import java.util.LinkedList;
   4
   5 import lejos.hardware.ev3.EV3;
   6 import lejos.hardware.ev3.LocalEV3;
   7 import lejos.hardware.lcd.Font;
   8 import lejos.hardware.lcd.TextLCD;
   9 import lejos.hardware.motor.EV3LargeRegulatedMotor;
  10 import lejos.hardware.port.MotorPort;
  11 import lejos.hardware.sensor.EV3ColorSensor;
  12 import lejos.hardware.sensor.EV3TouchSensor;
  13 import lejos.hardware.sensor.EV3UltrasonicSensor;
  14 import lejos.robotics.SampleProvider;
  15 import lejos.robotics.subsumption.Arbitrator;
  16
  17 public class MarsRover {
  18         public static final float SAMPLERATE = 100;
  19         public static LinkedList<Mission> missions = new LinkedList<Mission>();
  20
  21         @SuppressWarnings("resource")
  22         public static void main(String[] args) {
  23                 EV3 brick = LocalEV3.get();
  24                 TextLCD tlcd = brick.getTextLCD(Font.getSmallFont());
  25                 LCDPrinter.startLCDPrinter(tlcd);
  26                 System.setOut(LCDPrinter.getPrefixedPrintstream("out: ", tlcd));
  27                 System.setErr(LCDPrinter.getPrefixedPrintstream("err: ", tlcd));
  28
  29                 LCDPrinter.print("Loading keylistener...");
  30                 brick.getKey("Escape").addKeyListener(new ButtonListener());
  31
  32                 LCDPrinter.print("Loading motors...");
  33                 EV3LargeRegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.D);
  34                 EV3LargeRegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.A);
  35                 leftMotor.setSpeed(Constants.speed);
  36                 rightMotor.setSpeed(Constants.speed);
  37                 rightMotor.setAcceleration(Constants.acceleration);
  38                 leftMotor.setAcceleration(Constants.acceleration);
  39
  40                 LCDPrinter.print("Loading touch sensors...");
  41                 SampleProvider leftTouch = new EV3TouchSensor(brick.getPort("S1")).getTouchMode();
  42                 SampleProvider rightTouch = new EV3TouchSensor(brick.getPort("S4")).getTouchMode();
  43
  44                 LCDPrinter.print("Loading color sensor...");
  45                 SampleProvider color = new EV3ColorSensor(brick.getPort("S2")).getColorIDMode();
  46
  47                 LCDPrinter.print("Loading ultrasone sensor...");
  48                 SampleProvider ultraSonic = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
  49
  50                 LCDPrinter.print("Initializing behaviours...");
  51                 SensorCollector sensors = new SensorCollector(ultraSonic, color, leftTouch, rightTouch);
  52
  53                 LCDPrinter.print("Initializing color collector...");
  54                 ColorMemory colorMemory = new ColorMemory(color);
  55
  56                 Arbitrator a;
  57                 missions = Missions.getMissions(sensors, rightMotor, leftMotor, colorMemory);
  58                 for(Mission m : missions){
  59                         LCDPrinter.print("Start " + m.name + " mission...");
  60                         a = new Arbitrator(m.behaviours);
  61                         m.SetArbitrator(a);
  62                         a.start();
  63                 }
  64         }
  65
  66         public static void FinishMission(String missionName){
  67                 Mission m = missions.stream().filter(o -> o.name.equalsIgnoreCase(missionName)).findFirst().get();
  68                 if(m != null){
  69                         m.arbitrator.stop();
  70                 }
  71         }
  72 }