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

   1 package nl.ru.des;
   2
   3 import java.io.File;
   4 import java.io.FileOutputStream;
   5 import java.io.IOException;
   6 import java.io.InputStream;
   7 import java.util.LinkedList;
   8 import java.util.Random;
   9
  10 import lejos.hardware.Sound;
  11 import lejos.hardware.ev3.EV3;
  12 import lejos.hardware.ev3.LocalEV3;
  13 import lejos.hardware.lcd.Font;
  14 import lejos.hardware.lcd.TextLCD;
  15 import lejos.hardware.motor.EV3LargeRegulatedMotor;
  16 import lejos.hardware.motor.EV3MediumRegulatedMotor;
  17 import lejos.hardware.port.MotorPort;
  18 import lejos.hardware.sensor.EV3ColorSensor;
  19 import lejos.hardware.sensor.EV3GyroSensor;
  20 import lejos.hardware.sensor.EV3TouchSensor;
  21 import lejos.hardware.sensor.EV3UltrasonicSensor;
  22 import lejos.hardware.sensor.NXTLightSensor;
  23 import lejos.robotics.RegulatedMotor;
  24 import lejos.robotics.SampleProvider;
  25 import nl.ru.des.sensors.BTController;
  26 import nl.ru.des.sensors.RemoteSensors;
  27 import nl.ru.des.sensors.SensorCollector;
  28
  29 public class Marster {
  30         public static Arbitrator arb;
  31         public static Random random;
  32
  33         @SuppressWarnings("resource")
  34         public static void main(String[] args) {
  35                 EV3 brick = LocalEV3.get();
  36                 TextLCD tlcd = brick.getTextLCD(Font.getSmallFont());
  37                 LCDPrinter.startLCDPrinter(tlcd);
  38                 System.setOut(LCDPrinter.getPrefixedPrintstream("out: ", tlcd));
  39                 System.setErr(LCDPrinter.getPrefixedPrintstream("err: ", tlcd));
  40
  41                 LCDPrinter.print("Loading keylistener...");
  42                 brick.getKey("Escape").addKeyListener(new ButtonListener());
  43
  44                 if(brick.getName().equalsIgnoreCase("Rover6") || brick.getName().equalsIgnoreCase("Rover8")){
  45                         LCDPrinter.print("Starting as a slave...");
  46                         LCDPrinter.print("My name is " + brick.getName());
  47                         LCDPrinter.print("Loading touch sensors...");
  48                         SampleProvider leftTouch = new EV3TouchSensor(brick.getPort("S1")).getTouchMode();
  49                         SampleProvider rightTouch = new EV3TouchSensor(brick.getPort("S2")).getTouchMode();
  50
  51                         LCDPrinter.print("Loading ultrasone sensor...");
  52                         SampleProvider frontUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
  53
  54                         LCDPrinter.print("Loading color sensors...");
  55                         SampleProvider color = new EV3ColorSensor(brick.getPort("S4")).getColorIDMode();
  56                         RemoteSensors rs = new RemoteSensors(leftTouch, rightTouch, frontUltra, color);
  57
  58                         BTController.startSlave();
  59                         rs.start(BTController.buf);
  60                 } else {
  61 //                      try {
  62 //                              InputStream inp = Marster.class.getResourceAsStream("nl/ru/des/sound/rick.wav");
  63 //                              FileOutputStream out = new FileOutputStream("rick.wav");
  64 //                              byte buffer[] = new byte[2048];
  65 //                              while(inp.read(buffer)>0){
  66 //                                      out.write(buffer);
  67 //                              }
  68 //                              inp.close();
  69 //                              out.close();
  70 //                      } catch (IOException e) {
  71 //                              e.printStackTrace();
  72 //                      }
  73                         String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
  74                         LCDPrinter.print("Starting as as master...");
  75                         LCDPrinter.print("My name is " + brick.getName());
  76                         LCDPrinter.print("Going to connect to: " + slave);
  77                         LCDPrinter.print("Loading motors...");
  78                         RegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.A);
  79                         RegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.B);
  80                         RegulatedMotor measMotor = new EV3MediumRegulatedMotor(MotorPort.C);
  81                         leftMotor.setSpeed(Constants.speed);
  82                         rightMotor.setSpeed(Constants.speed);
  83                         measMotor.setSpeed(50);
  84                         rightMotor.setAcceleration(Constants.acceleration);
  85                         leftMotor.setAcceleration(Constants.acceleration);
  86                         measMotor.setAcceleration(100);
  87
  88                         LCDPrinter.print("Loading touch sensors...");
  89                         SampleProvider leftLight = new NXTLightSensor(brick.getPort("S1")).getRedMode();
  90                         SampleProvider rightLight = new NXTLightSensor(brick.getPort("S2")).getRedMode();
  91
  92                         LCDPrinter.print("Loading ultrasone sensor...");
  93                         SampleProvider backUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
  94
  95                         LCDPrinter.print("Loading gyro sensor...");
  96                         SensorCollector sc = new SensorCollector(backUltra, leftLight, rightLight, new EV3GyroSensor(brick.getPort("S4")));
  97
  98                         BTController.startMaster(slave, sc);
  99                         LCDPrinter.print("Finished loading");
 100                         LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
 101                         random = new Random();
 102                         for(Mission m : missions){
 103                                 LCDPrinter.print("Start " + m.name + " mission...");
 104                                 arb = new Arbitrator(m.behaviours);
 105                                 sc.reset();
 106                                 arb.start();
 107                                 LCDPrinter.print(m.name + " finished!!1one!");
 108                         }
 109 //                      Sound.playSample(new File("rick.wav"));
 110                 }
 111         }
 112 }