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

   1 package nl.ru.des;
   2
   3 import java.io.File;
   4 import java.io.PrintStream;
   5 import java.util.LinkedList;
   6 import java.util.Random;
   7
   8 import lejos.hardware.Sound;
   9 import lejos.hardware.ev3.EV3;
  10 import lejos.hardware.ev3.LocalEV3;
  11 import lejos.hardware.lcd.Font;
  12 import lejos.hardware.lcd.LCDOutputStream;
  13 import lejos.hardware.motor.EV3LargeRegulatedMotor;
  14 import lejos.hardware.motor.EV3MediumRegulatedMotor;
  15 import lejos.hardware.port.MotorPort;
  16 import lejos.hardware.sensor.EV3ColorSensor;
  17 import lejos.hardware.sensor.EV3GyroSensor;
  18 import lejos.hardware.sensor.EV3TouchSensor;
  19 import lejos.hardware.sensor.EV3UltrasonicSensor;
  20 import lejos.hardware.sensor.NXTLightSensor;
  21 import lejos.robotics.RegulatedMotor;
  22 import lejos.robotics.SampleProvider;
  23 import lejos.utility.Delay;
  24 import nl.ru.des.sensors.BTController;
  25 import nl.ru.des.sensors.RemoteSensors;
  26 import nl.ru.des.sensors.SensorCollector;
  27
  28 public class Marster {
  29         public static Arbitrator arb;
  30         public static Random random;
  31
  32         public static void playPacman(){
  33                 int whole = 2000;
  34                 Sound.playNote(Sound.PIANO, 494, whole/16);// b4
  35                 Sound.playNote(Sound.PIANO, 988, whole/16);// b5
  36                 Sound.playNote(Sound.PIANO, 740, whole/16);// f#5
  37                 Sound.playNote(Sound.PIANO, 622, whole/16);// eb5
  38                 Sound.playNote(Sound.PIANO, 988, whole/32);// b5
  39                 Sound.playNote(Sound.PIANO, 740, whole/16+whole/32);// f#5
  40                 Sound.playNote(Sound.PIANO, 622, whole/8);// eb5
  41
  42                 Sound.playNote(Sound.PIANO, 523, whole/16);// c5
  43                 Sound.playNote(Sound.PIANO, 1047, whole/16);// c6
  44                 Sound.playNote(Sound.PIANO, 784, whole/16);// g5
  45                 Sound.playNote(Sound.PIANO, 659, whole/16);// e5
  46                 Sound.playNote(Sound.PIANO, 1047, whole/32);// c6
  47                 Sound.playNote(Sound.PIANO, 784, whole/16+whole/32);// g5
  48                 Sound.playNote(Sound.PIANO, 659, whole/8);// e5
  49
  50                 Sound.playNote(Sound.PIANO, 494, whole/16);// b4
  51                 Sound.playNote(Sound.PIANO, 988, whole/16);// b5
  52                 Sound.playNote(Sound.PIANO, 740, whole/16);// f#5
  53                 Sound.playNote(Sound.PIANO, 622, whole/16);// eb5
  54                 Sound.playNote(Sound.PIANO, 988, whole/32);// b5
  55                 Sound.playNote(Sound.PIANO, 740, whole/16+whole/32);// f#5
  56                 Sound.playNote(Sound.PIANO, 622, whole/8);// eb5
  57
  58                 Sound.playNote(Sound.PIANO, 622, whole/32);// eb5
  59                 Sound.playNote(Sound.PIANO, 659, whole/32);// e5
  60                 Sound.playNote(Sound.PIANO, 698, whole/16);// f5
  61                 Sound.playNote(Sound.PIANO, 698, whole/32);// f5
  62                 Sound.playNote(Sound.PIANO, 740, whole/32);// f#5
  63                 Sound.playNote(Sound.PIANO, 784, whole/16);// g5
  64                 Sound.playNote(Sound.PIANO, 784, whole/32);// g5
  65                 Sound.playNote(Sound.PIANO, 831, whole/32);// ab5
  66                 Sound.playNote(Sound.PIANO, 880, whole/16);// a5
  67                 Sound.playNote(Sound.PIANO, 988, whole/8);// b5
  68         }
  69
  70         @SuppressWarnings("resource")
  71         public static void main(String[] args) {
  72                 EV3 brick = LocalEV3.get();
  73                 PrintStream lcd = new PrintStream(new LCDOutputStream(brick.getTextLCD(Font.getSmallFont())));
  74                 System.setOut(lcd);
  75                 System.setErr(lcd);
  76
  77                 System.out.println("Loading keylistener...");
  78                 brick.getKey("Escape").addKeyListener(new ButtonListener());
  79                 if(brick.getName().equalsIgnoreCase("Rover6") || brick.getName().equalsIgnoreCase("Rover8")){
  80                         System.out.println("Starting as a slave...");
  81                         System.out.println("My name is " + brick.getName());
  82                         System.out.println("Loading touch sensors...");
  83                         SampleProvider leftTouch = new EV3TouchSensor(brick.getPort("S1")).getTouchMode();
  84                         SampleProvider rightTouch = new EV3TouchSensor(brick.getPort("S2")).getTouchMode();
  85
  86                         System.out.println("Loading ultrasone sensor...");
  87                         SampleProvider frontUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
  88
  89                         System.out.println("Loading color sensors...");
  90                         SampleProvider color = new EV3ColorSensor(brick.getPort("S4")).getColorIDMode();
  91                         RemoteSensors rs = new RemoteSensors(leftTouch, rightTouch, frontUltra, color);
  92
  93                         BTController.startSlave();
  94                         try {
  95                                 rs.start(BTController.buf);
  96                         } catch (Exception e){
  97                                 System.exit(0);
  98                         }
  99                 } else {
 100                         String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
 101                         System.out.println("Starting as as master...");
 102                         System.out.println("My name is " + brick.getName());
 103                         System.out.println("Going to connect to: " + slave);
 104                         System.out.println("Loading motors...");
 105                         RegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.A);
 106                         RegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.B);
 107                         RegulatedMotor measMotor = new EV3MediumRegulatedMotor(MotorPort.C);
 108                         leftMotor.setSpeed(Constants.speed);
 109                         rightMotor.setSpeed(Constants.speed);
 110                         measMotor.setSpeed(50);
 111                         rightMotor.setAcceleration(Constants.acceleration);
 112                         leftMotor.setAcceleration(Constants.acceleration);
 113                         measMotor.setAcceleration(50);
 114
 115                         System.out.println("Loading touch sensors...");
 116                         SampleProvider leftLight = new NXTLightSensor(brick.getPort("S1")).getRedMode();
 117                         SampleProvider rightLight = new NXTLightSensor(brick.getPort("S2")).getRedMode();
 118
 119                         System.out.println("Loading ultrasone sensor...");
 120                         SampleProvider backUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
 121
 122                         System.out.println("Loading gyro sensor...");
 123                         SensorCollector sc = new SensorCollector(backUltra, leftLight, rightLight, new EV3GyroSensor(brick.getPort("S4")));
 124
 125                         BTController.startMaster(slave, sc);
 126                         System.out.println("Finished loading");
 127                         sc.calibrate();
 128                         LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
 129                         random = new Random();
 130                         Delay.msDelay(2000);
 131                         playPacman();
 132                         for(Mission m : missions){
 133                                 System.out.println("Start " + m.name + " mission...");
 134                                 arb = new Arbitrator(m.behaviours);
 135                                 sc.reset();
 136                                 arb.start();
 137                                 Sound.buzz();
 138                                 Delay.msDelay(5000);
 139                                 System.out.println(m.name + " finished!!1one!");
 140                         }
 141                         Sound.playSample(new File("rick.wav"), Sound.VOL_MAX);
 142                         System.exit(0);
 143                 }
 144         }
 145 }