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

   1 package nl.ru.des;
   2
   3 import java.util.Queue;
   4
   5 import lejos.robotics.SampleProvider;
   6
   7 public class RemoteSensors{
   8         public static final int DELAY = 250;
   9         private SampleProvider left, right, ultra, color;
  10         private float[] leftSamples, rightSamples, ultraSamples, colorSamples;
  11         private float leftLatest, rightLatest, ultraLatest, colorLatest;
  12
  13         public enum RemoteSensorEnum{
  14                 LEFT, RIGHT, ULTRA, COLOR;
  15         }
  16
  17         public RemoteSensors(SampleProvider left, SampleProvider right, SampleProvider ultra, SampleProvider color){
  18                 this.left = left;
  19                 this.right = right;
  20                 this.ultra = ultra;
  21                 this.color = color;
  22                 leftSamples = new float[left.sampleSize()];
  23                 rightSamples = new float[right.sampleSize()];
  24                 ultraSamples = new float[ultra.sampleSize()];
  25                 colorSamples = new float[color.sampleSize()];
  26         }
  27
  28         public void start(Queue<String> q){
  29                 long last = System.currentTimeMillis();
  30                 LCDPrinter.print("Start sending values...");
  31                 while(true){
  32                         if(System.currentTimeMillis()-last > DELAY && q.size()<5){
  33                                 last = System.currentTimeMillis();
  34                                 left.fetchSample(leftSamples, 0);
  35                                 if(leftSamples[0] != leftLatest){
  36                                         leftLatest = leftSamples[0];
  37                                         q.add(Integer.toString(RemoteSensorEnum.LEFT.ordinal())+Integer.toString((int)leftLatest)+"\n");
  38                                 }
  39                                 right.fetchSample(rightSamples, 0);
  40                                 if(rightSamples[0] != rightLatest){
  41                                         rightLatest = rightSamples[0];
  42                                         q.add(Integer.toString(RemoteSensorEnum.RIGHT.ordinal())+Integer.toString((int)rightLatest)+"\n");
  43                                 }
  44
  45                                 ultra.fetchSample(ultraSamples, 0);
  46                                 if(ultraSamples[0] != ultraLatest){
  47                                         ultraLatest = ultraSamples[0];
  48                                         q.add(Integer.toString(RemoteSensorEnum.ULTRA.ordinal())+Float.toString(ultraLatest)+"\n");
  49                                 }
  50
  51                                 color.fetchSample(colorSamples, 0);
  52                                 if(colorSamples[0] != colorLatest){
  53                                         colorLatest = colorSamples[0];
  54                                         q.add(Integer.toString(RemoteSensorEnum.COLOR.ordinal())+Integer.toString((int)colorLatest)+"\n");
  55                                 }
  56                         }
  57                         Thread.yield();
  58                 }
  59         }
  60 }