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

   1 package nl.ru.des;
   2
   3 import java.util.Arrays;
   4 import java.util.HashSet;
   5 import java.util.Set;
   6
   7 import lejos.robotics.SampleProvider;
   8
   9 public class SensorCollector{
  10         public static final int DELAY = 300;
  11
  12         private SampleProvider ultrasone, leftTouch, rightTouch;
  13         private float[] ultrasoneSamples, colorSamples, leftTouchSamples, rightTouchSamples;
  14         private long ultrasoneTime, leftTouchTime, rightTouchTime;
  15         private Set<Integer> colorsCollected;
  16
  17         public SensorCollector(SampleProvider ultrasone,
  18                         final SampleProvider color,
  19                         SampleProvider leftTouch,
  20                         SampleProvider rightTouch){
  21                 this.ultrasone = ultrasone;
  22                 this.leftTouch = leftTouch;
  23                 this.rightTouch = rightTouch;
  24                 ultrasoneSamples = new float[ultrasone.sampleSize()];
  25                 colorSamples = new float[color.sampleSize()];
  26                 leftTouchSamples = new float[leftTouch.sampleSize()];
  27                 rightTouchSamples = new float[rightTouch.sampleSize()];
  28                 ultrasoneTime = System.currentTimeMillis();
  29                 leftTouchTime = System.currentTimeMillis();
  30                 rightTouchTime = System.currentTimeMillis();
  31                 colorsCollected = new HashSet<Integer>();
  32                 new Thread(){
  33                         @Override public void run(){
  34                                 long time = System.currentTimeMillis();
  35                                 while(true){
  36                                         if(System.currentTimeMillis() - time > DELAY){
  37                                                 color.fetchSample(colorSamples, 0);
  38                                                 colorsCollected.add(color());
  39                                                 time = System.currentTimeMillis();
  40                                         }
  41                                         Thread.yield();
  42                                 }
  43                         }
  44                 }.start();
  45         }
  46
  47         public float distance(){
  48                 if(System.currentTimeMillis()-ultrasoneTime>DELAY){
  49                         ultrasone.fetchSample(ultrasoneSamples, 0);
  50                         ultrasoneTime = System.currentTimeMillis();
  51                 }
  52                 return ultrasoneSamples[0];
  53         }
  54
  55         public int color(){
  56                 return (int)colorSamples[0];
  57         }
  58
  59         public boolean leftTouch(){
  60                 if(System.currentTimeMillis()-leftTouchTime>DELAY){
  61                         leftTouch.fetchSample(leftTouchSamples, 0);
  62                         leftTouchTime = System.currentTimeMillis();
  63                 }
  64                 return leftTouchSamples[0]==1;
  65         }
  66
  67         public boolean rightTouch(){
  68                 if(System.currentTimeMillis()-rightTouchTime>DELAY){
  69                         rightTouch.fetchSample(rightTouchSamples, 0);
  70                         rightTouchTime = System.currentTimeMillis();
  71                 }
  72                 return rightTouchSamples[0]==1;
  73         }
  74
  75         public boolean collected(int[] is) {
  76                 return colorsCollected.containsAll(Arrays.asList(is));
  77         }
  78 }