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

   1 package nl.ru.des;
   2
   3 import lejos.robotics.SampleProvider;
   4
   5 public class SensorCollector implements MessageHandler{
   6         public static final int DELAY = 300;
   7
   8         //Local sensors
   9         private SampleProvider ultra, leftLight, rightLight, gyro;
  10         private float[] ultraSamples, leftLightSamples, rightLightSamples, gyroSamples;
  11         private long ultraTime, leftLightTime, rightLightTime, gyroTime;
  12
  13         //Remote sensors
  14         private int color;
  15         private boolean leftTouch, rightTouch;
  16         private float frontUltra;
  17
  18         public SensorCollector(SampleProvider ultra,
  19                         SampleProvider leftLight,
  20                         SampleProvider rightLight,
  21                         SampleProvider gyro){
  22                 this.ultra = ultra;
  23                 this.leftLight = leftLight;
  24                 this.rightLight = rightLight;
  25                 this.gyro = gyro;
  26                 ultraSamples = new float[ultra.sampleSize()];
  27                 gyroSamples = new float[gyro.sampleSize()];
  28                 leftLightSamples = new float[leftLight.sampleSize()];
  29                 rightLightSamples = new float[rightLight.sampleSize()];
  30                 ultraTime = System.currentTimeMillis();
  31                 leftLightTime = System.currentTimeMillis();
  32                 rightLightTime = System.currentTimeMillis();
  33                 gyroTime = System.currentTimeMillis();
  34         }
  35
  36         //Local sensors
  37         public float backDistance(){
  38                 if(System.currentTimeMillis()-ultraTime>DELAY){
  39                         ultra.fetchSample(ultraSamples, 0);
  40                         ultraTime = System.currentTimeMillis();
  41                 }
  42                 return ultraSamples[0];
  43         }
  44
  45         public boolean leftLight(){
  46                 if(System.currentTimeMillis()-leftLightTime>DELAY){
  47                         leftLight.fetchSample(leftLightSamples, 0);
  48                         leftLightTime = System.currentTimeMillis();
  49                 }
  50                 return leftLightSamples[0]>0.5;
  51         }
  52
  53         public boolean rightLight(){
  54                 if(System.currentTimeMillis()-rightLightTime>DELAY){
  55                         rightLight.fetchSample(rightLightSamples, 0);
  56                         rightLightTime = System.currentTimeMillis();
  57                 }
  58                 return rightLightSamples[0]>0.5;
  59         }
  60
  61         public float gyro(){
  62                 if(System.currentTimeMillis()-gyroTime>DELAY){
  63                         gyro.fetchSample(gyroSamples, 0);
  64                         gyroTime = System.currentTimeMillis();
  65                 }
  66                 return gyroSamples[0];
  67         }
  68
  69         //Remote sensors
  70         public int color(){
  71                 return color;
  72         }
  73
  74         public boolean leftTouch(){
  75                 return leftTouch;
  76         }
  77
  78         public boolean rightTouch(){
  79                 return rightTouch;
  80         }
  81
  82         public float frontDistance(){
  83                 return frontUltra;
  84         }
  85
  86         @Override
  87         public void handleMessage(String m) {
  88                 LCDPrinter.print(m);
  89                 String s = m.substring(1);
  90                 switch(RemoteSensors.RemoteSensorEnum.values()[Integer.valueOf(m.charAt(0))]){
  91                 case COLOR:
  92                         color = Integer.valueOf(s);
  93                         break;
  94                 case LEFT:
  95                         leftTouch = Integer.valueOf(s)==1;
  96                         break;
  97                 case RIGHT:
  98                         rightTouch = Integer.valueOf(s)==1;
  99                         break;
 100                 case ULTRA:
 101                         frontUltra = Float.valueOf(s);
 102                         break;
 103                 }
 104         }
 105 }