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

   1 package nl.ru.des.sensors;
   2
   3 import java.util.Queue;
   4
   5 import lejos.robotics.SampleProvider;
   6 import lejos.utility.Delay;
   7
   8 public class RemoteSensors{
   9         public static final int DELAY = 200;
  10         private SampleProvider left, right, ultra, color;
  11         private float[] leftSamples, rightSamples, ultraSamples, colorSamples;
  12         private float leftLatest, rightLatest, ultraLatest, colorLatest;
  13
  14         public enum RemoteSensorEnum {
  15                 LEFT, RIGHT, ULTRA, COLOR;
  16         }
  17
  18         public RemoteSensors(SampleProvider left, SampleProvider right, SampleProvider ultra, SampleProvider color){
  19                 this.left = left;
  20                 this.right = right;
  21                 this.ultra = ultra;
  22                 this.color = color;
  23                 leftSamples = new float[left.sampleSize()];
  24                 rightSamples = new float[right.sampleSize()];
  25                 ultraSamples = new float[ultra.sampleSize()];
  26                 colorSamples = new float[color.sampleSize()];
  27         }
  28
  29         public void start(Queue<String> q){
  30                 long last = System.currentTimeMillis();
  31                 Delay.msDelay(1000);
  32                 System.out.println("Start sending values...");
  33                 while(true){
  34                         if(System.currentTimeMillis()-last > DELAY && q.size()<5){
  35                                 last = System.currentTimeMillis();
  36                                 left.fetchSample(leftSamples, 0);
  37                                 if(leftSamples[0] != leftLatest){
  38                                         leftLatest = leftSamples[0];
  39                                         q.add(Integer.toString(RemoteSensorEnum.LEFT.ordinal())+Integer.toString((int)leftLatest)+"\n");
  40                                 }
  41                                 right.fetchSample(rightSamples, 0);
  42
  43                                 if(rightSamples[0] != rightLatest){
  44                                         rightLatest = rightSamples[0];
  45                                         q.add(Integer.toString(RemoteSensorEnum.RIGHT.ordinal())+Integer.toString((int)rightLatest)+"\n");
  46                                 }
  47                                 ultra.fetchSample(ultraSamples, 0);
  48                                 if(Math.abs(ultraSamples[0] - ultraLatest) > 0.025){
  49                                         ultraLatest = ultraSamples[0];
  50                                         q.add(Integer.toString(RemoteSensorEnum.ULTRA.ordinal())+Float.toString(ultraLatest)+"\n");
  51                                 }
  52
  53                                 color.fetchSample(colorSamples, 0);
  54                                 if(colorSamples[0] != colorLatest){
  55                                         colorLatest = colorSamples[0];
  56                                         q.add(Integer.toString(RemoteSensorEnum.COLOR.ordinal())+Integer.toString((int)colorLatest)+"\n");
  57                                 }
  58                         }
  59                         Thread.yield();
  60                 }
  61         }
  62 }