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

   1 package nl.ru.des.sensors;
   2
   3 import lejos.robotics.SampleProvider;
   4 import nl.ru.des.LCDPrinter;
   5
   6 public class SensorCollector implements MessageHandler{
   7         public static final int DELAY = 300;
   8
   9         //Local sensors
  10         private SampleProvider ultra, leftLight, rightLight, gyro;
  11         private float[] ultraSamples, leftLightSamples, rightLightSamples, gyroSamples;
  12         private long ultraTime, leftLightTime, rightLightTime, gyroTime;
  13
  14         //Remote sensors
  15         private int color;
  16         private boolean leftTouch, rightTouch;
  17         private float frontUltra;
  18
  19         public SensorCollector(SampleProvider ultra,
  20                         SampleProvider leftLight,
  21                         SampleProvider rightLight,
  22                         SampleProvider gyro){
  23                 this.ultra = ultra;
  24                 this.leftLight = leftLight;
  25                 this.rightLight = rightLight;
  26                 this.gyro = gyro;
  27                 ultraSamples = new float[ultra.sampleSize()];
  28                 gyroSamples = new float[gyro.sampleSize()];
  29                 leftLightSamples = new float[leftLight.sampleSize()];
  30                 rightLightSamples = new float[rightLight.sampleSize()];
  31                 ultraTime = System.currentTimeMillis();
  32                 leftLightTime = System.currentTimeMillis();
  33                 rightLightTime = System.currentTimeMillis();
  34                 gyroTime = System.currentTimeMillis();
  35         }
  36
  37         //Local sensors
  38         public float backDistance(){
  39                 if(System.currentTimeMillis()-ultraTime>DELAY){
  40                         ultra.fetchSample(ultraSamples, 0);
  41                         ultraTime = System.currentTimeMillis();
  42                 }
  43                 return ultraSamples[0];
  44         }
  45
  46         public boolean leftLight(){
  47                 if(System.currentTimeMillis()-leftLightTime>DELAY){
  48                         leftLight.fetchSample(leftLightSamples, 0);
  49                         leftLightTime = System.currentTimeMillis();
  50                 }
  51                 return leftLightSamples[0]>0.5;
  52         }
  53
  54         public boolean rightLight(){
  55                 if(System.currentTimeMillis()-rightLightTime>DELAY){
  56                         rightLight.fetchSample(rightLightSamples, 0);
  57                         rightLightTime = System.currentTimeMillis();
  58                 }
  59                 return rightLightSamples[0]>0.5;
  60         }
  61
  62         public float gyro(){
  63                 if(System.currentTimeMillis()-gyroTime>DELAY){
  64                         gyro.fetchSample(gyroSamples, 0);
  65                         gyroTime = System.currentTimeMillis();
  66                 }
  67                 return gyroSamples[0];
  68         }
  69
  70         //Remote sensors
  71         public int color(){
  72                 return color;
  73         }
  74
  75         public boolean leftTouch(){
  76                 return leftTouch;
  77         }
  78
  79         public boolean rightTouch(){
  80                 return rightTouch;
  81         }
  82
  83         public float frontDistance(){
  84                 return frontUltra;
  85         }
  86
  87         @Override
  88         public void handleMessage(String m) {
  89                 LCDPrinter.print("Sensor: " + Character.toString(m.charAt(0)) + " with value: " + m.substring(1));
  90                 String s = m.substring(1);
  91                 switch(RemoteSensors.RemoteSensorEnum.values()[Integer.valueOf(Character.toString(m.charAt(0)))]){
  92                 case COLOR:
  93                         color = Integer.valueOf(s);
  94                         break;
  95                 case LEFT:
  96                         leftTouch = Integer.valueOf(s)==1;
  97                         break;
  98                 case RIGHT:
  99                         rightTouch = Integer.valueOf(s)==1;
 100                         break;
 101                 case ULTRA:
 102                         frontUltra = Float.valueOf(s);
 103                         break;
 104                 }
 105         }
 106 }