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

   1 package nl.ru.des.sensors;
   2
   3 import lejos.hardware.lcd.LCD;
   4 import lejos.robotics.SampleProvider;
   5 import lejos.utility.Delay;
   6
   7 public class SensorCollector implements MessageHandler{
   8         public static final int DELAY = 100;
   9
  10         private static final float DANGER_DISTANCE_FRONT = 0.15f;
  11         private static final float DANGER_DISTANCE_BACK = 0.035f;
  12         private static final float DANGER_LIGHT = 0.45f;
  13
  14         //Local sensors
  15         private SampleProvider ultra, leftLight, rightLight, gyro;
  16         private float[] ultraSamples, leftLightSamples, rightLightSamples, gyroSamples;
  17         private long ultraTime, leftLightTime, rightLightTime, gyroTime;
  18
  19         //Remote sensors
  20         private int color;
  21         private boolean leftTouch, rightTouch;
  22         private float frontUltra;
  23
  24         public SensorCollector(SampleProvider ultra,
  25                         SampleProvider leftLight,
  26                         SampleProvider rightLight,
  27                         SampleProvider gyro){
  28                 this.ultra = ultra;
  29                 this.leftLight = leftLight;
  30                 this.rightLight = rightLight;
  31                 this.gyro = gyro;
  32                 ultraSamples = new float[ultra.sampleSize()];
  33                 gyroSamples = new float[gyro.sampleSize()];
  34                 leftLightSamples = new float[leftLight.sampleSize()];
  35                 rightLightSamples = new float[rightLight.sampleSize()];
  36                 ultraTime = System.currentTimeMillis();
  37                 leftLightTime = System.currentTimeMillis();
  38                 rightLightTime = System.currentTimeMillis();
  39                 gyroTime = System.currentTimeMillis();
  40         }
  41
  42         //Local sensors
  43         public boolean backDistance(){
  44                 if(System.currentTimeMillis()-ultraTime>DELAY){
  45                         ultra.fetchSample(ultraSamples, 0);
  46                         ultraTime = System.currentTimeMillis();
  47                 }
  48                 return ultraSamples[0]>DANGER_DISTANCE_BACK;
  49         }
  50
  51         public boolean leftLight(){
  52                 if(System.currentTimeMillis()-leftLightTime>DELAY){
  53                         leftLight.fetchSample(leftLightSamples, 0);
  54                         leftLightTime = System.currentTimeMillis();
  55                 }
  56                 return leftLightSamples[0]>DANGER_LIGHT;
  57         }
  58
  59         public boolean rightLight(){
  60                 if(System.currentTimeMillis()-rightLightTime>DELAY){
  61                         rightLight.fetchSample(rightLightSamples, 0);
  62                         rightLightTime = System.currentTimeMillis();
  63                 }
  64                 return rightLightSamples[0]>DANGER_LIGHT;
  65         }
  66
  67         public float gyro(){
  68                 if(System.currentTimeMillis()-gyroTime>DELAY){
  69                         gyro.fetchSample(gyroSamples, 0);
  70                         gyroTime = System.currentTimeMillis();
  71                 }
  72                 return gyroSamples[0];
  73         }
  74
  75         //Remote sensors
  76         public boolean collected(int[] colors){
  77                 return false;
  78         }
  79
  80         public int color(){
  81                 return color;
  82         }
  83
  84         public boolean leftTouch(){
  85                 return leftTouch;
  86         }
  87
  88         public boolean rightTouch(){
  89                 return rightTouch;
  90         }
  91
  92         public boolean frontDistance(){
  93                 return frontUltra<DANGER_DISTANCE_FRONT;
  94         }
  95
  96         @Override
  97         public void handleMessage(String m) {
  98                 String s = m.substring(1);
  99                 switch(RemoteSensors.RemoteSensorEnum.values()[Integer.valueOf(Character.toString(m.charAt(0)))]){
 100                 case COLOR:
 101                         color = Integer.valueOf(s);
 102                         break;
 103                 case LEFT:
 104                         leftTouch = Integer.valueOf(s)==1;
 105                         break;
 106                 case RIGHT:
 107                         rightTouch = Integer.valueOf(s)==1;
 108                         break;
 109                 case ULTRA:
 110                         frontUltra = Float.valueOf(s);
 111                         break;
 112                 }
 113         }
 114 }