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

   1 package nl.ru.des.sensors;
   2
   3 import java.util.HashSet;
   4 import java.util.Set;
   5
   6 import lejos.hardware.sensor.EV3GyroSensor;
   7 import lejos.robotics.SampleProvider;
   8
   9 public class SensorCollector implements MessageHandler{
  10         public static final int DELAY = 200;
  11
  12         private static final float DANGER_DISTANCE_FRONT = 0.175f;
  13         private static final float DANGER_DISTANCE_BACK = 0.035f;
  14         private static final float DANGER_LIGHT = 0.40f;
  15
  16         private Set<String> variables;
  17
  18         //Local sensors
  19         private EV3GyroSensor gyroSensor;
  20         private SampleProvider ultra, leftLight, rightLight, gyro;
  21         private float[] ultraSamples, leftLightSamples, rightLightSamples, gyroSamples;
  22         private long ultraTime, leftLightTime, rightLightTime, gyroTime;
  23
  24         //Remote sensors
  25         private int color;
  26         private boolean leftTouch, rightTouch;
  27         private float frontUltra;
  28
  29         public SensorCollector(SampleProvider ultra,
  30                         SampleProvider leftLight,
  31                         SampleProvider rightLight,
  32                         EV3GyroSensor gyro){
  33                 this.ultra = ultra;
  34                 this.leftLight = leftLight;
  35                 this.rightLight = rightLight;
  36                 this.gyroSensor = gyro;
  37                 this.gyro = gyro.getAngleMode();
  38                 ultraSamples = new float[ultra.sampleSize()];
  39                 gyroSamples = new float[gyro.sampleSize()];
  40                 leftLightSamples = new float[leftLight.sampleSize()];
  41                 rightLightSamples = new float[rightLight.sampleSize()];
  42                 ultraTime = System.currentTimeMillis();
  43                 leftLightTime = System.currentTimeMillis();
  44                 rightLightTime = System.currentTimeMillis();
  45                 gyroTime = System.currentTimeMillis();
  46
  47                 color = -1;
  48                 leftTouch = false;
  49                 rightTouch = false;
  50                 frontUltra = Float.MAX_VALUE;
  51                 variables = new HashSet<String>();
  52         }
  53
  54         //Local sensors
  55         public boolean backDistance(){
  56                 if(System.currentTimeMillis()-ultraTime>DELAY){
  57                         ultra.fetchSample(ultraSamples, 0);
  58                         ultraTime = System.currentTimeMillis();
  59                 }
  60                 return ultraSamples[0]>DANGER_DISTANCE_BACK;
  61         }
  62
  63         public boolean leftLight(){
  64                 if(System.currentTimeMillis()-leftLightTime>DELAY){
  65                         leftLight.fetchSample(leftLightSamples, 0);
  66                         leftLightTime = System.currentTimeMillis();
  67                 }
  68                 return leftLightSamples[0]>DANGER_LIGHT;
  69         }
  70
  71         public boolean rightLight(){
  72                 if(System.currentTimeMillis()-rightLightTime>DELAY){
  73                         rightLight.fetchSample(rightLightSamples, 0);
  74                         rightLightTime = System.currentTimeMillis();
  75                 }
  76                 return rightLightSamples[0]>DANGER_LIGHT;
  77         }
  78
  79         public float gyro(){
  80                 if(System.currentTimeMillis()-gyroTime>DELAY){
  81                         gyro.fetchSample(gyroSamples, 0);
  82                         gyroTime = System.currentTimeMillis();
  83                 }
  84                 return gyroSamples[0];
  85         }
  86
  87         public void resetGyro(){
  88                 gyroSensor.reset();
  89         }
  90
  91         //Remote sensors
  92         public void reset(){
  93                 variables.clear();
  94         }
  95
  96         public boolean collected(String var){
  97                 return variables.contains(var);
  98         }
  99
 100         public void saveVar(String var) {
 101                 variables.add(var);
 102         }
 103
 104         public int color(){
 105                 return color;
 106         }
 107
 108         public boolean leftTouch(){
 109                 return leftTouch;
 110         }
 111
 112         public boolean rightTouch(){
 113                 return rightTouch;
 114         }
 115
 116         public boolean frontDistance(){
 117                 return frontUltra<DANGER_DISTANCE_FRONT;
 118         }
 119
 120         @Override
 121         public void handleMessage(String m) {
 122                 String s = m.substring(1);
 123                 switch(RemoteSensors.RemoteSensorEnum.values()[Integer.valueOf(Character.toString(m.charAt(0)))]){
 124                 case COLOR:
 125                         color = Integer.valueOf(s);
 126                         break;
 127                 case LEFT:
 128                         leftTouch = Integer.valueOf(s)==1;
 129                         break;
 130                 case RIGHT:
 131                         rightTouch = Integer.valueOf(s)==1;
 132                         break;
 133                 case ULTRA:
 134                         frontUltra = Float.valueOf(s);
 135                         break;
 136                 }
 137         }
 138 }