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

   1 package nl.ru.des.sensors;
   2
   3 import lejos.hardware.sensor.EV3GyroSensor;
   4 import lejos.robotics.SampleProvider;
   5
   6 public class SensorCollector implements MessageHandler{
   7         public static final int DELAY = 200;
   8
   9         private static final float DANGER_DISTANCE_FRONT = 0.15f;
  10         private static final float DANGER_DISTANCE_BACK = 0.035f;
  11         private static final float DANGER_LIGHT = 0.45f;
  12
  13         //Local sensors
  14         private EV3GyroSensor gyroSensor;
  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                         EV3GyroSensor gyro){
  28                 this.ultra = ultra;
  29                 this.leftLight = leftLight;
  30                 this.rightLight = rightLight;
  31                 this.gyroSensor = gyro;
  32                 this.gyro = gyro.getAngleMode();
  33                 ultraSamples = new float[ultra.sampleSize()];
  34                 gyroSamples = new float[gyro.sampleSize()];
  35                 leftLightSamples = new float[leftLight.sampleSize()];
  36                 rightLightSamples = new float[rightLight.sampleSize()];
  37                 ultraTime = System.currentTimeMillis();
  38                 leftLightTime = System.currentTimeMillis();
  39                 rightLightTime = System.currentTimeMillis();
  40                 gyroTime = System.currentTimeMillis();
  41         }
  42
  43         //Local sensors
  44         public boolean backDistance(){
  45                 if(System.currentTimeMillis()-ultraTime>DELAY){
  46                         ultra.fetchSample(ultraSamples, 0);
  47                         ultraTime = System.currentTimeMillis();
  48                 }
  49                 return ultraSamples[0]>DANGER_DISTANCE_BACK;
  50         }
  51
  52         public boolean leftLight(){
  53                 if(System.currentTimeMillis()-leftLightTime>DELAY){
  54                         leftLight.fetchSample(leftLightSamples, 0);
  55                         leftLightTime = System.currentTimeMillis();
  56                 }
  57                 return leftLightSamples[0]>DANGER_LIGHT;
  58         }
  59
  60         public boolean rightLight(){
  61                 if(System.currentTimeMillis()-rightLightTime>DELAY){
  62                         rightLight.fetchSample(rightLightSamples, 0);
  63                         rightLightTime = System.currentTimeMillis();
  64                 }
  65                 return rightLightSamples[0]>DANGER_LIGHT;
  66         }
  67
  68         public float gyro(){
  69                 if(System.currentTimeMillis()-gyroTime>DELAY){
  70                         gyro.fetchSample(gyroSamples, 0);
  71                         gyroTime = System.currentTimeMillis();
  72                 }
  73                 return gyroSamples[0];
  74         }
  75
  76         public void resetGyro(){
  77                 gyroSensor.reset();
  78         }
  79
  80         //Remote sensors
  81         public boolean collected(int[] colors){
  82                 return false;
  83         }
  84
  85         public int color(){
  86                 return color;
  87         }
  88
  89         public boolean leftTouch(){
  90                 return leftTouch;
  91         }
  92
  93         public boolean rightTouch(){
  94                 return rightTouch;
  95         }
  96
  97         public boolean frontDistance(){
  98                 return frontUltra<DANGER_DISTANCE_FRONT;
  99         }
 100
 101         @Override
 102         public void handleMessage(String m) {
 103                 String s = m.substring(1);
 104                 switch(RemoteSensors.RemoteSensorEnum.values()[Integer.valueOf(Character.toString(m.charAt(0)))]){
 105                 case COLOR:
 106                         color = Integer.valueOf(s);
 107                         break;
 108                 case LEFT:
 109                         leftTouch = Integer.valueOf(s)==1;
 110                         break;
 111                 case RIGHT:
 112                         rightTouch = Integer.valueOf(s)==1;
 113                         break;
 114                 case ULTRA:
 115                         frontUltra = Float.valueOf(s);
 116                         break;
 117                 }
 118         }
 119 }