mart/ev3/ex2/nl/ru/des/BTMemory.java

   1 package nl.ru.des;
   2
   3 import java.io.DataInputStream;
   4 import java.io.DataOutputStream;
   5 import java.io.IOException;
   6 import java.util.Arrays;
   7 import java.util.HashSet;
   8 import java.util.List;
   9 import java.util.Set;
  10
  11 import lejos.remote.nxt.BTConnector;
  12 import lejos.remote.nxt.NXTConnection;
  13
  14 public abstract class BTMemory extends Thread{
  15         private List<String> COLORSTOFIND = Arrays.asList(new String[]{"Blue", "Red", "Yellow"});
  16         private Set<String> colors;
  17         protected NXTConnection connection;
  18         protected DataOutputStream dataOutput;
  19         protected DataInputStream dataInput;
  20
  21         public BTMemory(){
  22                  colors = new HashSet<String>();
  23                  setup();
  24         }
  25
  26         public abstract void setup();
  27
  28         public void addColor(String c){
  29                 colors.add(c);
  30         }
  31
  32         public boolean finished(){
  33                 return colors.equals(new HashSet<String>(COLORSTOFIND));
  34         }
  35
  36         @Override
  37         public void run(){
  38                 try {
  39                         while(true){
  40                                 if(dataInput.available()>0){
  41                                         LCDPrinter.print(Character.toChars(dataInput.read()).toString());
  42                                 }
  43                         }
  44                 } catch (IOException e) {
  45                         // TODO Auto-generated catch block
  46                         e.printStackTrace();
  47                 }
  48         }
  49
  50         public static BTMemory getBTMemory(boolean master, final String rovername){
  51                 if(master){
  52                         return new BTMemory(){
  53                                 @Override
  54                                 public void setup() {
  55                                         BTConnector btconnector = new BTConnector();
  56                                         connection = btconnector.connect(rovername, NXTConnection.RAW);
  57                                         dataInput = connection.openDataInputStream();
  58                                         dataOutput = connection.openDataOutputStream();
  59                                         try {
  60                                                 dataOutput.write(77);
  61                                         } catch (IOException e) {
  62                                                 e.printStackTrace();
  63                                         }
  64                                 }
  65                         };
  66                 } else {
  67                         return new BTMemory(){
  68                                 @Override
  69                                 public void setup() {
  70                                         BTConnector btconnector = new BTConnector();
  71                                         btconnector.waitForConnection(60, NXTConnection.RAW);
  72                                         dataInput = connection.openDataInputStream();
  73                                         dataOutput = connection.openDataOutputStream();
  74                                 }
  75                         };
  76                 }
  77         }
  78 }