mart/ev3/ex2/nl/ru/des/behaviours/ReactiveBehaviour.java

   1 package nl.ru.des.behaviours;
   2
   3 import lejos.robotics.SampleProvider;
   4 import lejos.robotics.subsumption.Behavior;
   5
   6 public abstract class ReactiveBehaviour implements Behavior {
   7         private SampleProvider sampleProvider;
   8         private long lastSampleTaken;
   9         protected float[] samples;
  10         protected boolean suppressed;
  11
  12         public ReactiveBehaviour(SampleProvider sampleProvider) {
  13                 this.sampleProvider = sampleProvider;
  14                 this.samples = new float[sampleProvider.sampleSize()];
  15                 this.lastSampleTaken = System.currentTimeMillis();
  16         }
  17
  18         public void fetchSample(){
  19                 if(System.currentTimeMillis()-lastSampleTaken > 100){
  20                         sampleProvider.fetchSample(samples, 0);
  21                 }
  22         }
  23
  24         @Override
  25         public void action() {
  26                 suppressed = false;
  27         }
  28
  29         @Override
  30         public void suppress() {
  31                 suppressed = true;
  32         }
  33 }