added gracefull shutdown

[des2015.git] / dsl / runtime / src / nl / ru / des / Marster.java

diff --git a/dsl/runtime/src/nl/ru/des/Marster.java b/dsl/runtime/src/nl/ru/des/Marster.java
index 81ee5f6..3684c0a 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -3,6 +3,8 @@ package nl.ru.des;
 import java.util.LinkedList;
 import java.util.Random;
 
+import lejos.hardware.Button;
+import lejos.hardware.Sound;
 import lejos.hardware.ev3.EV3;
 import lejos.hardware.ev3.LocalEV3;
 import lejos.hardware.lcd.Font;
@@ -51,7 +53,11 @@ public class Marster {
                        RemoteSensors rs = new RemoteSensors(leftTouch, rightTouch, frontUltra, color);
                        
                        BTController.startSlave();
-                       rs.start(BTController.buf);
+                       try {
+                               rs.start(BTController.buf);
+                       } catch (Exception e){
+                               System.exit(0);
+                       }
                } else {
                        String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
                        LCDPrinter.print("Starting as as master...");
@@ -80,15 +86,20 @@ public class Marster {
 
                        BTController.startMaster(slave, sc);
                        LCDPrinter.print("Finished loading");
+                       sc.calibrate();
                        LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
                        random = new Random();
+                       LCDPrinter.print("Press any button to start");
+                       Button.waitForAnyEvent();
                        for(Mission m : missions){
                                LCDPrinter.print("Start " + m.name + " mission...");
                                arb = new Arbitrator(m.behaviours);
-                               sc.resetColors();
+                               sc.reset();
+                               Sound.buzz();
                                arb.start();
                                LCDPrinter.print(m.name + " finished!!1one!");
                        }
+                       System.exit(0);
                }
        }
 }
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