Merge remote-tracking branch 'origin/master'

[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 ee38341..83bc184 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -1,7 +1,13 @@
 package nl.ru.des;
 
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
 import java.util.LinkedList;
+import java.util.Random;
 
+import lejos.hardware.Sound;
 import lejos.hardware.ev3.EV3;
 import lejos.hardware.ev3.LocalEV3;
 import lejos.hardware.lcd.Font;
@@ -17,12 +23,12 @@ import lejos.hardware.sensor.NXTLightSensor;
 import lejos.robotics.RegulatedMotor;
 import lejos.robotics.SampleProvider;
 import nl.ru.des.sensors.BTController;
-import nl.ru.des.Arbitrator;
 import nl.ru.des.sensors.RemoteSensors;
 import nl.ru.des.sensors.SensorCollector;
 
 public class Marster {
        public static Arbitrator arb;
+       public static Random random;
        
        @SuppressWarnings("resource")
        public static void main(String[] args) {
@@ -52,6 +58,18 @@ public class Marster {
                        BTController.startSlave();
                        rs.start(BTController.buf);
                } else {
+//                     try {
+//                             InputStream inp = Marster.class.getResourceAsStream("nl/ru/des/sound/rick.wav");
+//                             FileOutputStream out = new FileOutputStream("rick.wav");
+//                             byte buffer[] = new byte[2048];
+//                             while(inp.read(buffer)>0){
+//                                     out.write(buffer);
+//                             }
+//                             inp.close();
+//                             out.close();
+//                     } catch (IOException e) {
+//                             e.printStackTrace();
+//                     }
                        String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
                        LCDPrinter.print("Starting as as master...");
                        LCDPrinter.print("My name is " + brick.getName());
@@ -80,12 +98,15 @@ public class Marster {
                        BTController.startMaster(slave, sc);
                        LCDPrinter.print("Finished loading");
                        LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
+                       random = new Random();
                        for(Mission m : missions){
                                LCDPrinter.print("Start " + m.name + " mission...");
                                arb = new Arbitrator(m.behaviours);
+                               sc.reset();
                                arb.start();
                                LCDPrinter.print(m.name + " finished!!1one!");
                        }
+//                     Sound.playSample(new File("rick.wav"));
                }
        }
 }
\ No newline at end of file