X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;ds=sidebyside;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FRemoteSensors.java;fp=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FRemoteSensors.java;h=afebb110d33b791c208e2edd3d7969bda4d6c842;hb=34dae1e7f9c49481d90b3d26978cc5ab52ccc050;hp=0000000000000000000000000000000000000000;hpb=c9506d94c22f96ba5ffea707f5040fcc9d6c3c3f;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/RemoteSensors.java b/dsl/runtime/src/nl/ru/des/RemoteSensors.java
new file mode 100644
index 0000000..afebb11
--- /dev/null
+++ b/dsl/runtime/src/nl/ru/des/RemoteSensors.java
@@ -0,0 +1,60 @@
+package nl.ru.des;
+
+import java.util.Queue;
+
+import lejos.robotics.SampleProvider;
+
+public class RemoteSensors{
+	public static final int DELAY = 250;
+	private SampleProvider left, right, ultra, color;
+	private float[] leftSamples, rightSamples, ultraSamples, colorSamples;
+	private float leftLatest, rightLatest, ultraLatest, colorLatest;
+	
+	public enum RemoteSensorEnum{
+		LEFT, RIGHT, ULTRA, COLOR;
+	}
+	
+	public RemoteSensors(SampleProvider left, SampleProvider right, SampleProvider ultra, SampleProvider color){
+		this.left = left;
+		this.right = right;
+		this.ultra = ultra;
+		this.color = color;
+		leftSamples = new float[left.sampleSize()];
+		rightSamples = new float[right.sampleSize()];
+		ultraSamples = new float[ultra.sampleSize()];
+		colorSamples = new float[color.sampleSize()];
+	}
+	
+	public void start(Queue<String> q){
+		long last = System.currentTimeMillis();
+		LCDPrinter.print("Start sending values...");
+		while(true){
+			if(System.currentTimeMillis()-last > DELAY && q.size()<5){
+				last = System.currentTimeMillis();
+				left.fetchSample(leftSamples, 0);
+				if(leftSamples[0] != leftLatest){
+					leftLatest = leftSamples[0];
+					q.add(Integer.toString(RemoteSensorEnum.LEFT.ordinal())+Integer.toString((int)leftLatest)+"\n");
+				}
+				right.fetchSample(rightSamples, 0);
+				if(rightSamples[0] != rightLatest){
+					rightLatest = rightSamples[0];
+					q.add(Integer.toString(RemoteSensorEnum.RIGHT.ordinal())+Integer.toString((int)rightLatest)+"\n");
+				}
+				
+				ultra.fetchSample(ultraSamples, 0);
+				if(ultraSamples[0] != ultraLatest){
+					ultraLatest = ultraSamples[0];
+					q.add(Integer.toString(RemoteSensorEnum.ULTRA.ordinal())+Float.toString(ultraLatest)+"\n");
+				}
+				
+				color.fetchSample(colorSamples, 0);
+				if(colorSamples[0] != colorLatest){
+					colorLatest = colorSamples[0];
+					q.add(Integer.toString(RemoteSensorEnum.COLOR.ordinal())+Integer.toString((int)colorLatest)+"\n");
+				}
+			}
+			Thread.yield();
+		}
+	}
+}