X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;ds=sidebyside;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FSensorCollector.java;h=9a58ae46ecd140c56ee0db545c8505df63f3fb8d;hb=34dae1e7f9c49481d90b3d26978cc5ab52ccc050;hp=7695ee07b007977ff3463bac37d6b1c52b243e5b;hpb=82d6b6dc9f3f9dbcaa9f8320649df29359c83279;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/SensorCollector.java b/dsl/runtime/src/nl/ru/des/SensorCollector.java
index 7695ee0..9a58ae4 100644
--- a/dsl/runtime/src/nl/ru/des/SensorCollector.java
+++ b/dsl/runtime/src/nl/ru/des/SensorCollector.java
@@ -2,60 +2,104 @@ package nl.ru.des;
 
 import lejos.robotics.SampleProvider;
 
-public class SensorCollector{
-	public static final int DELAY = 50;
+public class SensorCollector implements MessageHandler{
+	public static final int DELAY = 300;
 	
-	private SampleProvider ultrasone, color, leftTouch, rightTouch;
-	private float[] ultrasoneSamples, colorSamples, leftTouchSamples, rightTouchSamples;
-	private long ultrasoneTime, colorTime, leftTouchTime, rightTouchTime;
-
-	public SensorCollector(SampleProvider ultrasone,
-			SampleProvider color,
-			SampleProvider leftTouch,
-			SampleProvider rightTouch){
-		this.ultrasone = ultrasone;
-		this.color = color;
-		this.leftTouch = leftTouch;
-		this.rightTouch = rightTouch;
-		ultrasoneSamples = new float[ultrasone.sampleSize()];
-		colorSamples = new float[color.sampleSize()];
-		leftTouchSamples = new float[leftTouch.sampleSize()];
-		rightTouchSamples = new float[rightTouch.sampleSize()];
-		ultrasoneTime = System.currentTimeMillis();
-		colorTime = System.currentTimeMillis();
-		leftTouchTime = System.currentTimeMillis();
-		rightTouchTime = System.currentTimeMillis();
-	}
-	
-	public float distance(){
-		if(System.currentTimeMillis()-ultrasoneTime>DELAY){
-			ultrasone.fetchSample(ultrasoneSamples, 0);
-			ultrasoneTime = System.currentTimeMillis();
+	//Local sensors
+	private SampleProvider ultra, leftLight, rightLight, gyro;
+	private float[] ultraSamples, leftLightSamples, rightLightSamples, gyroSamples;
+	private long ultraTime, leftLightTime, rightLightTime, gyroTime;
+	
+	//Remote sensors
+	private int color;
+	private boolean leftTouch, rightTouch;
+	private float frontUltra;
+	
+	public SensorCollector(SampleProvider ultra,
+			SampleProvider leftLight,
+			SampleProvider rightLight,
+			SampleProvider gyro){
+		this.ultra = ultra;
+		this.leftLight = leftLight;
+		this.rightLight = rightLight;
+		this.gyro = gyro;
+		ultraSamples = new float[ultra.sampleSize()];
+		gyroSamples = new float[gyro.sampleSize()];
+		leftLightSamples = new float[leftLight.sampleSize()];
+		rightLightSamples = new float[rightLight.sampleSize()];
+		ultraTime = System.currentTimeMillis();
+		leftLightTime = System.currentTimeMillis();
+		rightLightTime = System.currentTimeMillis();
+		gyroTime = System.currentTimeMillis();
+	}
+	
+	//Local sensors
+	public float backDistance(){
+		if(System.currentTimeMillis()-ultraTime>DELAY){
+			ultra.fetchSample(ultraSamples, 0);
+			ultraTime = System.currentTimeMillis();
 		}
-		return ultrasoneSamples[0];
+		return ultraSamples[0];
 	}
 	
-	public int color(){
-		if(System.currentTimeMillis()-colorTime>DELAY){
-			color.fetchSample(colorSamples, 0);
-			colorTime = System.currentTimeMillis();
+	public boolean leftLight(){
+		if(System.currentTimeMillis()-leftLightTime>DELAY){
+			leftLight.fetchSample(leftLightSamples, 0);
+			leftLightTime = System.currentTimeMillis();
 		}
-		return (int)colorSamples[0];
+		return leftLightSamples[0]>0.5;
 	}
 	
-	public boolean leftTouch(){
-		if(System.currentTimeMillis()-leftTouchTime>DELAY){
-			leftTouch.fetchSample(leftTouchSamples, 0);
-			leftTouchTime = System.currentTimeMillis();
+	public boolean rightLight(){
+		if(System.currentTimeMillis()-rightLightTime>DELAY){
+			rightLight.fetchSample(rightLightSamples, 0);
+			rightLightTime = System.currentTimeMillis();
+		}
+		return rightLightSamples[0]>0.5;
+	}
+	
+	public float gyro(){
+		if(System.currentTimeMillis()-gyroTime>DELAY){
+			gyro.fetchSample(gyroSamples, 0);
+			gyroTime = System.currentTimeMillis();
 		}
-		return leftTouchSamples[0]==1;
+		return gyroSamples[0];
+	}
+	
+	//Remote sensors
+	public int color(){
+		return color;
+	}
+	
+	public boolean leftTouch(){
+		return leftTouch;
 	}
 	
 	public boolean rightTouch(){
-		if(System.currentTimeMillis()-rightTouchTime>DELAY){
-			rightTouch.fetchSample(rightTouchSamples, 0);
-			rightTouchTime = System.currentTimeMillis();
+		return rightTouch;
+	}
+	
+	public float frontDistance(){
+		return frontUltra;
+	}
+
+	@Override
+	public void handleMessage(String m) {
+		LCDPrinter.print(m);
+		String s = m.substring(1);
+		switch(RemoteSensors.RemoteSensorEnum.values()[Integer.valueOf(m.charAt(0))]){
+		case COLOR:
+			color = Integer.valueOf(s);
+			break;
+		case LEFT:
+			leftTouch = Integer.valueOf(s)==1;
+			break;
+		case RIGHT:
+			rightTouch = Integer.valueOf(s)==1;
+			break;
+		case ULTRA:
+			frontUltra = Float.valueOf(s);
+			break;
 		}
-		return rightTouchSamples[0]==1;
 	}
 }
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