X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FMarsRover.java;h=41a5f902abc6124a8a12ae1ec6d49c775b95d8c0;hb=d9e24efc7491c75496d20fbfd1e48954605ea301;hp=c2890e4bd651fe10b7a77e2eb9c7078cd2965e72;hpb=e880e959fed2d3506a790d3b361a2ed4aa49a95f;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/MarsRover.java b/dsl/runtime/src/nl/ru/des/MarsRover.java
index c2890e4..41a5f90 100644
--- a/dsl/runtime/src/nl/ru/des/MarsRover.java
+++ b/dsl/runtime/src/nl/ru/des/MarsRover.java
@@ -1,5 +1,7 @@
 package nl.ru.des;
 
+import java.util.LinkedList;
+
 import lejos.hardware.ev3.EV3;
 import lejos.hardware.ev3.LocalEV3;
 import lejos.hardware.lcd.Font;
@@ -10,10 +12,11 @@ import lejos.hardware.sensor.EV3ColorSensor;
 import lejos.hardware.sensor.EV3TouchSensor;
 import lejos.hardware.sensor.EV3UltrasonicSensor;
 import lejos.robotics.SampleProvider;
-import nl.ru.des.dsl.Constants;
+import lejos.robotics.subsumption.Arbitrator;
 
 public class MarsRover {
 	public static final float SAMPLERATE = 100;
+	public static LinkedList<Mission> missions = new LinkedList<Mission>();
 	
 	@SuppressWarnings("resource")
 	public static void main(String[] args) {
@@ -29,10 +32,10 @@ public class MarsRover {
 		LCDPrinter.print("Loading motors...");
 		EV3LargeRegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.D);
 		EV3LargeRegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.A);
-		leftMotor.setSpeed(Constants.defaultSpeed);
-		rightMotor.setSpeed(Constants.defaultSpeed);
-		rightMotor.setAcceleration(Constants.defaultAcceleration);
-		leftMotor.setAcceleration(Constants.defaultAcceleration);
+		leftMotor.setSpeed(Constants.speed);
+		rightMotor.setSpeed(Constants.speed);
+		rightMotor.setAcceleration(Constants.acceleration);
+		leftMotor.setAcceleration(Constants.acceleration);
 		
 		LCDPrinter.print("Loading touch sensors...");
 		SampleProvider leftTouch = new EV3TouchSensor(brick.getPort("S1")).getTouchMode();
@@ -45,6 +48,25 @@ public class MarsRover {
 		SampleProvider ultraSonic = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
 
 		LCDPrinter.print("Initializing behaviours...");
-		Sensors sensors = new Sensors(ultraSonic, color, leftTouch, rightTouch);
+		SensorCollector sensors = new SensorCollector(ultraSonic, color, leftTouch, rightTouch);
+		
+		LCDPrinter.print("Initializing color collector...");
+		ColorMemory colorMemory = new ColorMemory(color);
+		
+		Arbitrator a;
+		missions = Missions.getMissions(sensors, rightMotor, leftMotor, colorMemory);
+		for(Mission m : missions){
+			LCDPrinter.print("Start " + m.name + " mission...");
+			a = new Arbitrator(m.behaviours);
+			m.SetArbitrator(a);
+			a.start();
+		}
+	}
+	
+	public static void FinishMission(String missionName){
+		Mission m = missions.stream().filter(o -> o.name.equalsIgnoreCase(missionName)).findFirst().get();
+		if(m != null){
+			m.arbitrator.stop();
+		}
 	}
 }
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