X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FSensorCollector.java;h=9a58ae46ecd140c56ee0db545c8505df63f3fb8d;hb=34dae1e7f9c49481d90b3d26978cc5ab52ccc050;hp=5210bd1f6396b62c99c4517e454c9b98dcc53ea8;hpb=55df69a5d4941d45bd3d860e6cea9b1357e09f98;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/SensorCollector.java b/dsl/runtime/src/nl/ru/des/SensorCollector.java
index 5210bd1..9a58ae4 100644
--- a/dsl/runtime/src/nl/ru/des/SensorCollector.java
+++ b/dsl/runtime/src/nl/ru/des/SensorCollector.java
@@ -1,78 +1,105 @@
 package nl.ru.des;
 
-import java.util.Arrays;
-import java.util.HashSet;
-import java.util.Set;
-
 import lejos.robotics.SampleProvider;
 
-public class SensorCollector{
-	public static final int DELAY = 100;
+public class SensorCollector implements MessageHandler{
+	public static final int DELAY = 300;
 	
-	private SampleProvider ultrasone, leftTouch, rightTouch;
-	private float[] ultrasoneSamples, colorSamples, leftTouchSamples, rightTouchSamples;
-	private long ultrasoneTime, leftTouchTime, rightTouchTime;
-	private Set<Integer> colorsCollected;
-
-	public SensorCollector(SampleProvider ultrasone,
-			final SampleProvider color,
-			SampleProvider leftTouch,
-			SampleProvider rightTouch){
-		this.ultrasone = ultrasone;
-		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();
-		leftTouchTime = System.currentTimeMillis();
-		rightTouchTime = System.currentTimeMillis();
-		colorsCollected = new HashSet<Integer>();
-		new Thread(){
-			@Override public void run(){
-				long time = System.currentTimeMillis();
-				while(true){
-					if(System.currentTimeMillis() - time > DELAY){
-						color.fetchSample(colorSamples, 0);
-						colorsCollected.add(color());
-						time = System.currentTimeMillis();
-					}
-					Thread.yield();
-				}
-			}
-		}.start();
+	//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 ultraSamples[0];
+	}
+	
+	public boolean leftLight(){
+		if(System.currentTimeMillis()-leftLightTime>DELAY){
+			leftLight.fetchSample(leftLightSamples, 0);
+			leftLightTime = System.currentTimeMillis();
+		}
+		return leftLightSamples[0]>0.5;
 	}
 	
-	public float distance(){
-		if(System.currentTimeMillis()-ultrasoneTime>DELAY){
-			ultrasone.fetchSample(ultrasoneSamples, 0);
-			ultrasoneTime = System.currentTimeMillis();
+	public boolean rightLight(){
+		if(System.currentTimeMillis()-rightLightTime>DELAY){
+			rightLight.fetchSample(rightLightSamples, 0);
+			rightLightTime = System.currentTimeMillis();
 		}
-		return ultrasoneSamples[0];
+		return rightLightSamples[0]>0.5;
 	}
 	
+	public float gyro(){
+		if(System.currentTimeMillis()-gyroTime>DELAY){
+			gyro.fetchSample(gyroSamples, 0);
+			gyroTime = System.currentTimeMillis();
+		}
+		return gyroSamples[0];
+	}
+	
+	//Remote sensors
 	public int color(){
-		return (int)colorSamples[0];
+		return color;
 	}
 	
 	public boolean leftTouch(){
-		if(System.currentTimeMillis()-leftTouchTime>DELAY){
-			leftTouch.fetchSample(leftTouchSamples, 0);
-			leftTouchTime = System.currentTimeMillis();
-		}
-		return leftTouchSamples[0]==1;
+		return leftTouch;
 	}
 	
 	public boolean rightTouch(){
-		if(System.currentTimeMillis()-rightTouchTime>DELAY){
-			rightTouch.fetchSample(rightTouchSamples, 0);
-			rightTouchTime = System.currentTimeMillis();
-		}
-		return rightTouchSamples[0]==1;
+		return rightTouch;
+	}
+	
+	public float frontDistance(){
+		return frontUltra;
 	}
 
-	public boolean collected(int[] is) {
-		return colorsCollected.containsAll(Arrays.asList(is));
+	@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;
+		}
 	}
 }
\ No newline at end of file