X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2Fsensors%2FSensorCollector.java;h=4597d92805c2220b9969860df654b7225f060d40;hb=095cdf6fc0cbad75c6057a401cbab23c18931a3d;hp=dcf2d8770bf86b771b1e32343520afc6ec383103;hpb=3a12cfb82749c7ca2cec2d31da1b4d62ffe9e7e2;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
index dcf2d87..4597d92 100644
--- a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
+++ b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
@@ -1,14 +1,20 @@
 package nl.ru.des.sensors;
 
+import java.util.Arrays;
+import java.util.HashSet;
+import java.util.Set;
+
 import lejos.hardware.sensor.EV3GyroSensor;
 import lejos.robotics.SampleProvider;
 
 public class SensorCollector implements MessageHandler{
 	public static final int DELAY = 200;
 
-	private static final float DANGER_DISTANCE_FRONT = 0.15f;
+	private static final float DANGER_DISTANCE_FRONT = 0.175f;
 	private static final float DANGER_DISTANCE_BACK = 0.035f;
-	private static final float DANGER_LIGHT = 0.45f;
+	private static final float DANGER_LIGHT = 0.40f;
+	
+	private Set<Integer> collectedColors;
 	
 	//Local sensors
 	private EV3GyroSensor gyroSensor;
@@ -38,6 +44,12 @@ public class SensorCollector implements MessageHandler{
 		leftLightTime = System.currentTimeMillis();
 		rightLightTime = System.currentTimeMillis();
 		gyroTime = System.currentTimeMillis();
+		
+		color = -1;
+		leftTouch = false;
+		rightTouch = false;
+		frontUltra = Float.MAX_VALUE;
+		collectedColors = new HashSet<Integer>();
 	}
 	
 	//Local sensors
@@ -78,8 +90,12 @@ public class SensorCollector implements MessageHandler{
 	}
 	
 	//Remote sensors
+	public void resetColors(){
+		collectedColors.clear();
+	}
+	
 	public boolean collected(int[] colors){
-		return false;
+		return collectedColors.containsAll(Arrays.asList(colors));
 	}
 	
 	public int color(){
@@ -104,6 +120,7 @@ public class SensorCollector implements MessageHandler{
 		switch(RemoteSensors.RemoteSensorEnum.values()[Integer.valueOf(Character.toString(m.charAt(0)))]){
 		case COLOR:
 			color = Integer.valueOf(s);
+			collectedColors.add(color);
 			break;
 		case LEFT:
 			leftTouch = Integer.valueOf(s)==1;