import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
-import java.io.OutputStream;
-import java.io.PrintWriter;
-import java.util.Arrays;
-import java.util.HashSet;
-import java.util.List;
-import java.util.Set;
+import java.util.LinkedList;
+import java.util.Queue;
-import lejos.hardware.Sound;
-import lejos.hardware.lcd.LCD;
import lejos.remote.nxt.BTConnector;
import lejos.remote.nxt.NXTConnection;
-import lejos.utility.Delay;
-public abstract class BTMemory extends Thread {
- private List<String> COLORSTOFIND = Arrays.asList(new String[] { "Blue", "Red", "Yellow" });
- private Set<String> colors;
+public class BTController extends Thread {
protected NXTConnection connection;
- protected OutputStream dataOutput;
+ protected DataOutputStream dataOutput;
protected DataInputStream dataInput;
- protected static PrintWriter writer;
+ protected MessageHandler sh;
+ public static Queue<String> messageBuffer;
- public BTMemory() {
- colors = new HashSet<String>();
- setup();
- }
-
- public abstract void setup();
-
- public void addColor(String c) {
- colors.add(c);
- }
-
- public boolean finished() {
- return colors.equals(new HashSet<String>(COLORSTOFIND));
+ private BTController(MessageHandler sh, NXTConnection connection) {
+ this.dataInput = connection.openDataInputStream();
+ this.dataOutput = connection.openDataOutputStream();
+ this.sh = sh;
+ messageBuffer = new LinkedList<String>();
}
@Override
public void run() {
- try {
- while (true) {
- if (dataInput.available() > 0) {
- //String msg = dataInput.readLine();
- LCDPrinter.print(Character.toChars(dataInput.read()).toString());
- }
- }
- }
- catch (IOException e) {
- // TODO Auto-generated catch block
- e.printStackTrace();
- }
- }
-
- public static void SendMessage(String message){
- writer.println(message);
- writer.flush();
- }
-
- public static BTMemory getBTMemory(boolean master, final String rovername) {
- if (master) {
- return new BTMemory() {
- @Override
- public void setup() {
- //LCD.drawString("Create connection", 0, 0);
- BTConnector btconnector = new BTConnector();
- //LCD.drawString("BTConnector created", 0, 1);
- connection = btconnector.connect(rovername, NXTConnection.RAW);
- //LCD.drawString("Connection created", 0, 2);
- dataInput = connection.openDataInputStream();
- dataOutput = connection.openOutputStream();
- writer = new PrintWriter(dataOutput);
- //LCD.drawString("Input output created", 0, 3);
+ Thread receiver = new Thread() {
+ @Override
+ public void run() {
+ StringBuilder sb = new StringBuilder();
+ while (true) {
try {
- //dataOutput.write(77);
- writer.println("Hellow");
- writer.flush();
- //LCD.clear();
- //LCD.drawString("Message sent", 0, 4);
- } catch (Exception e) {
+ int c = dataInput.readUnsignedByte();
+ sb.appendCodePoint(c);
+ if (c == '\n') {
+ sh.handleMessage(sb.toString());
+ sb = new StringBuilder();
+ }
+ } catch (IOException e) {
e.printStackTrace();
}
}
- };
- } else {
- return new BTMemory() {
- @Override
- public void setup() {
- //LCD.drawString("Create connection", 0, 0);
- BTConnector btconnector = new BTConnector();
- //LCD.drawString("BTConnector created", 0, 1);
- connection = btconnector.waitForConnection(60000, NXTConnection.RAW);
- //LCD.drawString("Connection created", 0, 2);
- dataInput = connection.openDataInputStream();
- dataOutput = connection.openOutputStream();
- writer = new PrintWriter(dataOutput);
- //LCD.drawString("Input output created", 0, 3);
+ }
+ };
+ receiver.start();
+ while (true) {
+ if (!messageBuffer.isEmpty()) {
+ try {
+ dataOutput.write(messageBuffer.poll().getBytes());
+ dataOutput.flush();
+ } catch (IOException e) {
+ e.printStackTrace();
}
- };
+ }
+ Thread.yield();
}
}
+
+ public static void SendMessage(String message) {
+ messageBuffer.add(message + "\n");
+ }
+
+ public static BTController getBTMaster(final String slave, final MessageHandler sh) {
+ BTConnector btconnector = new BTConnector();
+ return new BTController(sh, btconnector.connect(slave, NXTConnection.RAW));
+ }
+
+ public static BTController getBTSlave(MessageHandler sh) {
+ BTConnector btconnector = new BTConnector();
+ return new BTController(sh, btconnector.waitForConnection(60000, NXTConnection.RAW));
+ }
}
\ No newline at end of file
import lejos.hardware.ev3.EV3;
import lejos.hardware.ev3.LocalEV3;
import lejos.hardware.lcd.Font;
-import lejos.hardware.lcd.LCD;
import lejos.hardware.motor.EV3LargeRegulatedMotor;
import lejos.hardware.port.MotorPort;
import lejos.hardware.sensor.EV3ColorSensor;
public static void main(String[] args) {
EV3 brick = LocalEV3.get();
LCDPrinter lcdprinter = new LCDPrinter(brick.getGraphicsLCD(), Font.getSmallFont());
-
+ lcdprinter.start();
/*
* Start the slave first. "Socket is 18" is always displayed, we can just ignore this
*/
- //BTMemory.getBTMemory(false, "Rover2");
- BTMemory.getBTMemory(true, "Rover1");
+ ColorMemory mh = new ColorMemory();
+
+ //BTController btController = BTController.getBTMaster("Rover2", mh); // Master
+ BTController btController = BTController.getBTSlave(mh); // Slave
+ btController.start();
+ BTController.SendMessage("Hi");
+
LCDPrinter.print("Robots are connected");
LCDPrinter.print("Starting up systems");
- lcdprinter.start();
+
LCDPrinter.print("Loading keylistener...");
brick.getKey("Escape").addKeyListener(new ButtonListener());
LCDPrinter.print("Initializing behaviours...");
Behavior[] behaviorList = new Behavior[] {
- new WandererBehaviour(colorSensorObject, leftMotor, rightMotor),
+ new WandererBehaviour(colorSensorObject, leftMotor, rightMotor, mh),
new StayInFieldBehaviour(colorSensorObject, leftMotor, rightMotor)
+ //new CommBehaviour(leftMotor, rightMotor)
};
-
LCDPrinter.print("Initializing arbitrator...");
Main.arbitrator = new Arbitrator(behaviorList);
Main.arbitrator.start();
private EV3LargeRegulatedMotor leftMotor, rightMotor;
private ColorSensor colorSensor;
private boolean suppressed;
-
- public WandererBehaviour(ColorSensor colorSensor, EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor) {
+ private ColorMemory cm;
+
+ public WandererBehaviour(ColorSensor colorSensor, EV3LargeRegulatedMotor leftMotor,
+ EV3LargeRegulatedMotor rightMotor, ColorMemory cm) {
this.leftMotor = leftMotor;
this.rightMotor = rightMotor;
this.colorSensor = colorSensor;
+ this.cm = cm;
}
@Override
public boolean takeControl() {
- return true;
+ return !cm.finished();
}
@Override
rightMotor.setSpeed(300);
leftMotor.forward();
rightMotor.forward();
- while(!suppressed){
+ while (!suppressed) {
String current = colorSensor.getCurrentColor();
- if(current == "Yellow" || current == "Blue" || current == "Red"){
+ if (current == "Yellow" || current == "Blue" || current == "Red") {
Sound.beep();
+ BTController.SendMessage(current);
}
Thread.yield();
}
repositories / des2015.git / commitdiff