From: Natanael Adityasatria <nata.adit@gmail.com>
Date: Thu, 29 Oct 2015 10:20:33 +0000 (+0100)
Subject: Made the robot connected
X-Git-Url: https://git.martlubbers.net/?a=commitdiff_plain;h=efecf8ba85d5b20f6a551fb3e90ae11013cef62d;p=des2015.git

Made the robot connected
---

diff --git a/mart/ev3/ex2/nl/ru/des/BTMemory.java b/mart/ev3/ex2/nl/ru/des/BTMemory.java
index 2321396..e47ab0e 100644
--- a/mart/ev3/ex2/nl/ru/des/BTMemory.java
+++ b/mart/ev3/ex2/nl/ru/des/BTMemory.java
@@ -3,76 +3,103 @@ package nl.ru.des;
 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 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"});
+public abstract class BTMemory extends Thread {
+	private List<String> COLORSTOFIND = Arrays.asList(new String[] { "Blue", "Red", "Yellow" });
 	private Set<String> colors;
 	protected NXTConnection connection;
-	protected DataOutputStream dataOutput;
+	protected OutputStream dataOutput;
 	protected DataInputStream dataInput;
-	
-	public BTMemory(){
-		 colors = new HashSet<String>();
-		 setup();
+	protected static PrintWriter writer;
+
+	public BTMemory() {
+		colors = new HashSet<String>();
+		setup();
 	}
-	
+
 	public abstract void setup();
-	
-	public void addColor(String c){
+
+	public void addColor(String c) {
 		colors.add(c);
 	}
-	
-	public boolean finished(){
+
+	public boolean finished() {
 		return colors.equals(new HashSet<String>(COLORSTOFIND));
 	}
-	
+
 	@Override
-	public void run(){
+	public void run() {
 		try {
-			while(true){
-				if(dataInput.available()>0){
+			while (true) {
+				if (dataInput.available() > 0) {
+					//String msg = dataInput.readLine();
 					LCDPrinter.print(Character.toChars(dataInput.read()).toString());
 				}
 			}
-		} catch (IOException e) {
+		}
+		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(){				
+	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.openDataOutputStream();
+					dataOutput = connection.openOutputStream();
+					writer = new PrintWriter(dataOutput);
+					//LCD.drawString("Input output created", 0, 3);
 					try {
-						dataOutput.write(77);
-					} catch (IOException e) {
+						//dataOutput.write(77);
+						writer.println("Hellow");
+						writer.flush();
+						//LCD.clear();
+						//LCD.drawString("Message sent", 0, 4);
+					} catch (Exception e) {
 						e.printStackTrace();
 					}
 				}
 			};
 		} else {
-			return new BTMemory(){
+			return new BTMemory() {
 				@Override
 				public void setup() {
+					//LCD.drawString("Create connection", 0, 0);
 					BTConnector btconnector = new BTConnector();
-					btconnector.waitForConnection(60, NXTConnection.RAW);
+					//LCD.drawString("BTConnector created", 0, 1);
+					connection = btconnector.waitForConnection(60000, NXTConnection.RAW);
+					//LCD.drawString("Connection created", 0, 2);
 					dataInput = connection.openDataInputStream();
-					dataOutput = connection.openDataOutputStream();
+					dataOutput = connection.openOutputStream();
+					writer = new PrintWriter(dataOutput);
+					//LCD.drawString("Input output created", 0, 3);
 				}
 			};
 		}
 	}
-}
+}
\ No newline at end of file
diff --git a/mart/ev3/ex2/nl/ru/des/CommBehaviour.java b/mart/ev3/ex2/nl/ru/des/CommBehaviour.java
new file mode 100644
index 0000000..c52e15c
--- /dev/null
+++ b/mart/ev3/ex2/nl/ru/des/CommBehaviour.java
@@ -0,0 +1,30 @@
+package nl.ru.des;
+
+import lejos.hardware.Sound;
+import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.robotics.subsumption.Behavior;
+
+public class CommBehaviour implements Behavior {
+
+	private String message;
+	
+	@Override
+	public boolean takeControl() {
+		// TODO Auto-generated method stub
+		return false;
+	}
+
+	@Override
+	public void action() {
+		// TODO Auto-generated method stub
+		LCDPrinter.print(message);
+	}
+
+	@Override
+	public void suppress() {
+		// TODO Auto-generated method stub
+		
+	}
+	
+
+}
diff --git a/mart/ev3/ex2/nl/ru/des/Main.java b/mart/ev3/ex2/nl/ru/des/Main.java
index d03946c..7c78e31 100644
--- a/mart/ev3/ex2/nl/ru/des/Main.java
+++ b/mart/ev3/ex2/nl/ru/des/Main.java
@@ -3,6 +3,7 @@ package nl.ru.des;
 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;
@@ -14,10 +15,15 @@ public class Main {
 
 	public static void main(String[] args) {
 		EV3 brick = LocalEV3.get();
-		
-		//BTMemory.getBTMemory(true, null);
-		BTMemory.getBTMemory(false, "Rover1");
 		LCDPrinter lcdprinter = new LCDPrinter(brick.getGraphicsLCD(), Font.getSmallFont());
+		
+		/*
+		 * Start the slave first. "Socket is 18" is always displayed, we can just ignore this
+		 */
+		//BTMemory.getBTMemory(false, "Rover2");
+		BTMemory.getBTMemory(true, "Rover1");
+		LCDPrinter.print("Robots are connected");
+		
 		LCDPrinter.print("Starting up systems");
 		lcdprinter.start();