From ac44621696b120a5aec35edff6b7181a4aafa383 Mon Sep 17 00:00:00 2001 From: Mart Lubbers Date: Mon, 11 Jan 2016 11:39:11 +0100 Subject: [PATCH] added gracefull shutdown --- dsl/runtime/specs/wander.tdsl | 109 ++++++------------ dsl/runtime/src/nl/ru/des/BasicBehaviour.java | 3 +- dsl/runtime/src/nl/ru/des/Marster.java | 29 ++--- .../src/nl/ru/des/sensors/BTController.java | 3 +- .../nl/ru/des/sensors/SensorCollector.java | 40 ++++++- dsl/runtime/src/nl/ru/des/sound/rick.wav | Bin 145564 -> 0 bytes .../missions/generator/TaskDSLGenerator.xtend | 4 +- 7 files changed, 92 insertions(+), 96 deletions(-) delete mode 100644 dsl/runtime/src/nl/ru/des/sound/rick.wav diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl index 0f764d3..30081c8 100644 --- a/dsl/runtime/specs/wander.tdsl +++ b/dsl/runtime/specs/wander.tdsl @@ -7,6 +7,7 @@ Behaviour Drive left motor forward right motor forward wait forever + Behaviour Wander take control: action: @@ -37,106 +38,70 @@ Behaviour StayInFieldB right motor forward wait 1000 ms -Behaviour MeasureGreenLake +Behaviour GreenLake take control: (&& Color is Green not flag set GreenMeasured) action: measure Lake - set flag GreenMeasured -Behaviour MeasureBlueLake + set flag GreenLake + +Behaviour BlueLake take control: (&& Color is Blue not flag set BlueMeasured) action: measure Lake - set flag BlueMeasured -Behaviour MeasureRedLake + set flag BlueLake + +Behaviour RedLake take control: (&& Color is Red not flag set RedMeasured) action: measure Lake - set flag RedMeasured + set flag RedLake -Behaviour LocateL +Behaviour MeasureRock + take control: (&& Distance dangerous at front not flag set Measured) + action: + measure Rock + set flag Measured + +Behaviour PushL take control: Touched on left action: right motor forward left motor backward - wait 500 ms + /*wait 500 ms right motor forward left motor forward - wait 1000 ms + wait 500ms*/ -Behaviour LocateR +Behaviour PushR take control: Touched on right action: left motor forward right motor backward - wait 500 ms + /*wait 500 ms right motor forward left motor forward - wait 1000 ms + wait 1000 ms*/ -Behaviour Push +Behaviour PushB take control: (&& Touched on left Touched on right) action: + set flag Pushing left motor forward right motor forward - wait 1000 ms - -Behaviour BumpL - take control: Touched on left - action: - left motor backward with speed 50 acceleration 1000 - right motor backward - wait 2000 ms - -Behaviour BumpR - take control: Touched on right - action: - right motor backward with speed 50 acceleration 1000 - left motor backward - wait 2000 ms - -Behaviour AvoidHigh - take control: Distance dangerous at front - action: - turn randomly 10 to 11 degrees + wait 10000 ms -Behaviour MeasureRock - take control: (&& Distance dangerous at front not flag set RockMeasured) +Behaviour StopPushing + take control: (&& not Touched on left not Touched on right flag set Pushing) action: - measure Rock - set flag RockMeasured - -Behaviour FindParkingL - take control: Light on left - action: - turn left exactly 10 degrees with speed 20 acceleration 1000 - -Behaviour FindParkingR - take control: Light on right - action: - turn right exactly 10 degrees with speed 20 acceleration 1000 - -Behaviour FindParkingSpace - take control: (&& Light on right Light on left) - action: - right motor backward with speed 80 acceleration 1000 - left motor backward with speed 80 acceleration 1000 - wait 1000 ms - turn right exactly 180 degrees - set flag Parked + set flag Pushed + +/*Mission FindAndMeasureLakes + using Wander StayInFieldR StayInFieldL StayInFieldB GreenLake RedLake BlueLake + and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake) -//Mission pushRock -// using Drive LocateR LocateL Push StayInFieldB StayInFieldL StayInFieldR and stops when Never -//Mission avoidHighRocks -// using Drive AvoidHigh BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Never -Mission MeasureRocks - using Drive StayInFieldB StayInFieldL StayInFieldR MeasureRock and stops when flag set RockMeasured -Mission FindParkingSpaceInTheCorner - using Wander StayInFieldB FindParkingL FindParkingR FindParkingSpace and stops when flag set Parked -//Mission measureLakes -// using Drive MeasureRedLake MeasureGreenLake MeasureBlueLake and stops when (&& flag set GreenMeasured flag set BlueMeasured flag set RedMeasured) -//Mission findBlueLakeWhileAvoidingRocks -// using Wander BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Color is Blue -//Mission findAllLakesAndMeasureThem -// using Wander MeasureLake StayInFieldB StayInFieldL StayInFieldR and stops when Collected at least Green Blue Red -//Mission justWander -// using Wander Wander StayInFieldB StayInFieldL StayInFieldR and stops when Color is Cyan \ No newline at end of file +Mission FindAndMeasureRocks + using Wander StayInFieldR StayInFieldL StayInFieldB MeasureRock + and stops when flag set Measured */ +Mission PushRocks + using Wander PushL PushR PushB StopPushing StayInFieldR StayInFieldL StayInFieldB + and stops when flag set Pushed \ No newline at end of file diff --git a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java index 44fcbe2..455cbe2 100644 --- a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java +++ b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java @@ -29,13 +29,14 @@ public abstract class BasicBehaviour implements Behavior{ leftMotor.setAcceleration(Constants.acceleration); rightMotor.stop(true); leftMotor.stop(true); + measMotor.stop(true); } protected void measureLake(){ long time = System.currentTimeMillis(); rightMotor.backward(); leftMotor.backward(); - while(System.currentTimeMillis()-time<500){ + while(System.currentTimeMillis()-time < 250){ Thread.yield(); } diff --git a/dsl/runtime/src/nl/ru/des/Marster.java b/dsl/runtime/src/nl/ru/des/Marster.java index 83bc184..3684c0a 100644 --- a/dsl/runtime/src/nl/ru/des/Marster.java +++ b/dsl/runtime/src/nl/ru/des/Marster.java @@ -1,12 +1,9 @@ package nl.ru.des; -import java.io.File; -import java.io.FileOutputStream; -import java.io.IOException; -import java.io.InputStream; import java.util.LinkedList; import java.util.Random; +import lejos.hardware.Button; import lejos.hardware.Sound; import lejos.hardware.ev3.EV3; import lejos.hardware.ev3.LocalEV3; @@ -56,20 +53,12 @@ public class Marster { RemoteSensors rs = new RemoteSensors(leftTouch, rightTouch, frontUltra, color); BTController.startSlave(); - rs.start(BTController.buf); + try { + rs.start(BTController.buf); + } catch (Exception e){ + System.exit(0); + } } else { -// try { -// InputStream inp = Marster.class.getResourceAsStream("nl/ru/des/sound/rick.wav"); -// FileOutputStream out = new FileOutputStream("rick.wav"); -// byte buffer[] = new byte[2048]; -// while(inp.read(buffer)>0){ -// out.write(buffer); -// } -// inp.close(); -// out.close(); -// } catch (IOException e) { -// e.printStackTrace(); -// } String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8"; LCDPrinter.print("Starting as as master..."); LCDPrinter.print("My name is " + brick.getName()); @@ -97,16 +86,20 @@ public class Marster { BTController.startMaster(slave, sc); LCDPrinter.print("Finished loading"); + sc.calibrate(); LinkedList missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor); random = new Random(); + LCDPrinter.print("Press any button to start"); + Button.waitForAnyEvent(); for(Mission m : missions){ LCDPrinter.print("Start " + m.name + " mission..."); arb = new Arbitrator(m.behaviours); sc.reset(); + Sound.buzz(); arb.start(); LCDPrinter.print(m.name + " finished!!1one!"); } -// Sound.playSample(new File("rick.wav")); + System.exit(0); } } } \ No newline at end of file diff --git a/dsl/runtime/src/nl/ru/des/sensors/BTController.java b/dsl/runtime/src/nl/ru/des/sensors/BTController.java index 062fa61..37214a5 100644 --- a/dsl/runtime/src/nl/ru/des/sensors/BTController.java +++ b/dsl/runtime/src/nl/ru/des/sensors/BTController.java @@ -67,8 +67,9 @@ public class BTController{ try { dataOut.write(buf.poll().getBytes()); dataOut.flush(); - } catch (IOException e) { + } catch (Exception e) { e.printStackTrace(); + System.exit(0); } } Thread.yield(); diff --git a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java index db10870..af8e87a 100644 --- a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java +++ b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java @@ -3,15 +3,18 @@ package nl.ru.des.sensors; import java.util.HashSet; import java.util.Set; +import lejos.hardware.Button; import lejos.hardware.sensor.EV3GyroSensor; import lejos.robotics.SampleProvider; +import lejos.utility.Delay; +import nl.ru.des.LCDPrinter; public class SensorCollector implements MessageHandler{ public static final int DELAY = 200; - private static final float DANGER_DISTANCE_FRONT = 0.175f; - private static final float DANGER_DISTANCE_BACK = 0.035f; - private static final float DANGER_LIGHT = 0.40f; + private float DANGER_DISTANCE_FRONT = 0.175f; + private float DANGER_DISTANCE_BACK = 0.035f; + private float DANGER_LIGHT = 0.40f; private Set variables; @@ -39,6 +42,7 @@ public class SensorCollector implements MessageHandler{ gyroSamples = new float[gyro.sampleSize()]; leftLightSamples = new float[leftLight.sampleSize()]; rightLightSamples = new float[rightLight.sampleSize()]; + ultraTime = System.currentTimeMillis(); leftLightTime = System.currentTimeMillis(); rightLightTime = System.currentTimeMillis(); @@ -51,6 +55,36 @@ public class SensorCollector implements MessageHandler{ variables = new HashSet(); } + + public void calibrate() { + LCDPrinter.print("Put left light on Blue"); + Button.waitForAnyEvent(); + leftLight(); + DANGER_LIGHT = leftLightSamples[0]; + LCDPrinter.print("Light limit: " + Float.toString(DANGER_LIGHT)); + + Delay.msDelay(350); + LCDPrinter.print("Put left light on Black"); + Button.waitForAnyEvent(); + leftLight(); + DANGER_LIGHT = (leftLightSamples[0]+DANGER_LIGHT)/2.0f; + LCDPrinter.print("Light limit: " + Float.toString(DANGER_LIGHT)); + + Delay.msDelay(350); + LCDPrinter.print("Place back ultra safe"); + Button.waitForAnyEvent(); + backDistance(); + DANGER_DISTANCE_BACK = ultraSamples[0] + 0.05f; + LCDPrinter.print("Back ultra limit: " + Float.toString(DANGER_DISTANCE_BACK)); + + Delay.msDelay(350); + LCDPrinter.print("Place front ultra in danger"); + Button.waitForAnyEvent(); + DANGER_DISTANCE_FRONT = frontUltra; + LCDPrinter.print("Calibration done"); + LCDPrinter.print("Front ultra limit: " + Float.toString(DANGER_DISTANCE_FRONT)); + } + //Local sensors public boolean backDistance(){ if(System.currentTimeMillis()-ultraTime>DELAY){ diff --git a/dsl/runtime/src/nl/ru/des/sound/rick.wav b/dsl/runtime/src/nl/ru/des/sound/rick.wav deleted file mode 100644 index 9e46ce173c3042095f12fc7b7506b61e4b1ca27b..0000000000000000000000000000000000000000 GIT binary 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sensors.saveVar("«a.varName.toString()»"); + } «ENDIF» «ENDFOR» LCDPrinter.print("Stop: «b.name»"); -- 2.20.1