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 (file)
--- 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 (file)
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 (file)
--- 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();