135 lines
3.9 KiB
Java
135 lines
3.9 KiB
Java
/*
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* Copyright (C) 2014 Miguel Angel Astor Romero
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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package ve.ucv.ciens.ccg.nxtarbot;
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import java.io.DataInputStream;
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import java.io.DataOutputStream;
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import java.io.IOException;
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import lejos.nxt.Button;
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import lejos.nxt.ButtonListener;
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import lejos.nxt.LightSensor;
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import lejos.nxt.Motor;
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import lejos.nxt.SensorPort;
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import lejos.nxt.comm.Bluetooth;
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import lejos.nxt.comm.NXTConnection;
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import ve.ucv.ciens.ccg.nxtarbot.threads.MotorControlThread;
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import ve.ucv.ciens.ccg.nxtarbot.threads.SensorReportThread;
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/**
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* Core class for the robot module of NxtAR.
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*/
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public class NxtAR_bot{
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private static DataOutputStream dataOutputStream;
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private static DataInputStream dataInputStream;
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private static NXTConnection bluetoothConnection;
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private static MotorControlThread recvThread;
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private static SensorReportThread sendThread;
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/**
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* <p>Finishes the communication threads and closes the Bluetooth data streams,
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* then quits the application.</p>
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*/
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private static void quit(){
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if(recvThread != null) recvThread.finish();
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if(sendThread != null) sendThread.finish();
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if(bluetoothConnection != null){
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try{
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dataOutputStream.close();
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dataInputStream.close();
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}catch(IOException io){
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System.out.println(io.getMessage());
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}
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bluetoothConnection.close();
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}
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System.exit(0);
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}
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/**
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* <p>Application entry point.</p>
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* <p>Resets the motors, calibrates the light sensor and starts the
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* networking threads.</p>
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*
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* @param args Command line arguments.
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*/
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public static void main(String[] args){
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// Set a listener to force quit if the ESCAPE button is pressed.
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Button.ESCAPE.addButtonListener(new QuitButtonListener());
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// Reset the rotation counts of the motors.
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Motor.A.resetTachoCount();
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Motor.B.resetTachoCount();
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Motor.C.resetTachoCount();
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// Start the light sensor and calibrate it.
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LightSensor lightSensor = new LightSensor(SensorPort.S1);
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lightSensor.setFloodlight(true);
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System.out.println("Point at dark\nand press ENTER");
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Button.ENTER.waitForPress();
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lightSensor.calibrateLow();
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System.out.println("--/--");
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System.out.println("Point at light\nand press ENTER");
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Button.ENTER.waitForPress();
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lightSensor.calibrateHigh();
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System.out.println("--/--");
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System.out.println("Waiting for BT\nconnection");
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// Connect with a Bluetooth device in raw mode. Then get the connection
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// streams.
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bluetoothConnection = Bluetooth.waitForConnection();
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bluetoothConnection.setIOMode(NXTConnection.RAW);
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dataOutputStream = bluetoothConnection.openDataOutputStream();
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dataInputStream = bluetoothConnection.openDataInputStream();
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System.out.println("--/--");
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System.out.println("Connected");
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// Start the networking threads and wait for them to finish.
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sendThread = new SensorReportThread(dataOutputStream, lightSensor);
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recvThread = new MotorControlThread(dataInputStream);
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recvThread.start();
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sendThread.start();
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try{
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recvThread.join();
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sendThread.join();
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}catch(InterruptedException i){ }
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quit();
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}
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/**
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* <p>Force quit button listener.</p>
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*/
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private static class QuitButtonListener implements ButtonListener{
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@Override
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public void buttonPressed(Button b){
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// Force quit.
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System.out.println("--/--");
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System.out.println("Quitting");
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System.exit(0);
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}
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@Override
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public void buttonReleased(Button b){ /* Ignore */ }
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}
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}
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