WallyHackenslacker/libnxtarcontrol
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Merge branch 'develop'

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Wally Hackenslacker
2014-12-18 11:55:28 -04:30
parent 5dbdc29c9e a21b57a9c4
commit 79d59d43a7
2 changed files with 164 additions and 144 deletions
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304
src/ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.java
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@@ -28,7 +28,7 @@ import ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor;
* @see <a href="http://www.lejos.org">The LejOS operating system.</a> * @see <a href="http://www.lejos.org">The LejOS operating system.</a>
* @see <a href="https://github.com/sagge-miky/NxtAR-core">NxtAR-core Github repository.</a> * @see <a href="https://github.com/sagge-miky/NxtAR-core">NxtAR-core Github repository.</a>
* @author Miguel Angel Astor Romero * @author Miguel Angel Astor Romero
* @version 1.0.1 * @version 1.1.0
* @since December 15, 2014 * @since December 15, 2014
*/ */
public class NxtARControlProtocol { public class NxtARControlProtocol {
@@ -118,7 +118,7 @@ public class NxtARControlProtocol {
* *
* @return True if a message could be read, decoded and executed successfully. False otherwise. * @return True if a message could be read, decoded and executed successfully. False otherwise.
* @throws IOException If reading the message fails. It is the same IOException * @throws IOException If reading the message fails. It is the same IOException
* as thrown by {@link DataInput#readByte()} if any. * as thrown by {@link DataInput#readByte()} if any.
*/ */
public boolean readAndExecuteMessage() throws IOException{ public boolean readAndExecuteMessage() throws IOException{
boolean success = false; boolean success = false;
@@ -140,142 +140,7 @@ public class NxtARControlProtocol {
} }
if(controlAction != null){ if(controlAction != null){
switch(controlAction.action){ success = executeControlAction(controlAction);
case MOVE_BACKWARDS:
switch(controlAction.motor){
case MOTOR_A:
controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
break;
case MOTOR_AB:
controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
break;
case MOTOR_ABC:
controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
break;
case MOTOR_AC:
controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
break;
case MOTOR_B:
controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
break;
case MOTOR_BC:
controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
break;
case MOTOR_C:
controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
break;
}
success = true;
break;
case MOVE_FORWARD:
switch(controlAction.motor){
case MOTOR_A:
controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
break;
case MOTOR_AB:
controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
break;
case MOTOR_ABC:
controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
break;
case MOTOR_AC:
controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
break;
case MOTOR_B:
controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
break;
case MOTOR_BC:
controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
break;
case MOTOR_C:
controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
break;
}
success = true;
break;
case RECENTER:
switch(controlAction.motor){
case MOTOR_A:
recenterMotor(MotorPort.MOTOR_A);
break;
case MOTOR_AB:
recenterMotor(MotorPort.MOTOR_A);
recenterMotor(MotorPort.MOTOR_B);
break;
case MOTOR_ABC:
recenterMotor(MotorPort.MOTOR_A);
recenterMotor(MotorPort.MOTOR_B);
recenterMotor(MotorPort.MOTOR_C);
break;
case MOTOR_AC:
recenterMotor(MotorPort.MOTOR_A);
recenterMotor(MotorPort.MOTOR_C);
break;
case MOTOR_B:
recenterMotor(MotorPort.MOTOR_B);
break;
case MOTOR_BC:
recenterMotor(MotorPort.MOTOR_B);
recenterMotor(MotorPort.MOTOR_C);
break;
case MOTOR_C:
recenterMotor(MotorPort.MOTOR_C);
break;
}
success = true;
break;
case STOP:
switch(controlAction.motor){
case MOTOR_A:
controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
break;
case MOTOR_AB:
controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
break;
case MOTOR_ABC:
controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
break;
case MOTOR_AC:
controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
break;
case MOTOR_B:
controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
break;
case MOTOR_BC:
controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
break;
case MOTOR_C:
controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
break;
}
success = true;
break;
case USER_1:
case USER_2:
case USER_3:
notifyListeners(controlAction.action, controlAction.motor, controlAction.speed);
success = true;
break;
}
} }
} }
@@ -300,7 +165,7 @@ public class NxtARControlProtocol {
* @return A {@link DecodedControlAction} instance containing the decoded message. * @return A {@link DecodedControlAction} instance containing the decoded message.
* @throws IllegalArgumentException If the array is null or has less than 2 elements. * @throws IllegalArgumentException If the array is null or has less than 2 elements.
*/ */
public DecodedControlAction decodeMessage(byte[] message) throws IllegalArgumentException{ public DecodedControlAction decodeMessage(final byte[] message) throws IllegalArgumentException{
Action action = Action.STOP; Action action = Action.STOP;
Motor motor = Motor.MOTOR_ABC; Motor motor = Motor.MOTOR_ABC;
DecodedControlAction controlAction; DecodedControlAction controlAction;
@@ -366,6 +231,161 @@ public class NxtARControlProtocol {
return controlAction; return controlAction;
} }
/**
* <p>Executes an already decoded {@link DecodedControlAction}, calling the user operation
* listeners if needed.</p>
*
* @param controlAction The action to execute.
* @return True if the action could be executed successfully. False otherwise.
* @throws IllegalArgumentException If controlAction is null.
*/
public boolean executeControlAction(final DecodedControlAction controlAction) throws IllegalArgumentException{
boolean success = false;
if(controlAction == null){
throw new IllegalArgumentException("Control action is null.");
}else{
switch(controlAction.action){
case MOVE_BACKWARDS:
switch(controlAction.motor){
case MOTOR_A:
controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
break;
case MOTOR_AB:
controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
break;
case MOTOR_ABC:
controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
break;
case MOTOR_AC:
controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
break;
case MOTOR_B:
controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
break;
case MOTOR_BC:
controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
break;
case MOTOR_C:
controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
break;
}
success = true;
break;
case MOVE_FORWARD:
switch(controlAction.motor){
case MOTOR_A:
controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
break;
case MOTOR_AB:
controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
break;
case MOTOR_ABC:
controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
break;
case MOTOR_AC:
controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
break;
case MOTOR_B:
controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
break;
case MOTOR_BC:
controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
break;
case MOTOR_C:
controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
break;
}
success = true;
break;
case RECENTER:
switch(controlAction.motor){
case MOTOR_A:
recenterMotor(MotorPort.MOTOR_A);
break;
case MOTOR_AB:
recenterMotor(MotorPort.MOTOR_A);
recenterMotor(MotorPort.MOTOR_B);
break;
case MOTOR_ABC:
recenterMotor(MotorPort.MOTOR_A);
recenterMotor(MotorPort.MOTOR_B);
recenterMotor(MotorPort.MOTOR_C);
break;
case MOTOR_AC:
recenterMotor(MotorPort.MOTOR_A);
recenterMotor(MotorPort.MOTOR_C);
break;
case MOTOR_B:
recenterMotor(MotorPort.MOTOR_B);
break;
case MOTOR_BC:
recenterMotor(MotorPort.MOTOR_B);
recenterMotor(MotorPort.MOTOR_C);
break;
case MOTOR_C:
recenterMotor(MotorPort.MOTOR_C);
break;
}
success = true;
break;
case STOP:
switch(controlAction.motor){
case MOTOR_A:
controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
break;
case MOTOR_AB:
controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
break;
case MOTOR_ABC:
controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
break;
case MOTOR_AC:
controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
break;
case MOTOR_B:
controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
break;
case MOTOR_BC:
controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
break;
case MOTOR_C:
controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
break;
}
success = true;
break;
case USER_1:
case USER_2:
case USER_3:
notifyListeners(controlAction.action, controlAction.motor, controlAction.speed);
success = true;
break;
}
}
return success;
}
/** /**
* <p>Adds an {@link UserActionListener} to this object's listeners list calling it's * <p>Adds an {@link UserActionListener} to this object's listeners list calling it's
* {@link UserActionListener#onListenerRegistered()} method. Adding a listener that * {@link UserActionListener#onListenerRegistered()} method. Adding a listener that
@@ -374,7 +394,7 @@ public class NxtARControlProtocol {
* @param listener The listener to add. * @param listener The listener to add.
* @throws IllegalArgumentException If listener is null. * @throws IllegalArgumentException If listener is null.
*/ */
public synchronized void registerUserActionListener(UserActionListener listener) throws IllegalArgumentException{ public synchronized void registerUserActionListener(final UserActionListener listener) throws IllegalArgumentException{
if(listener == null) if(listener == null)
throw new IllegalArgumentException("Listener is null."); throw new IllegalArgumentException("Listener is null.");
@@ -392,7 +412,7 @@ public class NxtARControlProtocol {
* @param listener The listener to remove. * @param listener The listener to remove.
* @throws IllegalArgumentException If listener is null. * @throws IllegalArgumentException If listener is null.
*/ */
public synchronized void removeUserActionListener(UserActionListener listener) throws IllegalArgumentException{ public synchronized void removeUserActionListener(final UserActionListener listener) throws IllegalArgumentException{
if(listener == null) if(listener == null)
throw new IllegalArgumentException("Listener is null."); throw new IllegalArgumentException("Listener is null.");
@@ -409,7 +429,7 @@ public class NxtARControlProtocol {
* *
* @param userAction The action that triggered the notification. * @param userAction The action that triggered the notification.
*/ */
private void notifyListeners(Action userAction, Motor motorFlag, int speed){ private void notifyListeners(final Action userAction, final Motor motorFlag, final int speed){
switch(userAction){ switch(userAction){
case USER_1: case USER_1:
for(UserActionListener listener : userActionListeners) for(UserActionListener listener : userActionListeners)

4
src/ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.java
View File

@@ -24,7 +24,7 @@ import ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor;
*/ */
public interface UserActionListener { public interface UserActionListener {
/** /**
* <p>Executes a set of instructions just after the listener has been registered with an {@link NxtARControlProtocol instance}.</p> * <p>Executes a set of instructions just after the listener has been registered with an {@link NxtARControlProtocol} instance.</p>
*/ */
public void onListenerRegistered(); public void onListenerRegistered();
@@ -44,7 +44,7 @@ public interface UserActionListener {
public void onUserAction3(Motor motorFlag, int speed); public void onUserAction3(Motor motorFlag, int speed);
/** /**
* <p>Executes a set of instructions just after the listener has been removed from an {@link NxtARControlProtocol instance}.</p> * <p>Executes a set of instructions just after the listener has been removed from an {@link NxtARControlProtocol} instance.</p>
*/ */
public void onListenerRemoved(); public void onListenerRemoved();
} }