Added an executeMessage function.
This commit is contained in:
@@ -28,7 +28,7 @@ import ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor;
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* @see <a href="http://www.lejos.org">The LejOS operating system.</a>
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* @see <a href="https://github.com/sagge-miky/NxtAR-core">NxtAR-core Github repository.</a>
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* @author Miguel Angel Astor Romero
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* @version 1.0.1
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* @version 1.1.0
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* @since December 15, 2014
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*/
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public class NxtARControlProtocol {
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@@ -118,7 +118,7 @@ public class NxtARControlProtocol {
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*
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* @return True if a message could be read, decoded and executed successfully. False otherwise.
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* @throws IOException If reading the message fails. It is the same IOException
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* as thrown by {@link DataInput#readByte()} if any.
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* as thrown by {@link DataInput#readByte()} if any.
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*/
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public boolean readAndExecuteMessage() throws IOException{
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boolean success = false;
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@@ -140,142 +140,7 @@ public class NxtARControlProtocol {
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}
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if(controlAction != null){
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switch(controlAction.action){
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case MOVE_BACKWARDS:
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switch(controlAction.motor){
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case MOTOR_A:
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controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
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break;
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case MOTOR_AB:
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controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
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break;
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case MOTOR_ABC:
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controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
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break;
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case MOTOR_AC:
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controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
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break;
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case MOTOR_B:
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controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
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break;
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case MOTOR_BC:
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controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
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break;
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case MOTOR_C:
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controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
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break;
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}
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success = true;
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break;
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case MOVE_FORWARD:
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switch(controlAction.motor){
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case MOTOR_A:
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controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
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break;
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case MOTOR_AB:
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controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
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break;
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case MOTOR_ABC:
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controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
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break;
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case MOTOR_AC:
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controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
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break;
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case MOTOR_B:
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controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
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break;
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case MOTOR_BC:
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controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
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break;
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case MOTOR_C:
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controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
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break;
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}
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success = true;
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break;
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case RECENTER:
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switch(controlAction.motor){
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case MOTOR_A:
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recenterMotor(MotorPort.MOTOR_A);
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break;
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case MOTOR_AB:
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recenterMotor(MotorPort.MOTOR_A);
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recenterMotor(MotorPort.MOTOR_B);
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break;
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case MOTOR_ABC:
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recenterMotor(MotorPort.MOTOR_A);
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recenterMotor(MotorPort.MOTOR_B);
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recenterMotor(MotorPort.MOTOR_C);
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break;
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case MOTOR_AC:
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recenterMotor(MotorPort.MOTOR_A);
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recenterMotor(MotorPort.MOTOR_C);
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break;
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case MOTOR_B:
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recenterMotor(MotorPort.MOTOR_B);
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break;
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case MOTOR_BC:
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recenterMotor(MotorPort.MOTOR_B);
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recenterMotor(MotorPort.MOTOR_C);
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break;
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case MOTOR_C:
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recenterMotor(MotorPort.MOTOR_C);
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break;
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}
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success = true;
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break;
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case STOP:
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switch(controlAction.motor){
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case MOTOR_A:
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controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
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break;
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case MOTOR_AB:
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controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
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controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
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break;
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case MOTOR_ABC:
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controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
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controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
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break;
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case MOTOR_AC:
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controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
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break;
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case MOTOR_B:
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controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
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break;
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case MOTOR_BC:
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controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
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break;
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case MOTOR_C:
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controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
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break;
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}
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success = true;
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break;
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case USER_1:
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case USER_2:
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case USER_3:
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notifyListeners(controlAction.action, controlAction.motor, controlAction.speed);
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success = true;
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break;
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}
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success = executeControlAction(controlAction);
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}
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}
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@@ -300,7 +165,7 @@ public class NxtARControlProtocol {
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* @return A {@link DecodedControlAction} instance containing the decoded message.
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* @throws IllegalArgumentException If the array is null or has less than 2 elements.
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*/
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public DecodedControlAction decodeMessage(byte[] message) throws IllegalArgumentException{
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public DecodedControlAction decodeMessage(final byte[] message) throws IllegalArgumentException{
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Action action = Action.STOP;
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Motor motor = Motor.MOTOR_ABC;
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DecodedControlAction controlAction;
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@@ -366,6 +231,161 @@ public class NxtARControlProtocol {
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return controlAction;
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}
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/**
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* <p>Executes an already decoded {@link DecodedControlAction}, calling the user operation
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* listeners if needed.</p>
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*
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* @param controlAction The action to execute.
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* @return True if the action could be executed successfully. False otherwise.
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* @throws IllegalArgumentException If controlAction is null.
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*/
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public boolean executeControlAction(final DecodedControlAction controlAction) throws IllegalArgumentException{
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boolean success = false;
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if(controlAction == null){
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throw new IllegalArgumentException("Control action is null.");
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}else{
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switch(controlAction.action){
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case MOVE_BACKWARDS:
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switch(controlAction.motor){
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case MOTOR_A:
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controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
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break;
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case MOTOR_AB:
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controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
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break;
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case MOTOR_ABC:
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controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
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break;
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case MOTOR_AC:
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controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
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break;
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case MOTOR_B:
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controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
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break;
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case MOTOR_BC:
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controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
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break;
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case MOTOR_C:
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controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
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break;
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}
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success = true;
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break;
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case MOVE_FORWARD:
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switch(controlAction.motor){
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case MOTOR_A:
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controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
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break;
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case MOTOR_AB:
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controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
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break;
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case MOTOR_ABC:
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controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
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break;
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case MOTOR_AC:
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controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
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break;
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case MOTOR_B:
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controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
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break;
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case MOTOR_BC:
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controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
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break;
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case MOTOR_C:
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controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
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break;
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}
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success = true;
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break;
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case RECENTER:
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switch(controlAction.motor){
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case MOTOR_A:
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recenterMotor(MotorPort.MOTOR_A);
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break;
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case MOTOR_AB:
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recenterMotor(MotorPort.MOTOR_A);
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recenterMotor(MotorPort.MOTOR_B);
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break;
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case MOTOR_ABC:
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recenterMotor(MotorPort.MOTOR_A);
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recenterMotor(MotorPort.MOTOR_B);
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recenterMotor(MotorPort.MOTOR_C);
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break;
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case MOTOR_AC:
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recenterMotor(MotorPort.MOTOR_A);
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recenterMotor(MotorPort.MOTOR_C);
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break;
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case MOTOR_B:
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recenterMotor(MotorPort.MOTOR_B);
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break;
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case MOTOR_BC:
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recenterMotor(MotorPort.MOTOR_B);
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recenterMotor(MotorPort.MOTOR_C);
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break;
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case MOTOR_C:
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recenterMotor(MotorPort.MOTOR_C);
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break;
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}
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success = true;
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break;
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case STOP:
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switch(controlAction.motor){
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case MOTOR_A:
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controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
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break;
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case MOTOR_AB:
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controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
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controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
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break;
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case MOTOR_ABC:
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controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
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controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
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break;
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case MOTOR_AC:
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controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
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break;
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case MOTOR_B:
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controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
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break;
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case MOTOR_BC:
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controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
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controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
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break;
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case MOTOR_C:
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controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
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break;
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}
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success = true;
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break;
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case USER_1:
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case USER_2:
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case USER_3:
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notifyListeners(controlAction.action, controlAction.motor, controlAction.speed);
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success = true;
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break;
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}
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}
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return success;
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}
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/**
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* <p>Adds an {@link UserActionListener} to this object's listeners list calling it's
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* {@link UserActionListener#onListenerRegistered()} method. Adding a listener that
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@@ -374,7 +394,7 @@ public class NxtARControlProtocol {
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* @param listener The listener to add.
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* @throws IllegalArgumentException If listener is null.
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*/
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public synchronized void registerUserActionListener(UserActionListener listener) throws IllegalArgumentException{
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public synchronized void registerUserActionListener(final UserActionListener listener) throws IllegalArgumentException{
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if(listener == null)
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throw new IllegalArgumentException("Listener is null.");
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@@ -392,7 +412,7 @@ public class NxtARControlProtocol {
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* @param listener The listener to remove.
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* @throws IllegalArgumentException If listener is null.
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*/
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public synchronized void removeUserActionListener(UserActionListener listener) throws IllegalArgumentException{
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public synchronized void removeUserActionListener(final UserActionListener listener) throws IllegalArgumentException{
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if(listener == null)
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throw new IllegalArgumentException("Listener is null.");
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@@ -409,7 +429,7 @@ public class NxtARControlProtocol {
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*
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* @param userAction The action that triggered the notification.
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*/
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private void notifyListeners(Action userAction, Motor motorFlag, int speed){
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private void notifyListeners(final Action userAction, final Motor motorFlag, final int speed){
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switch(userAction){
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case USER_1:
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for(UserActionListener listener : userActionListeners)
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@@ -24,7 +24,7 @@ import ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor;
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*/
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public interface UserActionListener {
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/**
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* <p>Executes a set of instructions just after the listener has been registered with an {@link NxtARControlProtocol instance}.</p>
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* <p>Executes a set of instructions just after the listener has been registered with an {@link NxtARControlProtocol} instance.</p>
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*/
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public void onListenerRegistered();
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@@ -44,7 +44,7 @@ public interface UserActionListener {
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public void onUserAction3(Motor motorFlag, int speed);
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/**
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* <p>Executes a set of instructions just after the listener has been removed from an {@link NxtARControlProtocol instance}.</p>
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* <p>Executes a set of instructions just after the listener has been removed from an {@link NxtARControlProtocol} instance.</p>
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*/
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public void onListenerRemoved();
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}
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