WallyHackenslacker/libnxtarcontrol
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Added an executeMessage function.

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Wally Hackenslacker
2014-12-18 11:54:55 -04:30
parent 4dc1452dac
commit a21b57a9c4
2 changed files with 164 additions and 144 deletions
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198
src/ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.java
View File

@@ -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="https://github.com/sagge-miky/NxtAR-core">NxtAR-core Github repository.</a>
* @author Miguel Angel Astor Romero
* @version 1.0.1
* @version 1.1.0
* @since December 15, 2014
*/
public class NxtARControlProtocol {
@@ -140,6 +140,111 @@ public class NxtARControlProtocol {
}
if(controlAction != null){
success = executeControlAction(controlAction);
}
}
return success;
}
/**
* <p>Decodes a protocol message encoded as a byte array of two elements as specified
* in the package definition.</p>
*
* <p>User actions have precedence over motor recentering and
* this in turn has precedence over other movement actions.
* User actions have precedence in decreasing order; that is, user action 1 has
* precedence over user actions 2 and 3, etc.</p>
*
* <p>If the message indicates a movement (forward or backward) with all motors off,
* then it is interpreted as a request to stop all motors. A recenter or user action
* with all motors off will be decoded as is and must be interpreted by the user.</p>
*
* @param message A byte array of size two encoding a message recognized by the protocol. If the array
* has 3 or more elements then only the first 2 are used during the decoding process.
* @return A {@link DecodedControlAction} instance containing the decoded message.
* @throws IllegalArgumentException If the array is null or has less than 2 elements.
*/
public DecodedControlAction decodeMessage(final byte[] message) throws IllegalArgumentException{
Action action = Action.STOP;
Motor motor = Motor.MOTOR_ABC;
DecodedControlAction controlAction;
if(message == null)
throw new IllegalArgumentException("Message is null.");
if(message.length < 2)
throw new IllegalArgumentException("Message is too short. Length of message is " + message.length);
// Decode the message.
boolean motorA = (message[0] & MOTOR_A) > 0 ? true : false;
boolean motorB = (message[0] & MOTOR_B) > 0 ? true : false;
boolean motorC = (message[0] & MOTOR_C) > 0 ? true : false;
boolean recenter = (message[0] & RECENTER) > 0 ? true : false;
boolean user1 = (message[0] & USER_1) > 0 ? true : false;
boolean user2 = (message[0] & USER_2) > 0 ? true : false;
boolean user3 = (message[0] & USER_3) > 0 ? true : false;
int direction = (message[0] & DIRECTION) > 0 ? BasicMotorPort.FORWARD : BasicMotorPort.BACKWARD;
// Set the action flag.
if(user1 || user2 || user3){
if (user1) action = Action.USER_1;
else if(user2) action = Action.USER_2;
else if(user3) action = Action.USER_3;
}else if(recenter){
action = Action.RECENTER;
}else{
if(direction == BasicMotorPort.FORWARD){
action = Action.MOVE_FORWARD;
}else if(direction == BasicMotorPort.BACKWARD){
action = Action.MOVE_BACKWARDS;
}
}
// Set the motor flag.
if(motorA && motorB && motorC){
motor = Motor.MOTOR_ABC;
}else if(motorA && motorB && !motorC){
motor = Motor.MOTOR_AB;
}else if(motorA && !motorB && motorC){
motor = Motor.MOTOR_AC;
}else if(!motorA && motorB && motorC){
motor = Motor.MOTOR_BC;
}else if(motorA && !motorB && !motorC){
motor = Motor.MOTOR_A;
}else if(!motorA && motorB && !motorC){
motor = Motor.MOTOR_B;
}else if(!motorA && !motorB && motorC){
motor = Motor.MOTOR_C;
}
// Check for stop condition.
if(action == Action.MOVE_FORWARD || action == Action.MOVE_BACKWARDS){
if(!motorA && !motorB && !motorC){
action = Action.STOP;
motor = Motor.MOTOR_ABC;
}
}
controlAction = new DecodedControlAction(action, motor, message[1]);
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){
@@ -277,95 +382,10 @@ public class NxtARControlProtocol {
break;
}
}
}
return success;
}
/**
* <p>Decodes a protocol message encoded as a byte array of two elements as specified
* in the package definition.</p>
*
* <p>User actions have precedence over motor recentering and
* this in turn has precedence over other movement actions.
* User actions have precedence in decreasing order; that is, user action 1 has
* precedence over user actions 2 and 3, etc.</p>
*
* <p>If the message indicates a movement (forward or backward) with all motors off,
* then it is interpreted as a request to stop all motors. A recenter or user action
* with all motors off will be decoded as is and must be interpreted by the user.</p>
*
* @param message A byte array of size two encoding a message recognized by the protocol. If the array
* has 3 or more elements then only the first 2 are used during the decoding process.
* @return A {@link DecodedControlAction} instance containing the decoded message.
* @throws IllegalArgumentException If the array is null or has less than 2 elements.
*/
public DecodedControlAction decodeMessage(byte[] message) throws IllegalArgumentException{
Action action = Action.STOP;
Motor motor = Motor.MOTOR_ABC;
DecodedControlAction controlAction;
if(message == null)
throw new IllegalArgumentException("Message is null.");
if(message.length < 2)
throw new IllegalArgumentException("Message is too short. Length of message is " + message.length);
// Decode the message.
boolean motorA = (message[0] & MOTOR_A) > 0 ? true : false;
boolean motorB = (message[0] & MOTOR_B) > 0 ? true : false;
boolean motorC = (message[0] & MOTOR_C) > 0 ? true : false;
boolean recenter = (message[0] & RECENTER) > 0 ? true : false;
boolean user1 = (message[0] & USER_1) > 0 ? true : false;
boolean user2 = (message[0] & USER_2) > 0 ? true : false;
boolean user3 = (message[0] & USER_3) > 0 ? true : false;
int direction = (message[0] & DIRECTION) > 0 ? BasicMotorPort.FORWARD : BasicMotorPort.BACKWARD;
// Set the action flag.
if(user1 || user2 || user3){
if (user1) action = Action.USER_1;
else if(user2) action = Action.USER_2;
else if(user3) action = Action.USER_3;
}else if(recenter){
action = Action.RECENTER;
}else{
if(direction == BasicMotorPort.FORWARD){
action = Action.MOVE_FORWARD;
}else if(direction == BasicMotorPort.BACKWARD){
action = Action.MOVE_BACKWARDS;
}
}
// Set the motor flag.
if(motorA && motorB && motorC){
motor = Motor.MOTOR_ABC;
}else if(motorA && motorB && !motorC){
motor = Motor.MOTOR_AB;
}else if(motorA && !motorB && motorC){
motor = Motor.MOTOR_AC;
}else if(!motorA && motorB && motorC){
motor = Motor.MOTOR_BC;
}else if(motorA && !motorB && !motorC){
motor = Motor.MOTOR_A;
}else if(!motorA && motorB && !motorC){
motor = Motor.MOTOR_B;
}else if(!motorA && !motorB && motorC){
motor = Motor.MOTOR_C;
}
// Check for stop condition.
if(action == Action.MOVE_FORWARD || action == Action.MOVE_BACKWARDS){
if(!motorA && !motorB && !motorC){
action = Action.STOP;
motor = Motor.MOTOR_ABC;
}
}
controlAction = new DecodedControlAction(action, motor, message[1]);
return controlAction;
}
/**
* <p>Adds an {@link UserActionListener} to this object's listeners list calling it's
* {@link UserActionListener#onListenerRegistered()} method. Adding a listener that
@@ -374,7 +394,7 @@ public class NxtARControlProtocol {
* @param listener The listener to add.
* @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)
throw new IllegalArgumentException("Listener is null.");
@@ -392,7 +412,7 @@ public class NxtARControlProtocol {
* @param listener The listener to remove.
* @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)
throw new IllegalArgumentException("Listener is null.");
@@ -409,7 +429,7 @@ public class NxtARControlProtocol {
*
* @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){
case USER_1:
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 {
/**
* <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();
@@ -44,7 +44,7 @@ public interface UserActionListener {
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();
}