/**
* Function returns all of the scribbler sensors (not fluke) in a hashmap. Each associated array
* for a key is of variable length, depending on the type of sensor. IR array has size 2; LIGHT
* array has size 3; LINE array has size 2; STALL array has size 1;
*
* @return hashmap with keys: "IR", "LINE", "LIGHT", and "STALL"
*/
public HashMap<String, int[]> getAll() {
HashMap<String, int[]> hm = new HashMap<String, int[]>();
int[] v;
if (getCommands != null) {
v = getCommands.getAll();
hm.put("IR", new int[] {v[0], v[1]});
hm.put("LIGHT", new int[] {v[2], v[3], v[4]});
hm.put("LINE", new int[] {v[5], v[6]});
hm.put("STALL", new int[] {v[7]});
}
return hm;
}
public float getBattery() {
byte[] ba = null;
int unmodified;
float value = 0;
if (getCommands != null) {
ba = getCommands.getBattery();
unmodified = (ba[0] & 0xFF) << 8 | ba[1] & 0xFF;
value = unmodified / 20.9813f;
if (D) Log.d(TAG, "getBattery -> " + value);
}
return value;
}
/**
* Function properly gets and converts the robots name
*
* @return - String representing the robots trimmed name
*/
public String getName() {
int[] ba;
StringBuilder build;
String name = null;
if (getCommands != null) {
// Get the proper bytes and convert them to characters
ba = getCommands.getName();
build = new StringBuilder(ba.length);
for (int i = 0; i < ba.length; i++) build.append((char) ba[i]);
name = build.toString().trim();
}
if (D) Log.d(TAG, "Scribbler Name Read: " + name);
return name;
}
public int[] getIR(String type) {
int[] ba, ret = null;
type = type.toLowerCase();
if (getCommands != null) {
ba = getCommands.getIR();
if (type.equals("left")) {
ret = new int[1];
ret[0] = ba[0];
} else if (type.equals("right")) {
ret = new int[1];
ret[0] = ba[1];
} else {
ret = ba;
}
}
return ret;
}
public Bitmap takePicture() {
Bitmap bm = null;
byte[] ba;
if (getCommands != null) {
ba = getCommands.getPictureArray();
bm = Bitmap.createBitmap(256, 192, Bitmap.Config.ARGB_8888);
int w = 256;
int h = 192;
int vy, vu, y1v, y1u, uy, uv, y2u, y2v;
int V = 0, Y = 0, U = 0;
for (int i = 0; i < h; i++) {
for (int j = 0; j < w; j++) {
if (j >= 3) {
vy = -1;
vu = 2;
y1v = -1;
y1u = -3;
uy = -1;
uv = -2;
y2u = -1;
y2v = -3;
} else {
vy = 1;
vu = 2;
y1v = 3;
y1u = 1;
uy = 1;
uv = 2;
y2u = 3;
y2v = 1;
}
if ((j % 4) == 0) {
V = ba[i * w + j] & 0xff;
Y = ba[i * w + j + vy] & 0xff;
U = ba[i * w + j + vu] & 0xff;
} else if ((j % 4) == 1) {
Y = ba[i * w + j] & 0xff;
V = ba[i * w + j + y1v] & 0xff;
U = ba[i * w + j + y1u] & 0xff;
} else if ((j % 4) == 2) {
U = ba[i * w + j] & 0xff;
Y = ba[i * w + j + uy] & 0xff;
V = ba[i * w + j + uv] & 0xff;
} else if ((j % 4) == 3) {
Y = ba[i * w + j] & 0xff;
U = ba[i * w + j + y2u] & 0xff;
V = ba[i * w + j + y2v] & 0xff;
}
U = U - 128;
V = V - 128;
// Y = Y;
bm.setPixel(
j,
i,
Color.rgb(
(int) Math.max(Math.min(Y + 1.13983 * V, 255), 0),
(int) Math.max(Math.min(Y - 0.39466 * U - 0.58060 * V, 255), 0),
(int) Math.max(Math.min(Y + 2.03211 * U, 255), 0)));
}
}
}
return bm;
}
