Example #1
0
  /**
   * Create a message provider for all the possible message provider classes like the inputs,
   * outputs, system information queries
   */
  private void initMessageProviders() {
    System.out.println("Creating Message Providers:");
    // @miguelduarte42 SystemInfoMessageProvider takes ~20 seconds and it
    // is not currently used, so I just removed it
    //		messageProviders.add(new SystemInfoMessageProvider());
    //		System.out.println("\tSystemInfoMessageProvider");
    messageProviders.add(new SystemStatusMessageProvider(this));
    System.out.println("\tSystemStatusMessageProvider");

    for (ControllerInput i : ioManager.getInputs()) {
      if (i instanceof MessageProvider) {
        messageProviders.add((MessageProvider) i);
        System.out.println("\t" + i.getClass().getSimpleName());
      }
    }

    for (ControllerOutput o : ioManager.getOutputs()) {
      if (o instanceof MessageProvider) {
        messageProviders.add((MessageProvider) o);
        System.out.println("\t" + o.getClass().getSimpleName());
      }
    }

    messageProviders.add(new EntityMessageProvider(this));
    System.out.println("\tEntityMessageProvider");
    messageProviders.add(new EntitiesMessageProvider(this));
    System.out.println("\tEntitiesMessageProvider");
    messageProviders.add(new BehaviorMessageProvider(this));
    System.out.println("\tBehaviorMessageProvider");
    messageProviders.add(new NeuralActivationsMessageProvider(this));
    System.out.println("\tNeuralActivationsMessageProvider");
    messageProviders.add(new LogMessageProvider(this));
    System.out.println("\tLogMessageProvider");
  }
Example #2
0
  @Override
  public void reset() {
    ioManager.shutdownMotors();

    if (activeBehavior != null) {
      activeBehavior.cleanUp();
      activeBehavior = null;
      ioManager.setMotorSpeeds(leftSpeed, rightSpeed);
    }
    try {
      // make sure that the current control step is processed
      Thread.sleep(100);
    } catch (InterruptedException e) {
    }
  }
Example #3
0
 private double updateCompass() {
   try {
     double orientation = ioManager.getCompassModule().getHeadingInDegrees();
     return (orientation % 360.0);
   } catch (Exception e) {
     return -1;
   }
 }
Example #4
0
  @Override
  public void stopActiveBehavior() {
    if (activeBehavior != null) {
      activeBehavior.cleanUp();

      String str = "Stopping CIBehavior " + activeBehavior.toString();
      log(LogCodex.encodeLog(LogType.MESSAGE, str));

      activeBehavior = null;
      ioManager.setMotorSpeeds(leftSpeed, rightSpeed);
    }
  }
Example #5
0
  @Override
  public void shutdown() {
    log(LogCodex.encodeLog(LogType.MESSAGE, "Shutting down Controller..."));

    run = false;

    if (logger != null) logger.stopLogging();

    ioManager.shutdown();

    System.out.println("# Finished Controller cleanup!");
  }
Example #6
0
 // Setters
 @Override
 public void setLed(int index, LedState state) {
   if (ioManager.getDebugLeds() != null) {
     if (index >= 0 && index < ioManager.getDebugLeds().getNumberOfOutputs()) {
       switch (state) {
         case ON:
           ioManager.getDebugLeds().removeBlinkLed(index);
           ioManager.getDebugLeds().setValue(index, 1);
           break;
         case OFF:
           ioManager.getDebugLeds().removeBlinkLed(index);
           ioManager.getDebugLeds().setValue(index, 0);
           break;
         case BLINKING:
           ioManager.getDebugLeds().addBlinkLed(index);
           break;
       }
     } else {
       if (logger != null)
         logger.logError(
             "Invalid led index: "
                 + index
                 + ", must be >= 0 and < "
                 + ioManager.getDebugLeds().getNumberOfOutputs());
     }
   }
 }
Example #7
0
  private void configureArguments(CIArguments args) {

    if (args.getArgumentIsDefined("dronetype"))
      setProperty("dronetype", args.getArgumentAsString("dronetype"));

    if (args.getFlagIsTrue("filelogger")) this.startLogger();

    if (args.getArgumentIsDefined("compassoffset") && ioManager.getCompassModule() != null)
      ioManager.getCompassModule().setOffset(args.getArgumentAsInt("compassoffset"));

    if (args.getArgumentIsDefined("changewaypoint"))
      setProperty("changewaypoint", args.getArgumentAsString("changewaypoint"));

    if (args.getArgumentIsDefined("avoiddrones"))
      setProperty("avoiddrones", args.getArgumentAsString("avoiddrones"));

    if (args.getArgumentIsDefined("avoidobstacles"))
      setProperty("avoidobstacles", args.getArgumentAsString("avoidobstacles"));

    if (args.getArgumentIsDefined("kalmanfilter"))
      setProperty("kalmanfilter", args.getArgumentAsString("kalmanfilter"));
  }
Example #8
0
  private LatLon updateGPS() {
    try {

      GPSData gpsData = ioManager.getGpsModule().getReadings();

      currentGPSOrientation = gpsData.getOrientation();

      if (gpsData.getLatitudeDecimal() == 0 || gpsData.getLongitudeDecimal() == 0) return null;
      else return new LatLon(gpsData.getLatitudeDecimal(), gpsData.getLongitudeDecimal());
    } catch (Exception e) {
      currentOrientation = -1;
      return null;
    }
  }
Example #9
0
  @Override
  public void run() {
    while (run) {

      updateSensors();

      long lastCycleTime = System.currentTimeMillis();
      CIBehavior current = activeBehavior;
      try {

        if (current != null) {

          current.step(behaviorTimestep++);

          for (CIBehavior b : alwaysActiveBehaviors) b.step(timestep);

          if (current.getTerminateBehavior()) {
            stopActiveBehavior();
          }
        }

      } catch (Exception e) {
        e.printStackTrace();
      }

      ioManager.setMotorSpeeds(leftSpeed, rightSpeed);

      if (broadcastHandler != null) broadcastHandler.update(timestep);

      long timeToSleep = CYCLE_TIME - (System.currentTimeMillis() - lastCycleTime);

      if (timeToSleep > 0) {
        try {
          Thread.sleep(timeToSleep);
        } catch (InterruptedException e) {
        }
      }

      timestep++;
    }
  }
Example #10
0
 // Init's
 private void initIO(CIArguments args) {
   ioManager = new IOManager(this, args);
   initMessages += ioManager.getInitMessages();
 }