private static void fdCallbackHandler(int fd) {
FD_HANDLER_TYPE handler = (FD_HANDLER_TYPE) fdHashTable.get(Integer.toString(fd));
if (handler != null) {
handler.handle(fd);
} else System.out.println("Ooops -- no handler for fd");
}
public static ZigBee findRemote(long address64) {
ZigBee zb;
synchronized (knownNodes) {
zb = knownNodes.get(new Long(address64));
}
return zb;
}
private static void timerCallbackHandler(int handlerNum, long currentTime, long scheduledTime) {
TIMER_HANDLER_TYPE handler =
(TIMER_HANDLER_TYPE) timerHashTable.get(Integer.toString(handlerNum));
if (handler != null) {
handler.handle(currentTime, scheduledTime);
} else System.out.println("Ooops -- no handler for timer");
}
/** ** Gets the SMSoutboubdGateway for the specified name */
public static SMSOutboundGateway GetSMSGateway(String name) {
/* get handler */
if (StringTools.isBlank(name)) {
return null;
} else {
return SmsGatewayHandlerMap.get(name.toLowerCase());
}
}
public void count_bip_exits(String hostname) {
int[] pos;
pos = (int[]) mbips.get(hostname);
if (pos == null) {
pos = make_int_array(MBIPS_NUM_POS);
mbips.put(hostname, pos);
}
++pos[MBIPS_BIPS_EXITTED_POS];
return;
}
private static void changeCallbackHandler(String msgName, int numHandlers) {
List handlerList = (List) handlerChangeHashTable.get(msgName);
if (handlerList == null) {
System.out.println("Ooops -- no change handlers for message " + msgName);
return;
}
Iterator iter = handlerList.iterator();
while (iter.hasNext()) {
((CHANGE_HANDLE_TYPE) iter.next()).handle(msgName, numHandlers);
}
}
public void count_account_stat(String hostname, AccountStatisticReturnVal acstat) {
double[] pos;
pos = (double[]) mtimes.get(hostname);
if (pos == null) {
pos = make_double_array(MTIMES_NUM_POS);
mtimes.put(hostname, pos);
}
pos[MTIMES_CPU_TIME_POS] += acstat.get_cpu_time();
pos[MTIMES_WALL_TIME_POS] += acstat.get_wall_time();
return;
}
static ZigBee findOrCreateRemote(long address64, short address16) {
ZigBee zb;
synchronized (knownNodes) {
zb = knownNodes.get(new Long(address64));
if (zb == null) {
zb = new ZigBee();
zb.updateAddress64(address64);
}
}
zb.updateAddress16(address16);
return zb;
}
private static void msgCallbackHandler(int handlerNum, int msgInstance, int byteArray) {
handlerHashData handlerData = (handlerHashData) msgHashTable.get(Integer.toString(handlerNum));
if (handlerData != null) {
Object object;
try {
int formatter = IPC_msgInstanceFormatter(msgInstance);
object = unmarshallMsgData(formatter, byteArray, handlerData.dataClass);
handlerData.handler.handle(new MSG_INSTANCE(msgInstance), object);
} catch (Exception e) {
handleException("msgCallbackHandler", IPC_msgInstanceName(msgInstance), e);
}
} else System.out.println("Ooops -- no handler for " + IPC_msgInstanceName(msgInstance));
}
private static void queryNotifyCallbackHandler(int handlerNum, int msgInstance, int byteArray) {
String hashKey = Integer.toString(handlerNum);
handlerHashData handlerData = (handlerHashData) msgHashTable.get(hashKey);
msgHashTable.remove(hashKey);
if (handlerData != null) {
Object object;
try {
object =
unmarshallMsgData(
IPC_msgInstanceFormatter(msgInstance), byteArray, handlerData.dataClass);
handlerData.handler.handle(new MSG_INSTANCE(msgInstance), object);
} catch (Exception e) {
handleException("queryNotifyCallbackHandler", IPC_msgInstanceName(msgInstance), e);
}
} else
System.out.println(
"Ooops -- no query notification handler for " + IPC_msgInstanceName(msgInstance));
}
@Scheduled(fixedDelay = SCHEDULED_CHECK)
public void checkActiveClients() {
Set<String> users = user_vidNameMap.keySet();
Iterator<String> it = users.iterator();
long time = System.currentTimeMillis();
int count = 0;
while (it.hasNext()) {
count++;
String user = it.next();
if (user == null) continue;
if (userAliveMap.containsKey(user)) {
if (userAliveMap.get(user).longValue() < time) {
removeUser(user);
userAliveMap.remove(user);
}
} else {
throw new RuntimeException("user in user-vid map but not in user-alive map");
}
}
// System.out.println("Debug: Scheduled Check count:"+count+" user
// count:"+user_vidNameMap.size());
System.gc();
}
public void run() {
setAllColors(Color.GREEN);
setTurnRadarRight(Double.POSITIVE_INFINITY);
double robotX, robotY;
double robotHeading, angleToGoal, angleToObs;
double adjustment;
double obsAngle, obsAdjustment;
double angleDiff;
double speedToGoal, speedFromObs;
Enemy temp;
obstacles = new HashMap<String, Enemy>(10);
while (true) {
if (foundGoal) {
robotX = getX();
robotY = getY();
goalX = obstacles.get(GOAL_NAME).x;
goalY = obstacles.get(GOAL_NAME).y;
// Adjust robocode's returned heading so that 0 aligns with the positive x-axis instead of
// the positive y-axis.
// Also make it so that positive angle indicates a counter clockwise rotation instead of the
// clockwise style
// returned by robocode.
robotHeading = 360 - (getHeading() - 90);
angleToGoal = Math.toDegrees(Math.atan2(goalY - robotY, goalX - robotX));
if (angleToGoal < 0) {
angleToGoal += 360;
}
adjustment = angleToGoal - robotHeading;
adjustment = normalizeAngle(adjustment);
speedToGoal = calcRobotSpeedLinear(robotX, robotY, goalX, goalY);
// Calculate how the robot's heading and speed should be affected by objects that it has
// located
// as it explores the world.
Iterator it = obstacles.entrySet().iterator();
while (it.hasNext()) {
System.out.println("Iterating through objects.");
Map.Entry pairs = (Map.Entry) it.next();
// If the current item in the Iterator isn't the goal.
if (!pairs.getKey().equals(GOAL_NAME)) {
temp = (Enemy) pairs.getValue();
speedFromObs = calcObjRepulseSpeed(robotX, robotY, temp.x, temp.y);
// If the robot is in range of the object to be affected by it's repulsion.
if (speedFromObs != 0) {
obsAngle = Math.toDegrees(Math.atan2(robotY - temp.y, robotX - temp.x));
if (obsAngle < 0) obsAngle += 360;
angleDiff = obsAngle - angleToGoal;
angleDiff = normalizeAngle(angleDiff);
adjustment += (angleDiff * (speedFromObs / speedToGoal));
speedToGoal -= speedFromObs;
}
}
// Was getting a null pointer exception when using this. The internet lied about its
// usefulness.
// it.remove(); // avoids a ConcurrentModificationException
}
adjustment = normalizeAngle(adjustment);
setTurnLeft(adjustment);
// ahead(speedToGoal);
setAhead(speedToGoal);
}
execute();
}
}
public static String[] lookUp(String key) {
Map<String, String[]> intervals = fillMap();
return intervals.get(key);
}
void processCommandResponse(byte[] packet, int offset) throws ZigBeeException, SerialException {
String command = new String(packet, offset, 2); // commands are all 2 characters.
Command c;
synchronized (outstandingCommands) {
c = outstandingCommands.get(packet[4]);
}
if (c == null) {
System.err.println("Command " + command + " command already timed out or not issued.");
} else {
if (c.command != ZigBeeCommands.ND || packet.length == 9) {
c.status = new Byte(packet[offset + 2]);
synchronized (outstandingCommands) {
outstandingCommands.values().remove(c);
}
} else {
c = null;
}
}
if (packet[offset + 2] != 0) {
// Need to get the message to the user.
if (c != null && packet[offset + 2] == 4) {
if (c.retransmits++ < c.maxRetransmits) {
executeCommand(c, 0);
return;
}
}
if (c != null) {
synchronized (c) {
c.notifyAll();
}
}
return;
}
// Did we get some data back as well?
if (packet.length > offset + 4) {
command = command.toUpperCase();
ZigBeeCommands zbc;
try {
zbc = ZigBeeCommands.valueOf(command);
if (c != null) {
if (zbc.responseString) {
c.response = bytesToString(packet, offset + 3, packet.length - offset - 1);
} else {
c.response = new Long(bytesToNum(packet, offset + 3, 8, packet.length - 1));
}
}
zbc.process(this, packet, offset + 3);
} catch (IllegalArgumentException iae) {
if (c != null) {
c.response = new Long(bytesToNum(packet, offset + 3, 8, packet.length - 1));
}
// unhandled message, just ignore it.
}
}
// let any waiters know we are done.
if (c != null) {
synchronized (c) {
c.notifyAll();
}
}
}
