public void checkMessage() {
try {
switch (message.charAt(0)) {
case '#':
processStatusMessage();
break;
case 'n':
messProc = new MessageProcessor(state.getSensorValues());
state.postSensorValues(messProc.processSensorArray(message));
state.distTimeStamp = new Date().getTime();
break;
case 'o':
messProc = new MessageProcessor(state.getSensorValues());
state.postSensorValues(messProc.processSensorArray(message));
state.lightTimeStamp = new Date().getTime();
break;
case 't':
messProc = new MessageProcessor();
state.postObjectPresent(messProc.processObjPresent(message));
state.objectTimeStamp = new Date().getTime();
break;
case 'f':
state.postResistivity(messProc.processResistivity(message));
break;
}
} catch (StringIndexOutOfBoundsException e) {
return;
}
}
public String read() {
try {
inc = reader.readLine();
} catch (Exception e) {
state.sessionStatus = ClientConfiguration.BROKEN;
System.out.println("\nConnection Lost");
System.exit(0);
}
// System.out.println("returning string " + inc);
return inc;
}
public void processStatusMessage() {
if (message.startsWith("#TIMEOUT")) {
state.sessionStatus = ClientConfiguration.TIMEOUT;
stop();
} else if (message.startsWith("#START")) {
state.waitTime = "now";
state.sessionStatus = ClientConfiguration.RUNNING;
} else if (message.startsWith("#WAIT")) {
state.waitTime = "in " + message.substring(6);
state.sessionStatus = ClientConfiguration.WAITING;
} else if (message.startsWith("#STUCK")) {
state.waitTime = "must wait until the Khepera is unstuck";
state.sessionStatus = ClientConfiguration.STUCK;
}
}
public void run() {
while (true) {
if (state.pendingCmd == true) {
writeCmd = state.cmd;
write(writeCmd);
do {
message = read();
} while (!checkLen());
checkMessage();
state.pendingCmd = false;
}
try {
sleep(5);
} catch (Exception e) {
System.out.println("Exception in overall sleep of stateUpdater");
}
}
}