@Override
public void newCricketData(CricketData cd) {
if (!cd.getConnection()) return;
boolean recognized = true;
String id = cd.getCricketID();
PlayerPoint3d coord = cricketPositions.get(id);
if (coord == null) {
recognized = false;
Logger.log("New Cricket Data from " + id + ", unrecognized CricketID.");
return;
}
double x = coord.getPx();
double y = coord.getPy();
double z = coord.getPz();
if (!beaconReadings.containsKey(id)) { // is the first time reading from this beacon
Logger.logDbg(
"Found Cricket Mote "
+ (recognized ? ("at (" + x + "," + y + "),") : "with unrecognized")
+ " ID="
+ id);
}
double dist = (double) (cd.getDistance() / 100); // convert distance from cm to meters
beaconReadings.put(
id,
new CricketBeaconReading(
System.currentTimeMillis(),
x,
y,
z,
dist)); // pythagorean theorem to find distance along ground
}
/** Stops the CricketDataBuffer. Allows the thread that reads Cricket data to terminate. */
public synchronized void stop() {
if (running) {
Logger.log("stopping...");
cricketIface.deregisterCricketDataListener(this);
running = false;
} else Logger.log("already stopped...");
}
/** Starts the CricketDataBuffer. Creates a thread for reading cricket data. */
public synchronized void start() {
if (!running) {
Logger.log("starting...");
running = true;
cricketIface.registerCricketDataListener(this);
// new Thread(this).start();
} else Logger.log("already started...");
}
/**
* Reads a file with cricket beacons IDs and coordinates in order to associate each beacon with
* its location instead of ID
*
* @param fileName the file to read, default is "cricketBeacons.txt"
* @return a map of key-value pairs, where the key is the Cricket beacon ID and the value is the
* 3-d coordinate of the beacon
*/
private HashMap<String, PlayerPoint3d> readCricketFile(String fileName) {
File f = new File(fileName);
if (!f.exists()) {
Logger.logErr(
"Could not find Cricket beacons file: "
+ fileName
+ ", using cricketBeacons.txt instead.");
fileName = "cricketBeacons.txt";
}
HashMap<String, PlayerPoint3d> beacons = new HashMap<String, PlayerPoint3d>();
try {
Scanner sc = new Scanner(new BufferedReader(new FileReader(fileName)));
while (sc.hasNextLine()) {
String cricketId = sc.next();
if (cricketId.contains("//")
|| cricketId.contains("/*")
|| cricketId.contains("#")
|| cricketId.contains(";")) {
// we've reached a commented line in the file
sc.nextLine(); // skip this line
continue;
}
PlayerPoint3d coords = new PlayerPoint3d();
coords.setPx(sc.nextDouble());
coords.setPy(sc.nextDouble());
coords.setPz(sc.nextDouble());
sc.nextLine(); // consume the rest of the line
// store to hashmap entry
beacons.put(cricketId, coords);
Logger.logDbg(
"Cricket Mote "
+ cricketId
+ " has coords: ("
+ coords.getPx()
+ ","
+ coords.getPy()
+ ","
+ coords.getPz()
+ ")");
}
} catch (FileNotFoundException e) {
Logger.logErr("Could not find Cricket beacons file: " + fileName);
e.printStackTrace();
} catch (InputMismatchException e) {
Logger.logErr("Error reading Cricket beacons file: " + fileName + ", bad input format.");
e.printStackTrace();
} catch (NoSuchElementException e) {
}
return beacons;
}
/** Currently does nothing */
public void run() {
Logger.log("thread starting...");
while (running) {
try {
synchronized (this) {
wait(CRICKET_BUFFER_REFRESH_PERIOD);
}
} catch (InterruptedException e) {
e.printStackTrace();
}
}
Logger.log("thread terminating...");
}
@Override
public void run() {
// Wait until it's time to start.
Logger.logDbg("Pausing for " + waitTime + " milliseconds");
if (waitTime != 0) {
synchronized (this) {
try {
this.wait(waitTime);
} catch (InterruptedException e) {
e.printStackTrace();
Logger.logWarn("Interrupted while waiting. + " + e.getLocalizedMessage());
}
}
}
isDone = true;
Logger.log("Behavior " + getName() + " done.");
}