/** The main method of the application */
public static void main(String[] args) {
Calibration calib = new Calibration();
Definitions defs =
Definitions
.getInstance(); // Definitions.initInstance(Definitions.MASTER);//TODO change here
Definitions.pilot.setSpeed(300);
;
AI ai = null;
try {
ai = new AI();
} catch (Exception e) {
Console.println("-------------------");
Console.println("ERROR in Ai");
Console.println(e.getMessage());
Console.println("-------------------");
Button.waitForPress();
return;
}
Console.println("start ai");
ai.start();
}
/** Runs the ai... */
public void run() {
Communicator comm = null;
try {
comm = Communicator.getInstance(this);
} catch (Exception e) {
Console.println("-------------------");
Console.println("ERROR in Comm");
Console.println("-------------------");
Button.waitForPress();
return;
}
while (grid.isWorkToDo()) {
PathElement p = null;
if (motion.isObjLoaded()) {
p = grid.getAWayBackHome(robo);
} else if ((p = grid.getAWayToNextKnownUnCommon(robo)) == null) {
if ((p = grid.getAWayToNextUnknown(robo)) == null) {
/* does not work..
if ((p = grid.getAWayToNextKnownCommon(robo)) == null) {
try {
sleep(500);
} catch (InterruptedException e) {
// can't sleep, so do a busy waiting
}
continue; // try again
}*/
}
}
Console.println("here3"); // TODO
do {
orient(p);
// ask other
if (!askOther(p)) continue; // try later again
// if its not for me, i won't go there. (see grid.getway...)
if (grid.getJunction(p).getType() == Junction.MASTER_OBJ
|| grid.getJunction(p).getType() == Junction.SLAVE_OBJ) {
// load
motion.goToNextJunction(true);
grid.setJunction(new Junction(robo.getMyActualPosition(), Junction.EMPTY), true);
} else {
// unloading loaded object
if (motion.isObjLoaded()
&& grid.getJunction(grid.getNextProjectedPosition(robo)).getType()
== Junction.HOME_BASE) {
motion.goToNextJunction(false);
// orient to south
Position orientation = grid.getNextProjectedPosition(robo);
Position unloadPos =
new Position(robo.getHomeBase().getX(), robo.getHomeBase().getY() - 1);
// unload the object
orient(unloadPos);
motion.unload();
// orient back
orient(orientation);
// regular move
} else motion.goToNextJunction(false);
}
} while ((p = p.getNextElt()) != null);
}
Console.println(" - FIN - ");
Sound.playTone(400, 1000);
Button.waitForPress();
}