@SuppressWarnings("unchecked")
@Override
public void onScriptFinished(Object result, Object Previous, File source) {
Log.warning("Loading script results " + result + " previous " + Previous);
// this is added in the script engine when the connection manager is
// loaded
Platform.runLater(
() -> {
jfx3dmanager.removeObjects();
});
ThreadUtil.wait(20);
if (ArrayList.class.isInstance(Previous)) {
ArrayList<Object> c = (ArrayList<Object>) Previous;
for (int i = 0; i < c.size(); i++) {
removeObject(c.get(i));
}
} else {
removeObject(Previous);
}
if (ArrayList.class.isInstance(result)) {
ArrayList<Object> c = (ArrayList<Object>) result;
for (int i = 0; i < c.size(); i++) {
Log.warning("Loading array Lists with removals " + c.get(i));
addObject(c.get(i), source);
}
} else {
addObject(result, source);
}
}
protected void ResetDrivePosition() {
// Log.enableDebugPrint(true);
drive.ResetPIDChannel(0);
ThreadUtil.wait((200));
// Log.enableDebugPrint(false);
}
@Test
public void setPidNsTest() {
try {
int position = getPid().GetPIDPosition(0);
int newPos = position - 0x0fff;
getPid().SetPIDSetPoint(0, newPos, 1.0);
ThreadUtil.wait(3000);
int currentPos = getPid().GetPIDPosition(0);
System.out.println("Set to " + newPos + " got " + currentPos);
getPid().SetPIDSetPoint(0, position, 0);
ThreadUtil.wait(1200);
assertTrue((newPos < currentPos + 100) && (newPos > currentPos - 100));
} catch (Exception e) {
e.printStackTrace();
fail();
}
}
protected void SetDriveDistance(int ticks, double seconds) {
Log.debug("Seting PID set point of= " + ticks + " currently at " + currentEncoderReading);
// drive.SetPIDSetPoint(ticks, seconds);
driveDirection.setHigh(ticks < currentEncoderReading);
driveEnable.setHigh(false);
ThreadUtil.wait((int) (seconds * 1000));
driveEnable.setHigh(true);
Log.debug("Arrived at= " + currentEncoderReading);
}
public void run() {
// System.out.println("Starting timer");
do {
do {
while (pause) {
ThreadUtil.wait(10);
}
long start = System.currentTimeMillis();
playStep();
ThreadUtil.wait(getLoopTime());
// System.out.println("Flush took "+(System.currentTimeMillis()-start));
} while (isRun());
setCurrentTime(0);
setPause(true);
callReset();
callPause();
} while (true);
}
/** @param args */
public static void main(String[] args) {
try {
if (args.length != 2 || !args[0].contains("DyIO") || !args[1].contains("video")) {
System.err.println(
"Usage Example: java -jar CrustCrawlerServer.jar /dev/DyIO0 /dev/video0");
System.exit(1);
}
SerialConnection s = new SerialConnection(args[0]);
DyIO dyio = new DyIO(s);
dyio.connect();
new CrustCrawlerUnderwaterROV(new BowlerUDPServer(), dyio, args[1]);
while (s.isConnected()) {
ThreadUtil.wait(100);
}
System.exit(0);
} catch (Exception e) {
e.printStackTrace();
System.exit(1);
}
}
public void play() {
mp3.play();
getSt().setPause(false);
callPlay();
ThreadUtil.wait(100);
}
