public static void main(String[] args) throws ParseException {
// TODO Auto-generated method stub
Gson gson = new GsonBuilder().setPrettyPrinting().create();
MapTile mtile1 = new MapTile(Terrain.ROCK, Science.CRYSTAL, 1, true);
MapTile[][] mapmap = new MapTile[5][5];
for (int j = 0; j < 5; j++) {
for (int i = 0; i < 5; i++) {
mapmap[i][j] = new MapTile();
// System.out.print("("+i+","+j+"); ");
}
System.out.println("");
}
mapmap[3][2] = mtile1;
String jsonMap = gson.toJson(mapmap);
ScanMap sMap = new ScanMap(mapmap, 5, new Coord(6, 7));
new MyWriter(sMap, 2);
String jsonScanMap = gson.toJson(sMap); // money shot - object to json string
System.out.println(jsonMap.toString());
System.out.println("###################################################");
System.out.println(jsonScanMap);
ScanMap sMap2 = null;
sMap2 = gson.fromJson(jsonScanMap, ScanMap.class); // money shot two - json string to object
MapTile[][] mapmap2 = sMap2.getScanMap();
for (int j = 0; j < 5; j++) {
for (int i = 0; i < 5; i++) {
if (mapmap2[i][j].getHasRover()) {
System.out.print("X ");
} else {
System.out.print("_ ");
}
}
System.out.println("");
}
// Object jsonString;
// //JSONObject jsonObject = (JSONObject) jsonMap;
// JSONObject json = (JSONObject)new JSONParser().parse((String) jsonMap);
}
/** Connects to the server then enters the processing loop. */
private void run() throws IOException, InterruptedException {
// Make connection and initialize streams
// TODO - need to close this socket
Socket socket = new Socket(SERVER_ADDRESS, PORT_ADDRESS); // set port here
in = new BufferedReader(new InputStreamReader(socket.getInputStream()));
out = new PrintWriter(socket.getOutputStream(), true);
// Gson gson = new GsonBuilder().setPrettyPrinting().create();
// Process all messages from server, wait until server requests Rover ID
// name
while (true) {
String line = in.readLine();
if (line.startsWith("SUBMITNAME")) {
out.println(rovername); // This sets the name of this instance
// of a swarmBot for identifying the
// thread to the server
break;
}
}
// ******** Rover logic *********
// int cnt=0;
String line = "";
int counter = 0;
boolean goingSouth = false;
boolean goingEast = false;
boolean stuck = false; // just means it did not change locations between requests,
int stillStuck = 0; // could be velocity limit or obstruction etc.
boolean blocked = false;
String[] cardinals = new String[4];
cardinals[0] = "N";
cardinals[1] = "E";
cardinals[2] = "S";
cardinals[3] = "W";
String currentDir = cardinals[0];
Coord currentLoc = null;
Coord previousLoc = null;
// start Rover controller process
while (true) {
// currently the requirements allow sensor calls to be made with no
// simulated resource cost
// **** location call ****
out.println("LOC");
line = in.readLine();
if (line == null) {
System.out.println("ROVER_99 check connection to server");
line = "";
}
if (line.startsWith("LOC")) {
// loc = line.substring(4);
currentLoc = extractLOC(line);
}
System.out.println("ROVER_99 currentLoc at start: " + currentLoc);
// after getting location set previous equal current to be able to check for stuckness and
// blocked later
previousLoc = currentLoc;
// **** get equipment listing ****
ArrayList<String> equipment = new ArrayList<String>();
equipment = getEquipment();
// System.out.println("ROVER_99 equipment list results drive " + equipment.get(0));
System.out.println("ROVER_99 equipment list results " + equipment + "\n");
// ***** do a SCAN *****
// System.out.println("ROVER_99 sending SCAN request");
this.doScan();
scanMap.debugPrintMap();
// MOVING
if (stuck == true) {
stillStuck++;
} else {
stillStuck = 0;
}
// try moving east 5 block if blocked
if (blocked || stillStuck == 10) {
for (int i = 0; i < 5; i++) {
out.println("MOVE S");
// System.out.println("ROVER_00 request move E");
Thread.sleep(1100);
}
blocked = false;
// reverses direction after being blocked
goingEast = !goingEast;
} else {
// pull the MapTile array out of the ScanMap object
MapTile[][] scanMapTiles = scanMap.getScanMap();
int centerIndex = (scanMap.getEdgeSize() - 1) / 2;
// tile S = y + 1; N = y - 1; E = x + 1; W = x - 1
if (goingEast) {
// check scanMap to see if path is blocked to the south
// (scanMap may be old data by now)
if (scanMapTiles[centerIndex + 1][centerIndex].getHasRover()
// || scanMapTiles[centerIndex +1][centerIndex].getTerrain() == Terrain.ROCK
|| scanMapTiles[centerIndex + 1][centerIndex].getTerrain() == Terrain.NONE) {
blocked = true;
} else {
// request to server to move
out.println("MOVE E");
System.out.println("ROVER_99 request move E");
}
} else {
// check scanMap to see if path is blocked to the north
// (scanMap may be old data by now)
System.out.println(
"ROVER_99 scanMapTiles[2][1].getHasRover() " + scanMapTiles[2][1].getHasRover());
System.out.println(
"ROVER_99 scanMapTiles[2][1].getTerrain() "
+ scanMapTiles[2][1].getTerrain().toString());
if (scanMapTiles[centerIndex - 1][centerIndex].getHasRover()
// || scanMapTiles[centerIndex -1][centerIndex].getTerrain() == Terrain.ROCK
|| scanMapTiles[centerIndex - 1][centerIndex].getTerrain() == Terrain.NONE) {
blocked = true;
} else {
// request to server to move
out.println("MOVE W");
System.out.println("ROVER_99 request move W");
}
}
}
// another call for current location
out.println("LOC");
line = in.readLine();
if (line.startsWith("LOC")) {
currentLoc = extractLOC(line);
}
System.out.println("ROVER_99 currentLoc after recheck: " + currentLoc);
System.out.println("ROVER_99 previousLoc: " + previousLoc);
// test for stuckness
stuck = currentLoc.equals(previousLoc);
System.out.println("ROVER_99 stuck test " + stuck);
System.out.println("ROVER_99 blocked test " + blocked);
Thread.sleep(sleepTime);
System.out.println("ROVER_99 ------------ bottom process control --------------");
}
}