public void run() {
while (true) {
for (int i = 0; i < note1.length; i += 2) {
final int tone = (int) note1[i];
final int b = i + 1;
final int length = 10 * note1[b];
Sound.playTone(tone, length);
try {
Thread.sleep(length);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
}
}
public static void main(String[] args) {
try {
Thread.setDefaultUncaughtExceptionHandler(new ThreadHandler());
Sound.playTone(2000, 300);
BtReceiver btReceiver = new BtReceiver();
btReceiver.connect();
} catch (Exception e) {
Sound.buzz();
System.out.println("Main: exception");
System.out.println(e.toString());
System.out.print(e.getMessage());
Utils.sleep(1000);
Button.waitForAnyPress();
System.exit(0);
}
}
public void MyTune() {
// NOTE: This tune was generated from a midi using Guy
// Truffelli's Brick Music Studio www.aga.it/~guy/lego
short[] note = {
2349, 115, 0, 5, 1760, 165, 0, 35, 1760, 28, 0, 13, 1976, 23, 0, 18, 1760, 18, 0, 23, 1568,
15, 0, 25, 1480, 103, 0, 18, 1175, 180, 0, 20, 1760, 18, 0, 23, 1976, 20, 0, 20, 1760, 15, 0,
25, 1568, 15, 0, 25, 2217, 98, 0, 23, 1760, 88, 0, 33, 1760, 75, 0, 5, 1760, 20, 0, 20, 1760,
20, 0, 20, 1976, 18, 0, 23, 1760, 18, 0, 23, 2217, 225, 0, 15, 2217, 218
};
for (int i = 0; i < note.length; i += 2) {
final short w = note[i + 1];
final int n = note[i];
if (n != 0) Sound.playTone(n, w * 10);
try {
Thread.sleep(w * 2);
} catch (InterruptedException e) {
}
}
}
/** 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();
}
