WallyHackenslacker/NxtAR-cam
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Added logic for robot control thread management.

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Wally Hackenslacker
2014-02-11 17:52:29 -04:30
parent 89c744181e
commit 7db8c3fcee
7 changed files with 96 additions and 292 deletions
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24
src/ve/ucv/ciens/ccg/nxtcam/network/LCPThread.java
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@@ -48,7 +48,7 @@ public class LCPThread extends Thread{
long then, now, delta;
MotorEvent event;
//sensorReport.start();
sensorReport.start();
motorControl.start();
then = System.currentTimeMillis();
@@ -56,37 +56,41 @@ public class LCPThread extends Thread{
while(!motorControl.isConnected()){
now = System.currentTimeMillis();
delta = now - then;
if(delta > 5000L){
if(delta > 9000L){
Logger.log_e(TAG, CLASS_NAME + ".run() :: Thread motorControl could not connect to the server.");
return;
}
}
/*if(!(reportSensors = sensorReport.connectToServer())){
if((reportSensors = sensorReport.isConnected())){
Logger.log_d(TAG, CLASS_NAME + ".run() :: Sensor data can be reported.");
}else{
Logger.log_e(TAG, CLASS_NAME + ".run() :: Thread sensorReport could not connect to the server.");
Logger.log_e(TAG, CLASS_NAME + ".run() :: Sensor data will not be reported to server app.");
}*/
}
while(!done){
if(btComm.isBTEnabled() && btComm.isConnected()){
//Logger.log_d(TAG, CLASS_NAME + ".run() :: Connected.");
event = queue.getNextEvent();
try{
btComm.writeMessage(
LegoCommunicationProtocol.setOutputState(
event.getMotor() == motor_t.MOTOR_A ? LegoCommunicationProtocol.PORT_0 : LegoCommunicationProtocol.PORT_2,
event.getMotor() == motor_t.MOTOR_A ? LegoCommunicationProtocol.PORT_0 : (event.getMotor() == motor_t.MOTOR_B ? LegoCommunicationProtocol.PORT_1 : LegoCommunicationProtocol.PORT_2),
event.getPower())
);
Logger.log_i(TAG, CLASS_NAME + ".run() :: Message sent to the robot.");
try{ sleep(40); }catch(InterruptedException ie){ }
}catch(IOException io){
Logger.log_e(TAG, CLASS_NAME + ".run() :: IOException sending message to the robot.");
Logger.log_e(TAG, CLASS_NAME + ".run() :: IOException sending message to the robot: " + io.getMessage());
}
/*if(reportSensors){
//Logger.log_d(TAG, CLASS_NAME + ".run() :: Sensor data can be reported.");
}*/
if(reportSensors){
}
}else{
Logger.log_e(TAG, CLASS_NAME + ".run() :: The robot disconnected or was never available.");
break;