WallyHackenslacker/NxtAR-cam
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LCPThread sends BT messages.

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Wally Hackenslacker
2014-02-10 16:36:32 -04:30
parent 6d6608bb67
commit 89c744181e
4 changed files with 76 additions and 17 deletions
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56
src/ve/ucv/ciens/ccg/nxtcam/network/LCPThread.java
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@@ -15,6 +15,12 @@
*/
package ve.ucv.ciens.ccg.nxtcam.network;
import java.io.IOException;
import ve.ucv.ciens.ccg.networkdata.MotorEvent;
import ve.ucv.ciens.ccg.networkdata.MotorEvent.motor_t;
import ve.ucv.ciens.ccg.nxtcam.network.protocols.LegoCommunicationProtocol;
import ve.ucv.ciens.ccg.nxtcam.robotcontrol.MotorEventQueue;
import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
public class LCPThread extends Thread{
@@ -27,29 +33,63 @@ public class LCPThread extends Thread{
private MotorControlThread motorControl;
private SensorReportThread sensorReport;
private MotorEventQueue queue;
public LCPThread(String serverIp){
super("Robot Control Main Thread");
btComm = BTCommunicator.getInstance();
done = false;
motorControl = new MotorControlThread(serverIp);
sensorReport = new SensorReportThread(serverIp);
queue = MotorEventQueue.getInstance();
}
public void run(){
if(!motorControl.connectToServer()){
Logger.log_e(TAG, CLASS_NAME + ".run() :: Thread motorControl could not connect to the server.");
return;
long then, now, delta;
MotorEvent event;
//sensorReport.start();
motorControl.start();
then = System.currentTimeMillis();
while(!motorControl.isConnected()){
now = System.currentTimeMillis();
delta = now - then;
if(delta > 5000L){
Logger.log_e(TAG, CLASS_NAME + ".run() :: Thread motorControl could not connect to the server.");
return;
}
}
if(!(reportSensors = sensorReport.connectToServer())){
/*if(!(reportSensors = sensorReport.connectToServer())){
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.");
if(reportSensors)
Logger.log_d(TAG, CLASS_NAME + ".run() :: Sensor data can be reported.");
//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.getPower())
);
Logger.log_i(TAG, CLASS_NAME + ".run() :: Message sent to the robot.");
}catch(IOException io){
Logger.log_e(TAG, CLASS_NAME + ".run() :: IOException sending message to the robot.");
}
/*if(reportSensors){
//Logger.log_d(TAG, CLASS_NAME + ".run() :: Sensor data can be reported.");
}*/
}else{
Logger.log_e(TAG, CLASS_NAME + ".run() :: The robot disconnected or was never available.");
break;
}
}
}