root / trunk / code / projects / diagnostic_station / server / DiagnosticsServer.java @ 1606
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import java.io.IOException; |
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import java.util.ArrayList; |
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import java.util.Scanner; |
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|
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public class DiagnosticsServer { |
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|
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/*
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* The following are used to differentiate between tests
|
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*/
|
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public static final int ALL_TESTS = 0; |
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public static final int RANGEFINDER = 1; |
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public static final int ENCODER = 2; |
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public static final int MOTOR = 3; |
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public static final int BOM = 4; |
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public static final int BOM_EMITTER = 5; |
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public static final int BOM_DETECTOR = 6; |
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/*
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* The number of different tests
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*/
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public static final int NUM_TESTS = 7; |
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/*
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* How many there are of each type
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* For example, there are 16 BOM components and 2 motors
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*/
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public static final int NUM_BOMS = 16; |
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public static final int NUM_RANGEFINDERS = 5; |
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public static final int NUM_MOTORS = 2; |
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public static final int NUM_ENCODERS = 2; |
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/*
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* Sometimes, we want to test all elements of a specific one
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* For example, all five rangefinders instead of just one of them
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*/
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public static final int ALL_ELEMENTS = -1; |
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/*
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* Specifies the lowest possible number for a type
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* For example, numbering starts at 0 for BOM components and 1 for motors
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*/
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public static final int RANGEFINDER_OFFSET = 1; |
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public static final int ENCODER_OFFSET = 1; |
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public static final int MOTOR_OFFSET = 1; |
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public static final int BOM_OFFSET = 0; |
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|
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/*
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* Station -> server message types
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*/
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private static final int PARSE_ERROR = 0; |
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private static final int DATA = 1; |
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private static final int COMMENT = 2; |
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private static final int READY = 3; |
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|
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/*
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* The following bitmasks are used to specify the status of a reading
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* from the station
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*/
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// Emitter status
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private static final int EMITTER = 1; |
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private static final int DETECTOR = 2; |
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private static final int EMITTER_TOP = 4; |
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private static final int EMITTER_RIGHT = 8; |
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private static final int EMITTER_LEFT = 16; |
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private static final int DETECTOR_IN = 64; |
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private static final int DETECTOR_OUT = 128; |
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// Rangefinder status
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private static final int RANGEFINDER_IN = 1; |
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private static final int RANGEFINDER_OUT = 2; |
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// Motor status
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private static final int MOTOR_FORWARD = 1; |
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private static final int MOTOR_BACKWARD = 2; |
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private static final int MOTOR_ACCELERATING = 4; |
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private static final int MOTOR_DECELERATING = 8; |
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private static final int MOTOR_CONST_ACCEL = 16; |
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// Encoder status
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private static final int ENCODER_FORWARD = 1; |
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private static final int ENCODER_BACKWARD = 2; |
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|
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/*
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* The following arrays of ArrayLists are used to store data received
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* from testing
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* For example, the 0th element of motorPWMData stores an ArrayList of
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* PWM information received from the first motor.
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* The 0th element of motorStatus stores an ArrayList of the same length
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* Each element is a bitmask with information such as the direction of
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* acceleration and whether the motor was running forwards or backwards
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*/
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private ArrayList[] bomData = new ArrayList[NUM_BOMS]; |
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private ArrayList[] bomStatus = new ArrayList[NUM_BOMS]; |
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private ArrayList[] rangefinderWallData = new ArrayList[NUM_RANGEFINDERS]; |
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private ArrayList[] rangefinderRangeData = new ArrayList[NUM_RANGEFINDERS]; |
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private ArrayList[] rangefinderStatus = new ArrayList[NUM_RANGEFINDERS]; |
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private ArrayList[] motorPWMData = new ArrayList[NUM_MOTORS]; |
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private ArrayList[] motorVelocityData = new ArrayList[NUM_MOTORS]; |
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private ArrayList[] motorStatus = new ArrayList[NUM_MOTORS]; |
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private ArrayList[] encoderDynamoData = new ArrayList[NUM_ENCODERS]; |
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private ArrayList[] encoderValueData = new ArrayList[NUM_ENCODERS]; |
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private ArrayList[] encoderStatus = new ArrayList[NUM_ENCODERS]; |
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|
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// The SerialComm object controls the connection to the station
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private SerialComm serial;
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// We send information to the gui
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private ServerGUI gui;
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|
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/*
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* Initializes gui, serial, and data arrays
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*/
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public DiagnosticsServer(){
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gui = new ServerGUI(this); |
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try{
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serial = new SerialComm(gui, "COM19", SerialComm.BAUDRATE_DEFAULT, |
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SerialComm.DATABITS_DEFAULT, SerialComm.STOPBITS_2, |
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SerialComm.PARITY_DEFAULT); |
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} |
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catch(IOException e){ |
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System.out.println("Error connecting to serial"); |
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System.out.println(e.getMessage());
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System.out.println(e.getStackTrace());
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return;
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} |
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for(int i=0; i<NUM_BOMS; i++){ |
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bomData[i] = new ArrayList<Integer>(); |
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bomStatus[i] = new ArrayList<Integer>(); |
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} |
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for(int i=0; i<NUM_RANGEFINDERS; i++){ |
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rangefinderWallData[i] = new ArrayList<Integer>(); |
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rangefinderRangeData[i] = new ArrayList<Integer>(); |
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rangefinderStatus[i] = new ArrayList<Integer>(); |
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} |
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for(int i=0; i<NUM_MOTORS; i++){ |
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motorPWMData[i] = new ArrayList<Integer>(); |
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motorVelocityData[i] = new ArrayList<Integer>(); |
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motorStatus[i] = new ArrayList<Integer>(); |
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} |
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for(int i=0; i<NUM_ENCODERS; i++){ |
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encoderDynamoData[i] = new ArrayList<Integer>(); |
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encoderValueData[i] = new ArrayList<Integer>(); |
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encoderStatus[i] = new ArrayList<Integer>(); |
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} |
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} |
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/*
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* The returned array has an even number of entries
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* The first of each pair is an ArrayList of X entries
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* The second of each pair is an ArrayList of the corresponding Y entries
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*/
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public ArrayList[] getData(int testType, int testNum){ |
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ArrayList data[] = new ArrayList[2]; |
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int arrSize = 2; |
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|
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switch(testType){
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case ALL_TESTS:
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data = null;
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break;
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case RANGEFINDER:
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if(testNum == ALL_ELEMENTS){
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arrSize = 2 * NUM_RANGEFINDERS;
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data = new ArrayList[arrSize]; |
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for(int i=0; i<arrSize/2; i++){ |
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data[i*2] = rangefinderWallData[i];
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data[i*2 + 1] = rangefinderRangeData[i]; |
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} |
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} |
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else{
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data = new ArrayList[arrSize]; |
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data[0] = rangefinderWallData[testNum];
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data[1] = rangefinderRangeData[testNum];
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} |
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break;
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case ENCODER:
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if(testNum == ALL_ELEMENTS){
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arrSize = 2 * NUM_ENCODERS;
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data = new ArrayList[arrSize]; |
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for(int i=0; i<arrSize/2; i++){ |
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data[i*2] = encoderDynamoData[i];
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data[i*2 + 1] = encoderValueData[i]; |
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} |
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} |
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else{
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data = new ArrayList[arrSize]; |
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data[0] = encoderDynamoData[testNum];
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data[1] = encoderValueData[testNum];
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} |
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break;
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case MOTOR:
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if(testNum == ALL_ELEMENTS){
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arrSize = 2 * NUM_MOTORS;
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data = new ArrayList[arrSize]; |
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for(int i=0; i<arrSize/2; i++){ |
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data[i*2] = motorPWMData[i];
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data[i*2 + 1] = motorVelocityData[i]; |
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} |
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} |
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else{
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data = new ArrayList[arrSize]; |
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data[0] = motorPWMData[testNum];
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data[1] = motorVelocityData[testNum];
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} |
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break;
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case BOM:
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if(testNum == ALL_ELEMENTS){
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arrSize = 2 * NUM_BOMS;
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data = new ArrayList[arrSize]; |
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for(int i=0; i<arrSize/2; i++){ |
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ArrayList<Integer> trials = new ArrayList<Integer>(); |
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for(int j=1; j<=bomData[i].size(); j++) |
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trials.add(j); |
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data[i*2] = trials;
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data[i*2 + 1] = bomData[i]; |
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} |
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} |
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else{
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data = new ArrayList[arrSize]; |
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ArrayList<Integer> trials = new ArrayList<Integer>(); |
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for(int j=1; j<=bomData[testNum].size(); j++) |
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trials.add(j); |
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data[0] = trials;
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data[1] = bomData[testNum];
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} |
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break;
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case BOM_EMITTER:
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if(testNum == ALL_ELEMENTS){
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arrSize = 2 * NUM_BOMS;
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data = new ArrayList[arrSize]; |
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for(int i=0; i<arrSize/2; i++){ |
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ArrayList<Integer> bomEmitterData = getSubset(bomData[i], |
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bomStatus[i], BOM_EMITTER); |
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ArrayList<Integer> trials = new ArrayList<Integer>(); |
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for(int j=1; j<=bomEmitterData.size(); j++) |
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trials.add(j); |
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data[i*2] = trials;
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data[i*2 + 1] = bomEmitterData; |
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} |
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} |
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else{
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data = new ArrayList[arrSize]; |
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ArrayList<Integer> trials = new ArrayList<Integer>(); |
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ArrayList<Integer> bomEmitterData = getSubset(bomData[testNum], |
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bomStatus[testNum], BOM_EMITTER); |
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for(int j=1; j<=bomEmitterData.size(); j++) |
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trials.add(j); |
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data[0] = trials;
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data[1] = bomEmitterData;
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} |
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break;
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case BOM_DETECTOR:
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if(testNum == ALL_ELEMENTS){
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arrSize = 2 * NUM_BOMS;
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data = new ArrayList[arrSize]; |
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for(int i=0; i<arrSize/2; i++){ |
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ArrayList<Integer> bomDetectorData = getSubset(bomData[i], |
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bomStatus[i], BOM_DETECTOR); |
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ArrayList<Integer> trials = new ArrayList<Integer>(); |
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for(int j=1; j<=bomDetectorData.size(); j++) |
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trials.add(j); |
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data[i*2] = trials;
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data[i*2 + 1] = bomDetectorData; |
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} |
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} |
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else{
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data = new ArrayList[arrSize]; |
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ArrayList<Integer> trials = new ArrayList<Integer>(); |
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ArrayList<Integer> bomDetectorData = getSubset(bomData[testNum], |
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bomStatus[testNum], BOM_DETECTOR); |
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for(int j=1; j<=bomDetectorData.size(); j++) |
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trials.add(j); |
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data[0] = trials;
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data[1] = bomDetectorData;
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} |
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break;
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} |
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return data;
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} |
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/*
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* The first entry is the chart title
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* The next two entries are the X and Y axis labels
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* The following entries are the labels for each series
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*/
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public String[] getLabels(int testType, int testNum){ |
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String labels[]; |
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int arrSize = 4; |
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switch(testType){
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case ALL_TESTS:
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labels = new String[arrSize]; |
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labels[0] = ""; |
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labels[1] = ""; |
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labels[2] = ""; |
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labels[3] = ""; |
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break;
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case RANGEFINDER:
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if(testNum == -1) |
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arrSize += NUM_RANGEFINDERS - 1;
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labels = new String[arrSize]; |
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labels[0] = "Rangefinder Data"; |
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labels[1] = "Wall Data"; |
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labels[2] = "Rangefinder Output"; |
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if(testNum == -1){ |
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for(int i=0; i<NUM_RANGEFINDERS; i++) |
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labels[i+3] = "" + (i + RANGEFINDER_OFFSET); |
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} |
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else
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labels[3] = "" + (testNum + RANGEFINDER_OFFSET); |
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break;
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case ENCODER:
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if(testNum == -1) |
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arrSize += NUM_ENCODERS - 1;
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labels = new String[arrSize]; |
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labels[0] = "Encoder Data"; |
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labels[1] = "Dynamo Data"; |
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labels[2] = "Encoder Output"; |
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if(testNum == -1){ |
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for(int i=0; i<NUM_ENCODERS; i++) |
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labels[i+3] = "" + (i + ENCODER_OFFSET); |
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} |
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else
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labels[3] = "" + (testNum + ENCODER_OFFSET); |
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break;
|
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case MOTOR:
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if(testNum == -1) |
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arrSize += NUM_MOTORS - 1;
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labels = new String[arrSize]; |
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labels[0] = "Motor Data"; |
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labels[1] = "PWM Data"; |
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labels[2] = "Motor Velocity Data"; |
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if(testNum == -1){ |
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for(int i=0; i<NUM_MOTORS; i++) |
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labels[i+3] = "" + (i + MOTOR_OFFSET); |
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} |
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else
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labels[3] = "" + (testNum + MOTOR_OFFSET); |
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break;
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case BOM:
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if(testNum == -1) |
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arrSize += NUM_BOMS - 1;
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labels = new String[arrSize]; |
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labels[0] = "Bom Data"; |
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labels[1] = "Test Number"; |
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labels[2] = "BOM Reading"; |
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if(testNum == -1){ |
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for(int i=0; i<NUM_BOMS; i++) |
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labels[i+3] = "" + (i + BOM_OFFSET); |
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} |
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else
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labels[3] = "" + (testNum + BOM_OFFSET); |
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break;
|
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case BOM_EMITTER:
|
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if(testNum == -1) |
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arrSize += NUM_BOMS - 1;
|
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labels = new String[arrSize]; |
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labels[0] = "Bom Emitter Data"; |
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labels[1] = "Test Number"; |
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labels[2] = "BOM Emitter Reading"; |
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if(testNum == -1){ |
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for(int i=0; i<NUM_BOMS; i++) |
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labels[i+3] = "" + (i + BOM_OFFSET); |
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} |
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else
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labels[3] = "" + (testNum + BOM_OFFSET); |
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break;
|
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case BOM_DETECTOR:
|
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if(testNum == -1) |
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arrSize += NUM_BOMS - 1;
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labels = new String[arrSize]; |
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labels[0] = "Bom Detector Data"; |
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labels[1] = "Test Number"; |
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labels[2] = "BOM Detector Reading"; |
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if(testNum == -1){ |
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for(int i=0; i<NUM_BOMS; i++) |
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labels[i+3] = "" + (i + BOM_OFFSET); |
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} |
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else
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labels[3] = "" + (testNum + BOM_OFFSET); |
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break;
|
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default:
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labels = new String[arrSize]; |
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labels[0] = ""; |
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labels[1] = ""; |
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labels[2] = ""; |
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labels[3] = ""; |
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} |
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return labels;
|
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} |
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|
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/*
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* Starts running the given test on all elements
|
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*/
|
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public void startTest(int testType) throws Exception{ |
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startTest(testType, ALL_ELEMENTS); |
| 387 |
} |
| 388 |
|
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/*
|
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* Starts running the specified test on the specified element
|
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*/
|
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public void startTest(int testType, int num) throws Exception{ |
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String command = getStartTestCommand(testType, num);
|
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if(command == null){ |
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System.out.println("Illegal test requested\n"); |
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return;
|
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} |
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gui.addTextToConsole(command); |
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serial.puts(command); |
| 400 |
boolean ready = false; |
| 401 |
while(!ready){
|
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String input = getInput();
|
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int parseStatus = parseInput(input);
|
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if(parseStatus == READY)
|
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ready = true;
|
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} |
| 407 |
printData(testType); |
| 408 |
} |
| 409 |
|
| 410 |
/*
|
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* Stops the running test
|
| 412 |
*/
|
| 413 |
public void stopTest() throws Exception{ |
| 414 |
serial.puts("stop\r\n");
|
| 415 |
} |
| 416 |
|
| 417 |
/*
|
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* Prints out the received data - good for debugging if the grapher is malfunctioning
|
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*/
|
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public void printData(int test){ |
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switch(test){
|
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case ALL_TESTS:
|
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printData(RANGEFINDER); |
| 424 |
printData(ENCODER); |
| 425 |
printData(MOTOR); |
| 426 |
printData(BOM); |
| 427 |
break;
|
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case RANGEFINDER:
|
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System.out.println("Rangefinder Wall Data:"); |
| 430 |
print(rangefinderWallData); |
| 431 |
System.out.println("Rangefinder Range Data:"); |
| 432 |
print(rangefinderRangeData); |
| 433 |
break;
|
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case ENCODER:
|
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System.out.println("Encoder Dynamo Data:"); |
| 436 |
print(encoderDynamoData); |
| 437 |
System.out.println("Encoder Value Data:"); |
| 438 |
print(encoderValueData); |
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break;
|
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case MOTOR:
|
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System.out.println("Motor PWM Data:"); |
| 442 |
print(motorPWMData); |
| 443 |
System.out.println("Motor Velocity Data:"); |
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print(motorVelocityData); |
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break;
|
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case BOM:
|
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printData(BOM_EMITTER); |
| 448 |
printData(BOM_DETECTOR); |
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break;
|
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case BOM_EMITTER:
|
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System.out.println("BOM emitter Data:"); |
| 452 |
printStatus(bomData, bomStatus, EMITTER); |
| 453 |
break;
|
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case BOM_DETECTOR:
|
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System.out.println("BOM detector Data:"); |
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printStatus(bomData, bomStatus, DETECTOR|DETECTOR_OUT); |
| 457 |
break;
|
| 458 |
} |
| 459 |
} |
| 460 |
|
| 461 |
/*
|
| 462 |
* Picks out the given subset of the given data
|
| 463 |
*/
|
| 464 |
private ArrayList<Integer> getSubset(ArrayList data, ArrayList status, int bitmask){ |
| 465 |
ArrayList<Integer> arr = new ArrayList<Integer>(); |
| 466 |
for(int i=0; i< status.size(); i++){ |
| 467 |
if(((Integer)status.get(i) & bitmask) == bitmask){ |
| 468 |
arr.add((Integer)data.get(i));
|
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} |
| 470 |
} |
| 471 |
return arr;
|
| 472 |
} |
| 473 |
|
| 474 |
/*
|
| 475 |
* Prints out the current status
|
| 476 |
*/
|
| 477 |
private void printStatus(ArrayList data[], ArrayList status[], int bitmask){ |
| 478 |
for(int i=0; i<status.length; i++){ |
| 479 |
System.out.print(i + ": "); |
| 480 |
printStatus(data[i], status[i], bitmask); |
| 481 |
System.out.println();
|
| 482 |
} |
| 483 |
} |
| 484 |
|
| 485 |
/*
|
| 486 |
* Prints the current status
|
| 487 |
*/
|
| 488 |
private void printStatus(ArrayList data, ArrayList status, int bitmask){ |
| 489 |
System.out.print("["); |
| 490 |
boolean first = true; |
| 491 |
for(int i=0; i< status.size(); i++){ |
| 492 |
if(((Integer)status.get(i) & bitmask) == bitmask){ |
| 493 |
if(!first)
|
| 494 |
System.out.print(", "); |
| 495 |
System.out.print(data.get(i));
|
| 496 |
first = false;
|
| 497 |
} |
| 498 |
} |
| 499 |
System.out.print("]"); |
| 500 |
} |
| 501 |
|
| 502 |
/*
|
| 503 |
* Prints an ArrayList of arrays
|
| 504 |
*/
|
| 505 |
private void print(ArrayList arr[]){ |
| 506 |
for(int i=0; i<arr.length; i++){ |
| 507 |
System.out.print(i + ": "); |
| 508 |
print(arr[i]); |
| 509 |
System.out.println();
|
| 510 |
} |
| 511 |
} |
| 512 |
|
| 513 |
/*
|
| 514 |
* Prints an array
|
| 515 |
*/
|
| 516 |
private void print(ArrayList arr){ |
| 517 |
System.out.print("["); |
| 518 |
for(int i=0; i< arr.size(); i++){ |
| 519 |
System.out.print(arr.get(i));
|
| 520 |
if(i < arr.size() - 1) |
| 521 |
System.out.print(", "); |
| 522 |
} |
| 523 |
System.out.print("]"); |
| 524 |
} |
| 525 |
|
| 526 |
/*
|
| 527 |
* Returns the command to pass to the server, or null if the
|
| 528 |
* request is malformed
|
| 529 |
*/
|
| 530 |
public String getStartTestCommand(int testType, int num){ |
| 531 |
String command = "start_test"; |
| 532 |
switch(testType){
|
| 533 |
case ALL_TESTS:
|
| 534 |
command += " all\n";
|
| 535 |
return command;
|
| 536 |
case RANGEFINDER:
|
| 537 |
command += " rangefinder";
|
| 538 |
break;
|
| 539 |
case ENCODER:
|
| 540 |
command += " encoder";
|
| 541 |
break;
|
| 542 |
case MOTOR:
|
| 543 |
command += " motor";
|
| 544 |
break;
|
| 545 |
case BOM:
|
| 546 |
command += " bom";
|
| 547 |
break;
|
| 548 |
case BOM_EMITTER:
|
| 549 |
command += " bom emitter";
|
| 550 |
break;
|
| 551 |
case BOM_DETECTOR:
|
| 552 |
command += " bom detector";
|
| 553 |
break;
|
| 554 |
default:
|
| 555 |
return null; |
| 556 |
} |
| 557 |
if(num == -1) |
| 558 |
command += " all";
|
| 559 |
else
|
| 560 |
command += " " + num;
|
| 561 |
return command + "\n"; |
| 562 |
} |
| 563 |
|
| 564 |
/*
|
| 565 |
* Sends the given message to the station
|
| 566 |
*/
|
| 567 |
public void send_message(String s) throws Exception{ |
| 568 |
serial.puts(s); |
| 569 |
} |
| 570 |
|
| 571 |
/*
|
| 572 |
* Prints out all data received (this method hangs permanently)
|
| 573 |
*/
|
| 574 |
public String getInput() throws Exception{ |
| 575 |
while(true){ |
| 576 |
String rec = serial.gets();
|
| 577 |
if(rec != null) |
| 578 |
return rec;
|
| 579 |
} |
| 580 |
} |
| 581 |
|
| 582 |
/*
|
| 583 |
* Prints any received data (hangs for ms milliseconds)
|
| 584 |
*/
|
| 585 |
public String getInput(int ms) throws Exception{ |
| 586 |
long time = System.currentTimeMillis(); |
| 587 |
while(true){ |
| 588 |
if(System.currentTimeMillis() - time > ms){ |
| 589 |
System.out.println("Operation timed out\n"); |
| 590 |
return null; |
| 591 |
} |
| 592 |
String rec = serial.gets();
|
| 593 |
if(rec != null) |
| 594 |
return rec;
|
| 595 |
} |
| 596 |
} |
| 597 |
|
| 598 |
/*
|
| 599 |
* Parses the input to determine which kind of request is being received
|
| 600 |
*/
|
| 601 |
private int parseInput(String s){ |
| 602 |
if(s.charAt(0) == '#' || s.charAt(0) == '\n' || s.charAt(0) == '\r'){ |
| 603 |
System.out.print(s);
|
| 604 |
return COMMENT;
|
| 605 |
} |
| 606 |
else if(s.startsWith("data")){ |
| 607 |
if(parseData(s.substring(4))) |
| 608 |
return DATA;
|
| 609 |
else{
|
| 610 |
System.out.println("Error parsing data >" + s + "<"); |
| 611 |
return PARSE_ERROR;
|
| 612 |
} |
| 613 |
} |
| 614 |
else if(s.startsWith("ready")) |
| 615 |
return READY;
|
| 616 |
else{
|
| 617 |
System.out.println("Unable to parse message >" + s + "<"); |
| 618 |
return PARSE_ERROR;
|
| 619 |
} |
| 620 |
} |
| 621 |
|
| 622 |
/*
|
| 623 |
* Parses data messages
|
| 624 |
*/
|
| 625 |
private boolean parseData(String s){ |
| 626 |
try{
|
| 627 |
Scanner scan = new Scanner(s); |
| 628 |
String testType = scan.next();
|
| 629 |
if(testType.equals("bom")){ |
| 630 |
ArrayList<Integer> dataArr = new ArrayList<Integer>(); |
| 631 |
ArrayList<Integer> statusArr = new ArrayList<Integer>(); |
| 632 |
|
| 633 |
String emDet = scan.next();
|
| 634 |
int num = scan.nextInt();
|
| 635 |
if(num >= NUM_BOMS){
|
| 636 |
System.out.println("Invalid bom index: " + num); |
| 637 |
return false; |
| 638 |
} |
| 639 |
|
| 640 |
if(emDet.equals("emitter")){ |
| 641 |
while(scan.hasNext()){
|
| 642 |
int mask = EMITTER;
|
| 643 |
String data = scan.next();
|
| 644 |
if(data.startsWith("top")) |
| 645 |
mask |= EMITTER_TOP; |
| 646 |
else if(data.startsWith("left")) |
| 647 |
mask |= EMITTER_LEFT; |
| 648 |
else if(data.startsWith("right")) |
| 649 |
mask |= EMITTER_RIGHT; |
| 650 |
else
|
| 651 |
return false; |
| 652 |
|
| 653 |
int slashIdx = data.indexOf("/"); |
| 654 |
int value = Integer.valueOf(data.substring( |
| 655 |
slashIdx+1));
|
| 656 |
dataArr.add(value); |
| 657 |
statusArr.add(mask); |
| 658 |
} |
| 659 |
bomData[num].addAll(dataArr); |
| 660 |
bomStatus[num].addAll(statusArr); |
| 661 |
return true; |
| 662 |
} |
| 663 |
else if(emDet.equals("detector")){ |
| 664 |
while(scan.hasNext()){
|
| 665 |
int mask = DETECTOR;
|
| 666 |
String data = scan.next();
|
| 667 |
int dataStart;
|
| 668 |
if(data.startsWith("in")){ |
| 669 |
mask |= DETECTOR_IN; |
| 670 |
dataStart = 3;
|
| 671 |
} |
| 672 |
else if(data.startsWith("out")){ |
| 673 |
mask |= DETECTOR_OUT; |
| 674 |
dataStart = 4;
|
| 675 |
} |
| 676 |
else
|
| 677 |
return false; |
| 678 |
if(data.charAt(dataStart-1) != '/') |
| 679 |
return false; |
| 680 |
int value = Integer.valueOf(data.substring(dataStart)); |
| 681 |
dataArr.add(value); |
| 682 |
statusArr.add(mask); |
| 683 |
} |
| 684 |
bomData[num].addAll(dataArr); |
| 685 |
bomStatus[num].addAll(statusArr); |
| 686 |
return true; |
| 687 |
} |
| 688 |
else
|
| 689 |
return false; |
| 690 |
} |
| 691 |
else if(testType.equals("rangefinder")){ |
| 692 |
ArrayList<Integer> dataWallArr = new ArrayList<Integer>(); |
| 693 |
ArrayList<Integer> dataRangeArr = new ArrayList<Integer>(); |
| 694 |
ArrayList<Integer> statusArr = new ArrayList<Integer>(); |
| 695 |
|
| 696 |
int num = scan.nextInt();
|
| 697 |
if(num >= NUM_RANGEFINDERS){
|
| 698 |
System.out.println("Invalid rangefinder index: " + num); |
| 699 |
return false; |
| 700 |
} |
| 701 |
|
| 702 |
String dir = scan.next();
|
| 703 |
int mask;
|
| 704 |
if(dir.equals("in")) |
| 705 |
mask = RANGEFINDER_IN; |
| 706 |
else if(dir.equals("out")) |
| 707 |
mask = RANGEFINDER_OUT; |
| 708 |
else
|
| 709 |
return false; |
| 710 |
|
| 711 |
while(scan.hasNext()){
|
| 712 |
String data = scan.next();
|
| 713 |
|
| 714 |
int slashIdx = data.indexOf("/"); |
| 715 |
int wallDist = Integer.valueOf(data.substring(0, |
| 716 |
slashIdx)); |
| 717 |
int rangefinderReading = Integer.valueOf(data.substring( |
| 718 |
slashIdx+1));
|
| 719 |
|
| 720 |
dataWallArr.add(wallDist); |
| 721 |
dataRangeArr.add(rangefinderReading); |
| 722 |
statusArr.add(mask); |
| 723 |
} |
| 724 |
rangefinderWallData[num].addAll(dataWallArr); |
| 725 |
rangefinderRangeData[num].addAll(dataRangeArr); |
| 726 |
rangefinderStatus[num].addAll(statusArr); |
| 727 |
return true; |
| 728 |
} |
| 729 |
else if(testType.equals("motor")){ |
| 730 |
ArrayList<Integer> dataPWMArr = new ArrayList<Integer>(); |
| 731 |
ArrayList<Integer> dataVelocityArr = new ArrayList<Integer>(); |
| 732 |
ArrayList<Integer> statusArr = new ArrayList<Integer>(); |
| 733 |
|
| 734 |
int num = scan.nextInt();
|
| 735 |
if(num >= NUM_MOTORS){
|
| 736 |
System.out.println("Invalid motor index: " + num); |
| 737 |
return false; |
| 738 |
} |
| 739 |
|
| 740 |
String dir = scan.next();
|
| 741 |
int mask;
|
| 742 |
boolean forward = true; |
| 743 |
if(dir.equals("forward")) |
| 744 |
mask = MOTOR_FORWARD; |
| 745 |
else if(dir.equals("backward")){ |
| 746 |
mask = MOTOR_BACKWARD; |
| 747 |
forward = false;
|
| 748 |
} |
| 749 |
else
|
| 750 |
return false; |
| 751 |
|
| 752 |
String accel = scan.next();
|
| 753 |
if(accel.equals("increasing")) |
| 754 |
mask |= MOTOR_ACCELERATING; |
| 755 |
else if(accel.equals("decreasing")) |
| 756 |
mask |= MOTOR_DECELERATING; |
| 757 |
else if(accel.equals("constant")) |
| 758 |
mask |= MOTOR_CONST_ACCEL; |
| 759 |
else
|
| 760 |
return false; |
| 761 |
|
| 762 |
while(scan.hasNext()){
|
| 763 |
String data = scan.next();
|
| 764 |
|
| 765 |
int slashIdx = data.indexOf("/"); |
| 766 |
int pwm = Integer.valueOf(data.substring(0, |
| 767 |
slashIdx)); |
| 768 |
int velocity = Integer.valueOf(data.substring( |
| 769 |
slashIdx+1));
|
| 770 |
if(forward)
|
| 771 |
dataPWMArr.add(pwm); |
| 772 |
else
|
| 773 |
dataPWMArr.add(-1 * pwm);
|
| 774 |
dataVelocityArr.add(velocity); |
| 775 |
statusArr.add(mask); |
| 776 |
} |
| 777 |
motorPWMData[num].addAll(dataPWMArr); |
| 778 |
motorVelocityData[num].addAll(dataVelocityArr); |
| 779 |
motorStatus[num].addAll(statusArr); |
| 780 |
return true; |
| 781 |
} |
| 782 |
else if(testType.equals("encoder")){ |
| 783 |
ArrayList<Integer> dataDynamoArr = new ArrayList<Integer>(); |
| 784 |
ArrayList<Integer> dataEncoderArr = new ArrayList<Integer>(); |
| 785 |
ArrayList<Integer> statusArr = new ArrayList<Integer>(); |
| 786 |
|
| 787 |
int num = scan.nextInt();
|
| 788 |
if(num >= NUM_ENCODERS){
|
| 789 |
System.out.println("Invalid encoder index: " + num); |
| 790 |
return false; |
| 791 |
} |
| 792 |
|
| 793 |
String dir = scan.next();
|
| 794 |
int mask;
|
| 795 |
if(dir.equals("forward")) |
| 796 |
mask = ENCODER_FORWARD; |
| 797 |
else if(dir.equals("backward")) |
| 798 |
mask = ENCODER_BACKWARD; |
| 799 |
else
|
| 800 |
return false; |
| 801 |
|
| 802 |
while(scan.hasNext()){
|
| 803 |
String data = scan.next();
|
| 804 |
|
| 805 |
int slashIdx = data.indexOf("/"); |
| 806 |
int dynamo = Integer.valueOf(data.substring(0, |
| 807 |
slashIdx)); |
| 808 |
int encoder = Integer.valueOf(data.substring( |
| 809 |
slashIdx+1));
|
| 810 |
|
| 811 |
dataDynamoArr.add(dynamo); |
| 812 |
dataEncoderArr.add(encoder); |
| 813 |
statusArr.add(mask); |
| 814 |
} |
| 815 |
encoderDynamoData[num].addAll(dataDynamoArr); |
| 816 |
encoderValueData[num].addAll(dataEncoderArr); |
| 817 |
encoderStatus[num].addAll(statusArr); |
| 818 |
return true; |
| 819 |
} |
| 820 |
else
|
| 821 |
return false; |
| 822 |
} |
| 823 |
catch(Exception e){ |
| 824 |
return false; |
| 825 |
} |
| 826 |
} |
| 827 |
|
| 828 |
/*
|
| 829 |
* Pings the station
|
| 830 |
*/
|
| 831 |
public void ping() throws Exception{ |
| 832 |
serial.puts("ping\n");
|
| 833 |
System.out.println(serial.gets());
|
| 834 |
} |
| 835 |
|
| 836 |
/*
|
| 837 |
* Receives pings and returns a pong
|
| 838 |
*/
|
| 839 |
public void receive_ping() throws Exception{ |
| 840 |
String in = serial.gets();
|
| 841 |
if(in == "#ping\n") |
| 842 |
serial.puts("#pong\n");
|
| 843 |
else
|
| 844 |
System.out.println("Message received was not a ping. " + |
| 845 |
"Message was:\n" + in);
|
| 846 |
} |
| 847 |
} |