Revision 665
Added more boundary code. Need to test.
| ColonetServerInterface.java | ||
|---|---|---|
| 60 | 60 |
public static final String GLOBAL_DEST = "200"; |
| 61 | 61 |
public static final String CLIENT_REQUEST_ROBOT_POSITIONS = "86"; |
| 62 | 62 |
public static final String CLIENT_ASSIGN_ROBOT_ID = "87"; |
| 63 |
public static final String CLIENT_SET_VIRTUAL_WALL = "89"; |
|
| 63 | 64 |
public static final String MOVE_TO_ABSOLUTE_POSITION = "83"; //0x53 |
| 65 |
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| 64 | 66 |
|
| 65 | 67 |
//Queue instructions |
| 66 | 68 |
public static final String COLONET_QUEUE = "100"; |
| ... | ... | |
| 359 | 361 |
} |
| 360 | 362 |
|
| 361 | 363 |
/** |
| 362 |
* Order a robot to move to an absolute coordinate point.
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| 363 |
*/
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| 364 |
* Order a robot to move to an absolute coordinate point.
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| 365 |
*/
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| 364 | 366 |
public void sendAbsoluteMove (int id, int x, int y) {
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| 365 | 367 |
int x_high = (x>>8) & 0xff; |
| 366 | 368 |
int x_low = x & 0xff; |
| ... | ... | |
| 369 | 371 |
|
| 370 | 372 |
sendData(MOVE_TO_ABSOLUTE_POSITION + " " + x_high + " " + x_low + " " + y_high + " " + y_low, "" + id); |
| 371 | 373 |
} |
| 374 |
|
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| 375 |
/** |
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* Establish a boundary for robot motion. |
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*/ |
|
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public void sendBoundary (int x1, int y1, int x2, int y2) {
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|
| 379 |
String packet = ""; |
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| 380 |
packet += ColonetServerInterface.REQUEST_FROM_SERVER; |
|
| 381 |
packet += " " + CLIENT_SET_VIRTUAL_WALL; |
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packet += " " + x1 + " " + y1 + " " + x2 + " " + y2; |
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| 383 |
packet += "\n"; |
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| 384 |
sendString(packet); |
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} |
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| 372 | 386 |
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| 373 | 387 |
/* |
| 374 | 388 |
* Queue management |
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