X-Git-Url: http://demsky.eecs.uci.edu/git/?a=blobdiff_plain;f=Robust%2Fsrc%2FBenchmarks%2FSSJava%2FJavaNator%2FRobotMain.java;h=6838ef52228c4c98e308320c73b85f7786feb616;hb=937867fd8d958d7ce7dadc3e4aab8ff03084eb51;hp=51d9dd45fe0b2a78cff6db70f20d429ba293e926;hpb=3b010fe8985ad3bbf5c2796620d5684013c770fb;p=IRC.git

diff --git a/Robust/src/Benchmarks/SSJava/JavaNator/RobotMain.java b/Robust/src/Benchmarks/SSJava/JavaNator/RobotMain.java
index 51d9dd45..6838ef52 100644
--- a/Robust/src/Benchmarks/SSJava/JavaNator/RobotMain.java
+++ b/Robust/src/Benchmarks/SSJava/JavaNator/RobotMain.java
@@ -32,14 +32,14 @@ public class RobotMain {
   @LOC("T")
   private static boolean DEBUG = true;
 
-  private static final int OFF_MODE = 1;
-  private static final int ON_MODE = 2;
-  private static final int MANUAL_MODE = 1;
-  private static final int AUTONOMUS_MODE = 2;
-  private static final int ON_OFF = 128;// 0x80
-  private static final int MANUAL_AUTONOMUS = 32; // 0x20
+  public static final int OFF_MODE = 1;
+  public static final int ON_MODE = 2;
+  public static final int MANUAL_MODE = 1;
+  public static final int AUTONOMUS_MODE = 2;
+  public static final int ON_OFF = 128;// 0x80
+  public static final int MANUAL_AUTONOMUS = 32; // 0x20
   public static final int LINE_SENSORS = 64; // 0x40
-  private static final int SONAR_SENSORS = 96; // 0x60
+  public static final int SONAR_SENSORS = 96; // 0x60
   public static final int ALL_COMMANDS = 0xe0;
 
   public static final byte LF_FRONT = 0x1;
@@ -56,31 +56,31 @@ public class RobotMain {
   public static final byte LS_LEFT_REAR = 0x5;
   public static final byte LS_RIGHT_REAR = 0x6;
   public static final byte LS_ALL = 0x7;
-  private static final int ALL_DATA = 0x1f;
+  public static final int ALL_DATA = 0x1f;
 
   @LOC("MGR")
-  private static PWMManager pwmm;
+  private PWMManager pwmm;
   @LOC("MGR")
-  private static StrategyMgr strategyMgr;
+  private StrategyMgr strategyMgr;
 
   @LOC("MASK")
-  private static int onOffMode = ON_MODE;
+  private int onOffMode = ON_MODE;
   @LOC("MASK")
-  private static int manualAutonomusMode = AUTONOMUS_MODE;
+  private int manualAutonomusMode = AUTONOMUS_MODE;
   @LOC("MASK")
-  private static byte lineSensorsMask;
+  private byte lineSensorsMask;
   @LOC("MASK")
-  private static byte sonarSensors;
+  private byte sonarSensors;
   @LOC("CCMD")
-  private static byte currentCommand;
+  private byte currentCommand;
   @LOC("MASK")
-  private static byte privSonars;
+  private byte privSonars;
   @LOC("PREV")
-  private static byte privLineSensors;
+  private byte privLineSensors;
   @LOC("MASK")
-  private static byte currentSonars;
+  private byte currentSonars;
   @LOC("MASK")
-  public static String pwmSelection;
+  public String pwmSelection;
 
   /**
    * Constructor for the class for the robot main thread.
@@ -89,20 +89,18 @@ public class RobotMain {
   }
 
   /**
-   * Processes sonar sensor input. This method is called each time new sonar
-   * sensor data arrives, and each time that a mode switch occurs between ON/OFF
-   * and Manual Override.
+   * Processes sonar sensor input. This method is called each time new sonar sensor data arrives,
+   * and each time that a mode switch occurs between ON/OFF and Manual Override.
    */
-  static void processSonars() {
+  void processSonars() {
     strategyMgr.processSonars(sonarSensors);
   }
 
   /**
-   * Processes line sensor input. This method is called each time new line
-   * sensor data arrives, and each time that a mode switch occurs between ON/OFF
-   * and Manual Override.
+   * Processes line sensor input. This method is called each time new line sensor data arrives, and
+   * each time that a mode switch occurs between ON/OFF and Manual Override.
    */
-  static void processLineSensors() {
+  void processLineSensors() {
     strategyMgr.processLineSensors(lineSensorsMask);
     resume();
   }
@@ -110,16 +108,16 @@ public class RobotMain {
   /**
    * Resumes motors as per the last sonar command.
    */
-  public static void resume() {
+  void resume() {
     processSonars();
   }
 
   /**
-   * Extracts sonar sensor data from the adjunct sensor controller and from line
-   * sensor data from the JStamp line sensor pins.
+   * Extracts sonar sensor data from the adjunct sensor controller and from line sensor data from
+   * the JStamp line sensor pins.
    */
   @LATTICE("THIS,THISLOC=THIS,GLOBALLOC=THIS")
-  private static void processIOCommand() {
+  private void processIOCommand() {
 
     // int data = 0;
     // int opCode = 0;
@@ -170,8 +168,8 @@ public class RobotMain {
       lineSensorsMask = (byte) (data & LS_ALL);
 
       /*
-       * Line sensors with '0' data means the robot moved off the edge line, and
-       * there is nothing to do.
+       * Line sensors with '0' data means the robot moved off the edge line, and there is nothing to
+       * do.
        */
       if (((data & LS_ALL) == 0) || ((data & LS_ALL) == privLineSensors)) {
         privLineSensors = (byte) (data & LS_ALL);
@@ -190,8 +188,8 @@ public class RobotMain {
       }
       currentSonars = (byte) (data & ALL_SONARS);
       /*
-       * No need to synchronized on this variable assignment since all referring
-       * code is on the same logical thread
+       * No need to synchronized on this variable assignment since all referring code is on the same
+       * logical thread
        */
       sonarSensors = (byte) currentSonars;
       if ((onOffMode == ON_MODE) && (manualAutonomusMode == AUTONOMUS_MODE)) {
@@ -222,7 +220,7 @@ public class RobotMain {
   /**
    * Saves the current IOManager command byte locally.
    */
-  static public void setIOManagerCommand(byte[] cmd) {
+  public void setIOManagerCommand(byte[] cmd) {
     // synchronized (obj1) {
     currentCommand = cmd[0];
     // }
@@ -236,8 +234,7 @@ public class RobotMain {
   }
 
   /**
-   * Sets debug messaging state: true - Activate debug messages false -
-   * deactivate debug messages
+   * Sets debug messaging state: true - Activate debug messages false - deactivate debug messages
    */
   static public void setDebug(boolean debug) {
     DEBUG = debug;
@@ -246,19 +243,21 @@ public class RobotMain {
   /**
    * Runs the robot's main thread.
    */
-  @LATTICE("THIS<C,THIS<MC,MC<IN,C<IN,IN<T,C*,THISLOC=THIS,GLOBALLOC=THIS")
   public static void main(@LOC("IN") String args[]) {
 
     TestSensorInput.init();
-    @LOC("T") boolean active = true;
+    RobotMain r = new RobotMain();
+    r.doit();
+  }
+
+  @LATTICE("THIS<C,THIS<MC,MC<IN,C<IN,IN<T,C*,THISLOC=THIS,GLOBALLOC=THIS")
+  public void doit() {
     /**
-     * RealTime management of the robot behaviour based on sensors and commands
-     * input.
+     * RealTime management of the robot behaviour based on sensors and commands input.
      */
 
     /**
-     * Set the low level PWM interface type, e.g. "rtsj" or "native" (ajile
-     * library-based).
+     * Set the low level PWM interface type, e.g. "rtsj" or "native" (ajile library-based).
      */
     pwmSelection = "rtsj";
 
@@ -273,44 +272,53 @@ public class RobotMain {
     strategyMgr = new StrategyMgr(mc);
 
     /*
-     * Sets initial values for the speed and agility parameters. Speed and
-     * agility are arbitrary scale factors for the overall speed and speed of
-     * turns, respectively. These work with PWM via the native ajile libraries,
-     * but do not work well with the RTSJ implementation due to limits on the
-     * granularity of timing for the PWM pulse (quantization).
+     * Sets initial values for the speed and agility parameters. Speed and agility are arbitrary
+     * scale factors for the overall speed and speed of turns, respectively. These work with PWM via
+     * the native ajile libraries, but do not work well with the RTSJ implementation due to limits
+     * on the granularity of timing for the PWM pulse (quantization).
      */
     pwmm.setSpeedAgilityFactors(100, 100);
 
     /*
-     * Robot's initial state is "ON" by default. Set this parameter to "OFF" if
-     * the robot is to be started over the TCP/IP link.
+     * Robot's initial state is "ON" by default. Set this parameter to "OFF" if the robot is to be
+     * started over the TCP/IP link.
      */
     // issueCommand("OFF");
 
-    @LOC("C") int count = 0;
+    start();
+
+    System.exit(0);
+  }
+
+  @LATTICE("THIS<IN,IN<T,THISLOC=THIS,GLOBALLOC=THIS")
+  public void start() {
+    @LOC("T") boolean active = true;
+
     SSJAVA: while (active) {
 
-      if (count > 100000) {
-        break;
-      }
+      @LOC("IN") Command com = HWSimulator.getCommand();
+      currentCommand = com.command;
+      sonarSensors = com.sonarSensors;
+      lineSensorsMask = com.lineSensorsMask;
+      manualAutonomusMode = com.manualAutonomusMode;
+      onOffMode = com.onOffMode;
 
-      // if (DEBUG) {
-      // System.out.println("Main: Waiting for remote commands");
-      // }
-      // try {
-      // obj.wait();
-      // } catch (IllegalMonitorStateException ie) {
-      // System.out.println("IllegalMonitorStateException caught in main loop");
-      // }
-      currentCommand = TestSensorInput.getCommand();
       if (currentCommand == -1) {
         break;
       }
       System.out.println("currentCommand=" + currentCommand);
       processIOCommand();
-      count++;
+      // erase current settings
+      initialize();
     }
-    System.exit(0);
+  }
+
+  public void initialize() {
+    privLineSensors = 0;
+    currentCommand = 0;
+    privSonars = 0;
+    currentSonars = 0;
+    pwmSelection = "";
   }
 
 }