rcxreceiver.java

RCXDownload and RCXDirectMode是leJOS的一个可视化接口。RCXDownload自动设置JDK-, leJOS-和ClassPath

import josx.platform.rcx.*;

/**
 * This program listens for messages from your PC.
 * It accepts a few standard opcodes, such as
 * Set Motor On/Off (0x21). You should be able to
 * control it using the RCXDirectMode GUI.
 */
public class RCXReceiver implements Segment, SensorConstants
{
  private static final int LENGTH = 10;
  private static final int MAX    = 99;
  static int sensorSegment[] = 
     { SENSOR_1_VIEW, SENSOR_2_VIEW, SENSOR_3_VIEW };
  static int motorSegment[][] = 
  { 
     { MOTOR_A_VIEW, MOTOR_B_VIEW, MOTOR_C_VIEW },
     { MOTOR_A_FWD, MOTOR_B_FWD, MOTOR_C_FWD },
     { MOTOR_A_REV, MOTOR_B_REV, MOTOR_C_REV }
  };

  private static final Sensor[]  SENSOR = { Sensor.S1, Sensor.S2, Sensor.S3 };
  private static final Motor[]   MOTOR  = { Motor.A, Motor.B, Motor.C };
  private static       int[]     sensorValue  = new int[3];
  private static       int[]     motorValue   = new int[3];


  public static void readSensorValue(byte[] pPacket)
  {
    //for (int k=0; k<=2; k++) SENSOR[k].activate();
    byte[] rPacket = new byte[LENGTH];
    int pFlagsSensor = pPacket[1] & 0xFF;
    int pFlagsMode   = pPacket[2] & 0xFF;

    //rPacket[0] = (byte) (45 & 0xFF); //(178 & 0xFF);  // (byte)178 = b2  -> send message
    rPacket[0] = (byte) ~(pPacket[0] & 0xFF);

    LCD.clear();

    if ((pFlagsSensor >= 0) && (pFlagsSensor <= 2)) {
       LCD.setSegment (sensorSegment[pFlagsSensor]);
       int value = 0;
       //Sensor s = (Sensor) pDevice;

       if (pFlagsMode == 0) {                     // raw-values have to be converted
         //SENSOR[pFlagsMode].setTypeAndMode (SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW); // works bad in alpha5
         value = SENSOR[pFlagsSensor].readRawValue();
         int z = value;
         int i = 0;
         while (z > MAX) { i++; z = z - MAX; } // z = z-100; z = z-100; z = z-55; }
         rPacket[1] = (byte) (z & 0xFF);
         rPacket[2] = (byte) (i & 0xFF);
         //LCD.showNumber (value);
       }
       else if (pFlagsMode == 3) {                 // percent values
         //SENSOR[pFlagsMode].setTypeAndMode (SENSOR_TYPE_LIGHT, SENSOR_MODE_PCT); // works bad in alpha5
         value = sensorValue[pFlagsSensor];
         rPacket[1] = (byte) (value & 0xFF);
         //LCD.showNumber (value);
       }
       else if (pFlagsMode == 1) {                 // boolean values
         //SENSOR[pFlagsMode].setTypeAndMode (SENSOR_TYPE_TOUCH, SENSOR_MODE_BOOL); // works bad in alpha5
         value = (SENSOR[pFlagsSensor].readBooleanValue() ? 1:0); //((sensorValue[pFlagsSensor] > 1000) ? 1:0);
         rPacket[1] = (byte) (value & 0xFF);
         //LCD.showNumber (value);
       }

       LCD.showNumber (value);

    }

    Serial.sendPacket (rPacket, 0, rPacket.length);
    LCD.refresh();
    Sound.beep();
  }

  public static void setMotorPower(byte[] pPacket)
  {
    int pFlagsMotor = pPacket[1] & 0xFF;
    int pFlagsPower = pPacket[2] & 0xFF;
    //pPacket[0] = (byte) (13 & 0xFF);
    pPacket[0] = (byte) ~(pPacket[0] & 0xFF);
    Serial.sendPacket (pPacket, 0, 1);
    LCD.clear();
    LCD.showNumber (pFlagsPower);

    if ((pFlagsMotor >= 0) && (pFlagsMotor <= 2)) {
       LCD.setSegment (motorSegment[0][pFlagsMotor]);
       MOTOR[pFlagsMotor].setPower(pFlagsPower);
       motorValue[pFlagsMotor] = pFlagsPower;
    }
    else Sound.beep();
    LCD.refresh();

  }
  public static void setMotorOnOff(byte[] pPacket)
  {
    int pFlagsMotor = pPacket[1] & 0xFF;
    //pPacket[0] = (byte) (21 & 0xFF);
    pPacket[0] = (byte) ~(pPacket[0] & 0xFF);
    Serial.sendPacket (pPacket, 0, 1);

    //int x = (pFlagsMotor - (pFlagsMotor % 10)) / 10;
    //int y = pFlagsMotor % 10;

    int y = (pFlagsMotor % 16);
    int x = (pFlagsMotor - y) / 16;
    int pFlags = x * 10 + y;
    int motor_n   = (pFlags - (pFlags % 10)) / 10;
    int motor_cmd = pFlags % 10;

    LCD.clear();
    //LCD.showNumber (motor_n);
    //LCD.showProgramNumber (motor_cmd);

    if ((motor_n >= 0) && (motor_n <= 2)) {
       LCD.showNumber (motorValue[motor_n]);
       if (motor_cmd == 8) {
          LCD.setSegment (motorSegment[1][motor_n]);
          MOTOR[motor_n].forward();
       }
       else if (motor_cmd == 0) { 
               LCD.setSegment (motorSegment[2][motor_n]);
               MOTOR[motor_n].backward();
            }
            else {
                  LCD.setSegment (motorSegment[0][motor_n]);
                  MOTOR[motor_n].stop();
                 }
    }
    else Sound.beep();
    LCD.refresh();
  }
  public static void readBatteryValue(byte[] pPacket)
  {
    byte[] rPacket = new byte[LENGTH];
    //rPacket[0] = (byte) (45 & 0xFF);
    rPacket[0] = (byte) ~(pPacket[0] & 0xFF);
    int value = Battery.getVoltageInternal();

    int z = value;
    int i = 0;
    while (z > MAX) { i++; z = z - MAX; } //z = z-100; z = z-100; z = z-55; }
    rPacket[1] = (byte) (z & 0xFF);
    rPacket[2] = (byte) (i & 0xFF);

    Serial.sendPacket (rPacket, 0, rPacket.length);
    //LCD.refresh();
    LCD.showNumber (value);
    Sound.beep();

  }
  public static void playSound(byte[] pPacket)
  {
    int pFlags = pPacket[1] & 0xFF;
    //pPacket[0] = (byte) (51 & 0xFF);
    pPacket[0] = (byte) ~(pPacket[0] & 0xFF);
    Serial.sendPacket (pPacket, 0, 1);
    LCD.showNumber (pFlags);
    Sound.systemSound (true, pFlags);
  }

  public static void executePacket(byte[] pPacket)
  {
    int pOpCode = pPacket[0] & 0xF7;


    if (pOpCode == 0x10)
    {
            // Alive?
            LCD.showNumber (0000);
            pPacket[0] = (byte) ~(pPacket[0] & 0xFF);
            Serial.sendPacket (pPacket, 0, 1);
            Sound.beep();
    }
    else if (pOpCode == 0x32)
    {
             readSensorValue(pPacket); 
    }
    else if (pOpCode == 0x21)
    {
             setMotorOnOff(pPacket);
    }
    else if (pOpCode == 0x13)
    {
            setMotorPower(pPacket);
    }
    else if (pOpCode == 0x51)
    {
            playSound(pPacket);
    }
    else if (pOpCode == 0x30)
    {
            readBatteryValue(pPacket);
    }
    else {
            pPacket[0] = (byte) ~(pPacket[0] & 0xFF);
            Serial.sendPacket (pPacket, 0, 1);
            Sound.beep();
    }
  }

  public static void main (String[] arg)
  {
    //LCD.showNumber (1111);
    LCD.clearSegment(WALKING);
    TextLCD.print("JAVA");
    LCD.refresh();
    Sound.playTone(1500, 20);


    // Without SensorListener, the lamp of the lightsensor would not work!
    // It's also a workaround for getting percent values.
    SENSOR[0].activate();
    SENSOR[0].addSensorListener (new SensorListener() {
      public void stateChanged (Sensor src, int oldValue, int newValue) {
        //LCD.showNumber (newValue);
        sensorValue[0] = newValue;
        try {
 	         Thread.sleep (100);
        } catch (InterruptedException e) {
          // ignore
        }
      }
    });
    SENSOR[1].activate();
    SENSOR[1].addSensorListener (new SensorListener() {
      public void stateChanged (Sensor src, int oldValue, int newValue) {
        //LCD.showNumber (newValue);
        sensorValue[1] = newValue;
        try {
 	         Thread.sleep (100);
        } catch (InterruptedException e) {
          // ignore
        }
      }
    });
    SENSOR[2].activate();
    SENSOR[2].addSensorListener (new SensorListener() {
      public void stateChanged (Sensor src, int oldValue, int newValue) {
        //LCD.showNumber (newValue);
        sensorValue[2] = newValue;
        try {
 	         Thread.sleep (100);
        } catch (InterruptedException e) {
          // ignore
        }
      }
    });
    for (int k=0; k<=2; k++) {
        SENSOR[k].setTypeAndMode (SENSOR_TYPE_LIGHT, SENSOR_MODE_PCT);
        motorValue[k] = 4;
    }


    byte[] pPacket = new byte[LENGTH]; // moved out of the loop (mem leak hint by David Hill)

    for (;;)
    {
      
      if (Serial.isPacketAvailable())
      {

        Serial.readPacket (pPacket);

        executePacket(pPacket);
      }

    }
  }
}