controllrobot.java

1、手持设备机器人——应用端； 2、基于蓝牙传输；

/*************************************************************
 *
 * The Mobile Robotics Project
 * - mobilerobotics.sourceforge.net
 *
 * This file was created 2005-01-07
 * More information in MobileRoboticsMidlet.java
 *
 *************************************************************/

import javax.microedition.lcdui.*;
import javax.microedition.lcdui.game.*;
import java.lang.Thread;

public class ControllRobot extends GameCanvas implements Runnable {

 private boolean doPlay;                		 		   // Game Loop runs when isPlay is true
 private long delay;                    		  		   // To give thread consistency
 private int width;                      		 		   // To hold screen width
 private int height;                     				   // To hold screen height
 private int direction  = 8;               		   		   // The direction the robot goes in (for display)..
 private int ydirection = 0;							   // The last sent Y command (forward/backward/stop)
 private int xdirection = 0;							   // The last send X command (left/right/stop)

 private Bluetooth bluetooth;            		   		   // Bluetooth class
 private MobileRoboticsMidlet mobileRoboticsMidlet;        // MobileRoboticsMidlet class
 private int mode;                                         // Mode (pointer or regular)
 private boolean pointer;                                  // Do we have a pointer?
 private boolean havePoints;                               // Do we have points?
 private int boxy;

 private int left;                                          // The left (X) for our "is running, stopped"
 private int top;
 private int[][] points;                                    // our points
 private int     nrpoints;                                  // the nr of points..

 private int[][] dpoints;                                   // A duplicate of points for when running the path*
 private int     dnrpoints;                                 // A duplocate of nr of points for when running the path*

                                                            // *: When we run the path we created we must be able
                                                            //    to see how many points we have passed, and if there are any left.
                                                            //    in short, we must have one path to compare with and one to
                                                            //    store were we already been

   /*
    * Bluetooth commands and their function (int direction)
    *
    *  Car is running..
    *
    *  0) Power On
    *  1) Power Off
    *  2) Forward
    *  3) Backward
    *  4) Left
    *  5) Right
    *  6) Stop
    *
    *  For local use only:
    *  7) Switch (Switch modes (key to pointer))
    *  8) Killed (It's powered off)
    */



  // Constructor and initialization
 public ControllRobot(MobileRoboticsMidlet mobileMidlet, Bluetooth blue) {

  super(true);
  width     = getWidth();
  height    = getHeight();
  bluetooth = blue;
  mobileRoboticsMidlet = mobileMidlet;

 }

// Automatically start thread for game loop
public void start() {
  System.err.println(" Inited: ControllRobot");


  // Do we have pointers?
  pointer    = hasPointerEvents();

  // Loop
  doPlay     = true;

  // Software mode
  mode       = 1;

  // Start
  Thread t   = new Thread(this);
  t.start();

  // See bluetooth commands.
  direction  = 8;


  // If the display is to small we might have to change our values for
  // left and top margins due to otherwise overlapping images.

  if((width / 2 - 80) < 15)
    {
     left =    15;
    }else{
     left =    width / 2 - 80;
 	    }

   if((height / 2 - 50) < 70)
    {
     top =    65;
    }else{
     top =    height / 2 - 50;
    }

  // Boxes configureation
  boxy = height - 50;

  // We don't have any points stored
  havePoints = false;

  // Pointer array
  points = new int[10][2];

  // We don't have any points yet
  nrpoints = 0;


}

public boolean running()
 {
   return doPlay;
 }

public void stop()
  {
    doPlay = false;
  }


public void run() {
  Graphics g = getGraphics();

  while (doPlay == true) {

    // Two is for status/debug screen, one is for regular controllRobot
    if(mode == 1)
      {

          input();
          drawScreen(g);

        }else {

      if(pointer)
       {
         drawPointerScreen(g);
         }else{
         drawAboutScreen(g);
       }
      }
  }
}

 protected void keyPressed( int keyCode ) {

  // Press 0 to toggle modes
  if(keyCode == 48)
   {
    if(mode == 1)
     {

      bluetooth.command(6);
      direction = 7;
      mode      = 2;

     }else{

      if(havePoints == true)
       {
        clearPath();
       }

      bluetooth.command(6);
      direction = 6;
      mode      = 1;
     }

   }

}

public void pointerPressed(int x, int y)
 {
   // If we are in regular mode there is no reason for pointerevents, there for return.
   if(mode == 1)
    return;



   // If statement is true we have pressed the pointer in the draw area and not on a button
   if(y < boxy)
    {


    // We don't want anyone drawing lines that are going back and forth,
    // our robot should just go forward in a special pattern. Therefor we don't
    // count any pointerPress that is behind the previous dot.

    if((nrpoints > 0 ) && (y > points[nrpoints-1][1]))
      return;

    // You should be able to press a point outside of the drawing area.
    if(x < width / 2 - 89 || x > (width / 2 - 89 + 177) || y < 41 || y > (41 + boxy - 42))
     return;

    if(havePoints == false)
     {
      havePoints = true;
     }

    // Draw a line
    System.err.println("draw a line");

    points[nrpoints][0] = x;
    points[nrpoints][1] = y;
    nrpoints++;

  // Right button
  }else if((y > boxy) && (x > (width / 2)))
  {
    System.err.println("Run path");
    runPath();
  // Left button
  }else if((y > boxy) && (x < (width / 2)))
  {
    // Start clearing all path variables
    clearPath();
  }
 }

 private void clearPath()
  {
   System.err.println("Clear paths");

      for (int i=0; i < nrpoints; i++)
        {
            points[i][0] = 0;
            points[i][1] = 0;
        }

    points[nrpoints][0]  = 0;
    points[nrpoints][1]  = 0;

    havePoints   = false;
    nrpoints     = 0;
  }

public void runPath()
 {

 }



 public void resetDirection()
  {
    direction  = 6;
    ydirection = 6;
    xdirection = 6;
  }

// Method to Handle User Inputs
private void input() {
  int keyStates = getKeyStates();

  // Left
  if ((keyStates & LEFT_PRESSED) != 0)
   {
	   if(xdirection == 4)
	    {
			// Left
			direction = 4;
			bluetooth.command(4);


		}else if(xdirection == 5)
	    {
			// We are turning right so let's go to neutral.
			bluetooth.command(4);

			// Depending on the ydirection we set the wheel to a certain angle.
			if(ydirection == 2 || ydirection == 3)
			 {
				 direction  = ydirection;
			 }else{
				 direction  = 6;
			}

		   xdirection = 6;

		// If it's in neutral send left
		}else if(xdirection == 6)
		{

			bluetooth.command(4);
			xdirection = 4;
			direction  = 4;

		}else{ // Other

       		     direction = 4;
                     bluetooth.command(4);
            	     xdirection = 4;

		}
    }

  // Right
  if ((keyStates & RIGHT_PRESSED) !=0 )
   {


	   if(xdirection == 5)
	    {
			// Right
			direction = 5;
			bluetooth.command(5);