Android Open Source - LightRobot Light Robot Data Manager

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License

The source code is released under:

GNU General Public License

Java Source Code

package org.lightrobotremote;
// w  ww. j av a2s. c  om
import org.lightrobotremote.util.ColorHelper;

import android.graphics.Path.Direction;
import android.os.Handler;


/** Stores the current data values which will be sent to the robot.
 * 
 * @author Julian, Oier
 *
 */
public class LightRobotDataManager {
  
  
  /** Handles the communication with the Activiy
   * 
   */
  private Handler mHandler;
  
  /** sets the speed for the robot [-127, 127]
   * positive values -> Forward
   * negative values -> Backward
   */
  private  byte mSpeed = 0;
  public static final byte SPEED_VALUE_MAX = 127;
  
  /** sets the direction (e.g. the turn rate) for the robot [-127, 127]
   * positive values -> turns right, 128 turns on point
   * negative values -> turns left, -127 turns on point
   */
  private  byte mDirection = 0;//
  public static final byte DIRECTION_VALUE_MAX = 127;
  
  private ColorHelper mColor = new ColorHelper(0);
  
    
  /** sets the mode of the robot AND the mode of the light
   * b0, b1, b2, b3 -> Color mode ->   0000 -> remote (color set by remote)
   *                   0001 -> blink (color set by remote, blinks)
   *                   0010 -> random (fades random lights)
   *                   0011 -> random blink
   * b4, b5, b6, b7 -> Driving mode ->  0000 -> remote
   *                     0001 -> random drive
   *                     0010 -> forward
   *                     0011 -> backward
   */
  private  byte mMode = 0;
  
  private static final byte MASK_MODE = 0x0f; //masks the the last 4 bits, only the 4 bits are used
  
  private static final byte POSITION_DRIVE_MODE = 0;
  private static final byte MASK_DRIVE_MODE = 0x0f;
  
  public static final byte DRIVE_MODE_REMOTE = 0;
  public static final byte DRIVE_MODE_RANDOM = 1;
  public static final byte DRIVE_MODE_FORWARD = 2;
  public static final byte DRIVE_MODE_BACKWARD = 3;
  public static final byte DRIVE_MODE_LEFT = 4;
  public static final byte DRIVE_MODE_RIGHT = 5;
  
  private static final byte POSITION_COLOR_MODE = 4;
  private static final byte MASK_COLOR_MODE = -0x10;
  public static final byte COLOR_MODE_SHINE = 0;
  public static final byte COLOR_MODE_BLINK = 1;
  public static final byte COLOR_MODE_RANDOM = 2;
  public static final byte COLOR_MODE_RANDOM_BLINK = 3;
  
  /** Data packet with the four fields [speed][direction][color][mode]
   * 
   */
  private  byte mDataPacket[] = {0, 0, 0, 0};
  private static final byte POSITION_PACKET_SPEED = 0;
  private static final byte POSITION_PACKET_DIRECTION = 1;
  private static final byte POSITION_PACKET_COLOR = 2;
  private static final byte POSITION_PACKET_MODE = 3;
  
  private  boolean mSendNewPacket = false;
  
  /**Constructor gets the handler and stores it for updating the UI and sending messages.
   * 
   * @param handler
   */
  public LightRobotDataManager(Handler handler)
  {
    mHandler = handler;
  }
  
  /** Stops the movement of the Robot.
   * 
   */
  public void resetMoveValues()
  {
    //mMode = 0;
    mSpeed = 0;
    mDirection = 0;
    updatePacket();
  }
  
  /** Resets all values, updates and sends the data package.
   * 
   */
  public void resetAllValues()
  {
    mSpeed = 0;
    mDirection = 0;
    mColor.setColor(0);
    mMode = 0;
    updatePacket();
  }
  
  
  public void setSpeedDirection(byte speed, byte direction)
  {
    mSpeed = speed;
    mDirection = direction;
    updatePacket();
  }
  /** Set the speed of the robot
   * 
   * @param speed the desired speed of the robot.
   */
  public void setSpeed(byte speed)
  {
    mSpeed = speed;
    updatePacket();
  }
  
  /** Set the direction in which to drive
   * 
   * @param direction the direction in which the robot should move.
   */
  public void setDirection(byte direction)
  {
    mDirection = direction;
    updatePacket();
  }
  
  /** Changes the value of mSpeed not absolut, but relative according to the amount.
   * 
   * @param amount [-127, 127] the amount of altering the value, Overflow is checked (and not possible).
   */
  public void alterSpeed(byte amount)
  {
    short delta = (short)(SPEED_VALUE_MAX - (mSpeed*Math.signum(amount)));
    if(delta > SPEED_VALUE_MAX)
      delta = SPEED_VALUE_MAX;
    if(delta < Math.abs(amount))
      amount = (byte)(delta * Math.signum(amount));
    mSpeed += amount;
    updatePacket();
  }
  
  /** Changes the value of mDirection not absolut, but relative according to the amount
   * 
   * @param amount [-127, 127] the amount of how much will the value be altered, Overflow is checked (and not possible).
   */
  public void alterDirection(byte amount)
  {
    short delta = (short)(SPEED_VALUE_MAX - (mDirection*Math.signum(amount)));
    if(delta > SPEED_VALUE_MAX)
      delta = SPEED_VALUE_MAX;
    if(delta < Math.abs(amount))
      amount = (byte)(delta * Math.signum(amount));
    mDirection += amount;
    updatePacket();
  }
  
  /** Gets the current speed value.
   * 
   * @return the current speed
   */
  public byte getSpeed()
  {
    return mSpeed;
  }
  
  /** Gets the current direction value.
   * 
   * @return the current direction
   */
  public  byte getDirection() {
    return mDirection;
  }
  
  /** Sets the current color
   * @param color the desired color to be set
   */
  
  public void setColor(ColorHelper color)
  {
    mColor = color;
    updatePacket();
  }
  
  /** Gets the current color
   * @return the current color
   */
  public ColorHelper getColor()
  {
    return mColor;
  }
  
  
  /** Sets the color mode:
   * 0 -> shine 
   * 1 -> blink 
   * 2 -> random shine
   * 3 -> random blink
   * @param color_mode the color mode
   */
  public void setColorMode(byte color_mode)
  {
    byte tempMode = (byte)(mMode & ~MASK_COLOR_MODE);//clear color mode field.
    tempMode |= (byte)(((byte)(color_mode & MASK_MODE)) << POSITION_COLOR_MODE);
    mMode = tempMode;
    updatePacket();
  }
  
  /** Set the internal mode of the robot:
   * 0 -> remotecontrolled
   * 1 -> random movement
   * 2 -> move forward
   * 3 -> move backward
   * 4 -> turn left
   * 5 -> turn right
   * 
   * @param drive_mode mode for the robot
   */
  public void setMode(byte drive_mode)
  {
    byte tempMode = (byte)(mMode & ~MASK_DRIVE_MODE);//clear color mode field.
    tempMode |= (byte)(((byte)(drive_mode & MASK_MODE)) << POSITION_DRIVE_MODE);
    mMode = tempMode;
    updatePacket();
  }
  
  /** Returns the encoded mode value.
   * 
   * @return the encoded code value
   */
  public byte getMode() {
    return mMode;
  }
  
  
  public void setModeColor(byte drive_mode, byte color_mode, ColorHelper color)
  {
    byte tempMode = (byte)(mMode & ~MASK_DRIVE_MODE);//clear color mode field.
    tempMode |= (byte)(((byte)(drive_mode & MASK_MODE)) << POSITION_DRIVE_MODE);
    mMode = tempMode;
    
    tempMode = (byte)(mMode & ~MASK_COLOR_MODE);//clear color mode field.
    tempMode |= (byte)(((byte)(color_mode & MASK_MODE)) << POSITION_COLOR_MODE);
    mMode = tempMode;
    
    mColor = color;
    updatePacket();
    
    
  }
  
  /** Updates the fields of the data packet, sends a message for display and one to send the data
   * 
   */  
  private void updatePacket()
  {
    mDataPacket[POSITION_PACKET_SPEED] = mSpeed;
    mDataPacket[POSITION_PACKET_DIRECTION] = mDirection;
    mDataPacket[POSITION_PACKET_COLOR] = mColor.getColor();
    mDataPacket[POSITION_PACKET_MODE] = mMode;
    
    mHandler.obtainMessage(LightRobotRemoteInterface.MESSAGE_SEND_DATA, 0, 0).sendToTarget();
    mHandler.obtainMessage(LightRobotRemoteInterface.MESSAGE_UPDATE_DISPLAY, 0, 0).sendToTarget();
  }
  
  /** Returns the current data packet
   * 
   * @return array with the 4 data fields
   */
  public byte[] getDataPacket()
  {
    mDataPacket[POSITION_PACKET_SPEED] = mSpeed;
    mDataPacket[POSITION_PACKET_DIRECTION] = mDirection;
    mDataPacket[POSITION_PACKET_COLOR] = mColor.getColor();
    mDataPacket[POSITION_PACKET_MODE] = mMode;
    return mDataPacket;
  }
  

}

Java Source Code List

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