Car.java

gehe zur Dokumentation dieser Datei

package de.lathanda.eos.ev3;
 
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.InetAddress;
import java.net.Socket;
import java.net.UnknownHostException;
 
import de.lathanda.eos.base.event.CleanupListener;
import de.lathanda.eos.ev3.exception.ConnectionLostException;
import de.lathanda.eos.ev3.exception.DeviceNotFoundException;
 
public class Car implements CleanupListener {
    private Socket ev3;
    private String addr;
    private DataInputStream in;
    private DataOutputStream out;
 
    public Car() {
        addr = "";
    }
 
    public void connect(String address) {
        InetAddress ip;
        this.addr = address;
        try {
            ip = InetAddress.getByName(address);
        } catch (UnknownHostException e) {
            throw new DeviceNotFoundException(address);
        }
        try {
            ev3 = new Socket(ip, 8777);
            in = new DataInputStream(ev3.getInputStream());
            out = new DataOutputStream(ev3.getOutputStream());
        } catch (IOException e) {
            throw new DeviceNotFoundException(address);
        }
    }
 
    public void turnLeft(int degree) {
        Command cmd = new Command(Command.TURN_LEFT, degree);
        try {
            cmd.send(out);
        } catch (IOException io) {
            throw new ConnectionLostException();
        }
    }
 
    public void turnRight(int degree) {
        Command cmd = new Command(Command.TURN_RIGHT, degree);
        try {
            cmd.send(out);
        } catch (IOException io) {
            throw new ConnectionLostException();
        }
    }
 
    public void driveForward(int distance) {
        Command cmd = new Command(Command.MOVE_FORWARD, distance);
        try {
            cmd.send(out);
        } catch (IOException io) {
            throw new ConnectionLostException();
        }
    }
 
    public void driveBackward(int distance) {
        Command cmd = new Command(Command.MOVE_BACKWARD, distance);
        try {
            cmd.send(out);
        } catch (Exception io) {
            throw new ConnectionLostException();
        }
    }
 
    public void honk() {
        Command cmd = new Command(Command.HONK);
        try {
            cmd.send(out);
        } catch (Exception io) {
            throw new ConnectionLostException();
        }
    }
 
    public int readDistanceSensor() {
        Command cmd = new Command(Command.REQUEST_DISTANCE);
        try {
            cmd.send(out);
            Command answer = Command.receive(in);
            return answer.getData(0);
        } catch (Exception io) {
            throw new ConnectionLostException();
        }
    }
    public int readAngleSensor() {
        Command cmd = new Command(Command.REQUEST_ANGLE);
        try {
            cmd.send(out);
            Command answer = Command.receive(in);
            return answer.getData(0);
        } catch (Exception io) {
            throw new ConnectionLostException();
        }
    }
 
    @Override
    public String toString() {
        return addr;
    }
 
    @Override
    public void terminate() {
        if (out != null) {
            Command cmd = new Command(Command.DISCONNECT);
            try {
                cmd.send(out);
            } catch (Throwable t) {
                // if we can't send a shutdown message we can't do anything
                // useful anymore
            }
            try {
                ev3.close();
            } catch (IOException e) {
            }
            out = null;
            in = null;
            ev3 = null;
        }
 
    }
}