package com.googlecode.grt192.HH11.deploy;
import javax.swing.JFrame;
import com.googlecode.grt192.HH11.actuator.PneumaticActuatorDisplay;
import com.googlecode.grt192.HH11.sensor.SimSwitch;
import com.googlecode.grt192.HH11.sensor.SwitchDisplay;
import com.googlecode.grtframework.vis.Displayer;
import com.googlecode.grtframework.vis.MountedPosition;
import com.googlecode.grtframework.vis.RootMount;
public class MainRobot {
public static final String CRIO_ADDRESS = "10.1.92.2";
public static final int CRIO_RPC_PORT = 180;
public static final String USB_PORT = "/dev/ttyACM0";
public static final boolean USING_USB = false;
public static final int NUM_MECHS = 8;
/**
* Buttons
*/
// For all arrays: 0-7 are for mechanisms, 8 and 9 are for auto and manual
public static final int AUTO_BUTTON = 8;
public static final int MASTER_BUTTON = 9;
public static final String[] MECHANISM_NAMES = new String[] { "0", "1",
"2", "3", "4", "5", "6", "7", "auto", "master" };
public static final int X = 0;
public static final int Y = 1;
public static final int[][] SWITCH_POSITIONS = new int[][] { { 350, 150 },
{ 375, 200 }, { 325, 200 }, { 250, 200 }, { 200, 200 },
{ 125, 200 }, { 75, 200 }, { 100, 150 }, { 300, 100 }, { 100, 100 } };
public static final int[] SWITCH_RPC_KEYS = new int[] { 5, 6, 7, 8, 9, 10,
11, 12, 13, 14, 15 };
// public static int SWITCH_RPC_KEYS =
/**
* Actuators
*/
public static final int[][] ACTUATOR_POSIITIONS = new int[][] { { 50, 40 },
{ 50, 70 }, { 50, 100 }, { 50, 130 }, { 50, 160 }, { 50, 190 },
{ 50, 220 }, { 50, 250 } };
public static final double[] ACTUATOR_ORIENTATION = new double[] {
Math.PI / 9, Math.PI / 9, Math.PI / 9, Math.PI / 9, Math.PI / 9,
Math.PI / 9, Math.PI / 9, Math.PI / 9 };
public static final int CHARACTERSTIC_LENGTH = 0;
public static final int CHARACTERSTIC_WIDTH = 1;
public static final int CHARACTERSTIC_EXTEND_LENGTH = 2;
public static final int CHARACTERSTIC_RETRACT_TIME = 3;
public static final int CHARACTERSTIC_CONTRACT_TIME = 4;
public static final int[][] ACTUATOR_CHARACTERISTICS = new int[][] {
{ 200, 20, 200, 1, 2 }, { 300, 20, 200, 1, 2 },
{ 300, 20, 200, 1, 2 }, { 300, 20, 200, 1, 2 },
{ 300, 20, 200, 1, 2 }, { 300, 20, 200, 1, 2 },
{ 300, 20, 200, 1, 2 }, { 300, 20, 200, 1, 2 } };
public static final boolean[] ACTUATOR_DEFAULT_STATE = { true, true, true,
true, true, true, true, true };
public static final int[] ACTUATOR_RPC_KEYS = { 193, 194, 195, 196, 197,
198, 199, 200 };
public static final int[][] MECHANISM_WAIT_TIMES =
// floor 1
{ { 1000, 1000, 1000, 1000 },// axes
{ 1000, 1000, 1000, 1000 },// skull
{ 1000, 1000, 1000, 1000 },// chair
{ 1000, 1000, 1000, 1000 },// rat
// 2nd story
{ 1000, 1000, 1000, 1000 },// caudron
{ 1000, 1000, 1000, 1000 },// dog
{ 1000, 1000, 1000, 1000 },// skeleton
{ 1000, 1000, 1000, 1000 } };// clock
public static void main(String[] args) {
/**
* House Display Display
*/
Displayer houseDisplay = new Displayer();
JFrame house = new JFrame("Haunted House 2011: House");
house.getContentPane().add(houseDisplay);
house.setVisible(true);
house.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
/**
* Switch Display
*/
Displayer switchDisplay = new Displayer();
JFrame switchboard = new JFrame("Haunted House 2011: Switchboardv1");
switchboard.getContentPane().add(switchDisplay);
switchboard.setVisible(true);
switchboard.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
// ******************************* SWITCHES
/**
* Master button: started and initialized
*/
MountedPosition masterButtonPos = new MountedPosition(RootMount.get(),
SWITCH_POSITIONS[MASTER_BUTTON][X],
SWITCH_POSITIONS[MASTER_BUTTON][Y], 0);
SimSwitch masterButton = new SimSwitch(switchDisplay, masterButtonPos);
// RPCSwitch masterRPC = new RPCSwitch(usbConn,
// BUTTON_RPC_KEYS[MASTER_BUTTON]);
SwitchDisplay masterButtonDisplay = new SwitchDisplay(masterButton,
masterButtonPos, MECHANISM_NAMES[MASTER_BUTTON]);
/**
* Auto Button: started and initialized
*/
MountedPosition autoButtonPos = new MountedPosition(RootMount.get(),
SWITCH_POSITIONS[AUTO_BUTTON][X],
SWITCH_POSITIONS[AUTO_BUTTON][Y], 0);
SimSwitch autoButton = new SimSwitch(switchDisplay, autoButtonPos);
// RPCSwitch autoRPC = new RPCSwitch(usbConn,
// BUTTON_RPC_KEYS[AUTO_BUTTON]);
SwitchDisplay autoButtonDisplay = new SwitchDisplay(autoButton,
autoButtonPos, MECHANISM_NAMES[AUTO_BUTTON]);
// TODO RPC
// we will need to make an array that is passed in
/**
* Mechanism buttons : started and initialized
*/
MountedPosition[] buttonPositions = new MountedPosition[NUM_MECHS];
SimSwitch[] buttons = new SimSwitch[NUM_MECHS];
SwitchDisplay[] buttonDisplays = new SwitchDisplay[NUM_MECHS];
for (int i = 0; i < buttonPositions.length; i++) {
buttonPositions[i] = new MountedPosition(RootMount.get(),
SWITCH_POSITIONS[i][X], SWITCH_POSITIONS[i][Y], 0);
buttons[i] = new SimSwitch(switchDisplay, buttonPositions[i]);
buttonDisplays[i] = new SwitchDisplay(buttons[i],
buttonPositions[i], MECHANISM_NAMES[i]);
}
/**
* Solenoids
*/
MountedPosition[] solenoidPoses = new MountedPosition[NUM_MECHS];
PneumaticActuatorDisplay[] actuators = new PneumaticActuatorDisplay[NUM_MECHS];
for (int i = 0; i < solenoidPoses.length; i++) {
solenoidPoses[i] = new MountedPosition(RootMount.get(),
ACTUATOR_POSIITIONS[i][X], ACTUATOR_POSIITIONS[i][Y],
ACTUATOR_ORIENTATION[i]);
actuators[i] = new PneumaticActuatorDisplay(solenoidPoses[i],
MECHANISM_NAMES[i],
ACTUATOR_CHARACTERISTICS[i][CHARACTERSTIC_LENGTH],
ACTUATOR_CHARACTERISTICS[i][CHARACTERSTIC_WIDTH],
ACTUATOR_CHARACTERISTICS[i][CHARACTERSTIC_EXTEND_LENGTH],
ACTUATOR_CHARACTERISTICS[i][CHARACTERSTIC_RETRACT_TIME],
ACTUATOR_CHARACTERISTICS[i][CHARACTERSTIC_CONTRACT_TIME],
ACTUATOR_DEFAULT_STATE[i]);
}
// /**
// * Safety
// */
// HHSafety safety = new HHSafety(masterButton);
//
// /**
// * Mechanism code
// */
// IHHSwitch[] switches = new IHHSwitch[NUM_MECHS];
// HHMechanism[] mechanisms = new HHMechanism[NUM_MECHS];
//
// HHController[] controllers = new HHController[NUM_MECHS];
// for (int i = 0; i < NUM_MECHS; i++) {
// switches[i] = new HHToggleSwitch(autoButton, buttons[i]);
//
// mechanisms[i] = new HHMechanism(new ISolenoid[] { actuators[i],
// actuators[i] }, safety);
//
// controllers[i] = new HHController(mechanisms[i], switches[i]);
// }
HauntedHouse h = new HauntedHouse(CRIO_ADDRESS, CRIO_RPC_PORT,
USB_PORT, houseDisplay, switchDisplay, masterButton,
SWITCH_RPC_KEYS[MASTER_BUTTON], masterButtonDisplay,
autoButton, SWITCH_RPC_KEYS[AUTO_BUTTON], autoButtonDisplay,
buttons, buttonDisplays, SWITCH_RPC_KEYS, actuators,
ACTUATOR_RPC_KEYS, NUM_MECHS, MECHANISM_WAIT_TIMES);
h.start();
h.useSimSwitches();
// HauntedHouse h = new HauntedHouse(CRIO_ADDRESS, CRIO_RPC_PORT,
// USB_PORT, houseDisplay, switchDisplay, masterButtonSim,
// masterButtonRPC, masterButtonDisplay, autoButtonSim, autoButtonRPC,
// autoButtonDisplay, switchSims, switchRPCs, switchDisplays,
// actuatorSims, actuatorRPCs, safetyButton, mechanisms, controllers)
}
}