SimulationPlayer.java

package com.roboclub.robobuggy.simulation;

import com.roboclub.robobuggy.messages.EncoderMeasurement;
import com.roboclub.robobuggy.messages.ImuMeasurement;
import com.roboclub.robobuggy.messages.SteeringMeasurement;
import com.roboclub.robobuggy.nodes.baseNodes.BuggyBaseNode;
import com.roboclub.robobuggy.nodes.baseNodes.PeriodicNode;
import com.roboclub.robobuggy.ros.NodeChannel;
import com.roboclub.robobuggy.ros.Publisher;

//import javafx.scene.control.ButtonBar.ButtonData;

/**
 * synthesizes values so that we can test without the actual peripherals
 */
public class SimulationPlayer extends PeriodicNode {


    /**
     * instantiates a simulationplayer
     */
    public SimulationPlayer() {
        super(new BuggyBaseNode(NodeChannel.SIMULATION), 1000, "simulation_player");  //TODO figure out why this can't run faster
        //	posePub = new Publisher(NodeChannel.POSE.getMsgPath());
        Publisher posePub;
        Publisher encoderPub = new Publisher(NodeChannel.ENCODER.getMsgPath());
        Publisher steeringPub = new Publisher(NodeChannel.STEERING.getMsgPath());
        Publisher imuPub = new Publisher(NodeChannel.IMU.getMsgPath());
        Thread thread = new Thread() {
            public void run() {
                try {
                    this.sleep(5000);
                } catch (InterruptedException e1) {
                    // TODO Auto-generated catch block
                    e1.printStackTrace();
                }
                while (true) {
                    for (int i = 0; i < 1000; i++) {
                        steeringPub.publish(new SteeringMeasurement(i));
                        encoderPub.publish(new EncoderMeasurement(i / 100.0, 0.0));
                        imuPub.publish(new ImuMeasurement(i, i, i));
                        try {
                            this.sleep(100);
                        } catch (InterruptedException e) {
                            // TODO Auto-generated catch block
                            e.printStackTrace();
                        }
                    }
                    for (int i = 0; i < 90; i++) {
                        steeringPub.publish(new SteeringMeasurement(90));
                        encoderPub.publish(new EncoderMeasurement(i, 0.0));
                        imuPub.publish(new ImuMeasurement(i, i, i));
                        try {
                            this.sleep(100);
                        } catch (InterruptedException e) {
                            // TODO Auto-generated catch block
                            e.printStackTrace();
                        }
                    }

                }
            }
        };

        thread.start();
    }


    @Override
    protected void update() {
        //	posePub.publish(new GPSPoseMessage(new Date(), i/100.0, i/50.0, i/45.0));
/*		if(encoderPub != null){
            encoderPub.publish(new  EncoderMeasurement(i/100.0, 0.0));
			i = i+1;
		}
		*/
    }


    @Override
    protected boolean startDecoratorNode() {
        // TODO Auto-generated method stub
        return false;
    }

    @Override
    protected boolean shutdownDecoratorNode() {
        // TODO Auto-generated method stub
        return false;
    }

}