WiiBot.java

/**
 *                    
 * @author greg (at) myrobotlab.org
 *  
 * This file is part of MyRobotLab (http://myrobotlab.org).
 *
 * MyRobotLab is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 2 of the License, or
 * (at your option) any later version (subject to the "Classpath" exception
 * as provided in the LICENSE.txt file that accompanied this code).
 *
 * MyRobotLab is distributed in the hope that it will be useful or fun,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * All libraries in thirdParty bundle are subject to their own license
 * requirements - please refer to http://myrobotlab.org/libraries for 
 * details.
 * 
 * Enjoy !
 * 
 * */

package org.myrobotlab.service;

import org.myrobotlab.framework.Service;
import org.myrobotlab.framework.ServiceType;
import org.myrobotlab.logging.Level;
import org.myrobotlab.logging.LoggerFactory;
import org.myrobotlab.logging.Logging;
import org.myrobotlab.logging.LoggingFactory;
import org.slf4j.Logger;

// TODO - BlockingQueue - + reference !

public class WiiBot extends Service {

  private static final long serialVersionUID = 1L;

  public final static Logger log = LoggerFactory.getLogger(WiiBot.class.getCanonicalName());

  transient Arduino arduino = null;
  transient Wii wii = new Wii("wii");
  transient Servo servo = new Servo("servo");
  transient OpenCV opencv = new OpenCV("opencv");
  transient WiiDar wiidar = new WiiDar("wiidar");
  transient GUIService gui = new GUIService("gui");

  int speedRight = 0;

  int speedLeft = 0;

  public static void main(String[] args) {
    LoggingFactory.init(Level.WARN);
    try {

      WiiBot wiibot = new WiiBot("wiibot");
      wiibot.startService();
      wiibot.startRobot();

    } catch (Exception e) {
      Logging.logError(e);
    }

  }

  public WiiBot(String n) {
    super(n);
  }

  public void keyPressed(Integer i) {
    log.warn("keyPressed " + i);
    if (i == 38) // up arrow
    {
      speedRight += 10;
      speedLeft += 10;

      log.warn("up speed" + speedLeft + " " + speedRight);

      if (speedRight > 0 || speedLeft > 0) {
        arduino.digitalWrite(13, 0);
      }

      arduino.analogWrite(5, speedRight);
      arduino.analogWrite(6, speedLeft);
    } else if (i == 32) // space
    {
      log.warn("space" + speedLeft + " " + speedRight);

      speedRight = 0;
      speedLeft = 0;

      arduino.digitalWrite(13, 1);

      arduino.analogWrite(5, speedRight);
      arduino.analogWrite(6, speedLeft);

    } else if (i == 40) // down
    {
      speedRight -= 10;
      speedLeft -= 10;

      log.warn("down speed" + speedLeft + " " + speedRight);

      if (speedRight < 0 || speedLeft < 0) {
        arduino.digitalWrite(13, 1);
      }

      arduino.analogWrite(5, Math.abs(speedRight));
      arduino.analogWrite(6, Math.abs(speedLeft));

    } else if (i == 39) // right arrow
    {
      speedLeft += 10;

      log.warn("right speed" + speedLeft + " " + speedRight);

      if (speedLeft > 0) {
        arduino.digitalWrite(13, 0);
      }

      arduino.analogWrite(6, speedLeft);
    } else if (i == 37) // left arrow
    {
      speedRight += 10;

      log.warn("left speed" + speedLeft + " " + speedRight);

      if (speedRight > 0) {
        arduino.digitalWrite(13, 0);
      }

      arduino.analogWrite(5, speedRight);

    } else if (i == 87) // w
    {
      wiidar.startSweep();
    } else if (i == 83) // s
    {
      wiidar.stopSweep();
    }
  }

  public void startRobot() throws Exception {
    arduino = new Arduino("arduino");

    // adding wiicom as an option
    /*
     * Arduino.addPortName("wiicom", CommPortIdentifier.PORT_SERIAL,
     * (CommDriver) new WiiDriver(wii));
     */

    // gui.startService();
    wiidar.servo = servo;
    // setting up servo
    // servo.attach(arduino.getName(), 9);

    // gui.start();
    //

    // setting up wii
    wii.getWiimotes();
    wii.setSensorBarAboveScreen();
    wii.activateIRTRacking();
    wii.setIrSensitivity(5); // 1-5 (highest)
    wii.activateListening();

    arduino.startService();

    wiidar.startService();

    // starting services
    servo.startService();
    // opencv.start();
    wii.startService();

    // send data from the wii to wiidar
    wii.addListener("publishIR", wiidar.getName(), "onIR");
    // data from widar to the gui
    wiidar.addListener("publishArrayofPoints", gui.getName(), "displaySweepData");

    // send the data from the wii to wiidar
    // wii.addListener("publishIR", wiidar.getName(), "computeDepth",
    // IRData.class);
    // send the computed depth & data to the gui
    // addListener("computeDepth", gui.getName(),"publishSinglePoint",
    // Point.class);
    wiidar.addListener("publishSinglePoint", gui.getName(), "publishSinglePoint");
    // gui.addListener("processImage", opencv.getName(),"input",
    // BufferedImage.class);
    // wii.addListener("publishPin", wiidar.getName(), "publishPin",
    // IRData.class);
    arduino.addListener("publishPin", wiidar.getName(), "onPin");

  }

  /**
   * This static method returns all the details of the class without it having
   * to be constructed. It has description, categories, dependencies, and peer
   * definitions.
   * 
   * @return ServiceType - returns all the data
   * 
   */
  static public ServiceType getMetaData() {

    ServiceType meta = new ServiceType(WiiBot.class.getCanonicalName());
    meta.addDescription("(not implemented) - robot utilizing the wii mote and wiidar");
    meta.addCategory("robot");
    meta.setAvailable(false);
    return meta;
  }

}