/**
* Copyright (c) 2011-2014, OpenIoT
*
* This file is part of OpenIoT.
*
* OpenIoT is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, version 3 of the License.
*
* OpenIoT is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with OpenIoT. If not, see <http://www.gnu.org/licenses/>.
*
* Contact: OpenIoT mailto: info@openiot.eu
* @author Jerome Rousselot
* @author Ali Salehi
* @author Mehdi Riahi
*/
package org.openiot.gsn.vsensor;
import org.openiot.gsn.beans.StreamElement;
import org.openiot.gsn.beans.VSensorConfig;
import org.openiot.gsn.utils.protocols.ProtocolManager;
import org.openiot.gsn.utils.protocols.EPuck.SerComProtocol;
import org.openiot.gsn.wrappers.AbstractWrapper;
import org.openiot.gsn.wrappers.general.SerialWrapper;
import java.util.TreeMap;
import javax.naming.OperationNotSupportedException;
import org.apache.log4j.Logger;
public class EPuckVS extends AbstractVirtualSensor {
private static final transient Logger logger = Logger.getLogger( EPuckVS.class );
private TreeMap < String , String > params;
private ProtocolManager protocolManager;
private AbstractWrapper wrapper;
private VSensorConfig vsensor;
public boolean initialize ( ) {
params = getVirtualSensorConfiguration( ).getMainClassInitialParams( );
wrapper = getVirtualSensorConfiguration( ).getInputStream( "input1" ).getSource( "source1" ).getWrapper( );
protocolManager = new ProtocolManager( new SerComProtocol( ) , wrapper );
if ( logger.isDebugEnabled( ) ) logger.debug( "Created protocolManager" );
try {
wrapper.sendToWrapper( "h\n",null,null );
} catch ( OperationNotSupportedException e ) {
e.printStackTrace( );
}
// protocolManager.sendQuery( SerComProtocol.RESET , null );
if ( logger.isDebugEnabled( ) ) logger.debug( "Initialization complete." );
return true;
}
boolean actionA = false;
public void dataAvailable ( String inputStreamName , StreamElement data ) {
if ( logger.isDebugEnabled( ) ) logger.debug( "I just received some data from the robot" );
System.out.println( new String( ( byte [ ] ) data.getData( SerialWrapper.RAW_PACKET ) ) );
AbstractWrapper wrapper = vsensor.getInputStream( "input1" ).getSource( "source1" ).getWrapper( );
if ( actionA == false ) {
actionA = true;
try {
// wrapper.sendToWrapper( "h\n" );
wrapper.sendToWrapper( "d,1000,-1000\n",null,null );
} catch ( OperationNotSupportedException e ) {
logger.error( e.getMessage( ) , e );
}
}
}
public void dispose ( ) {
try {
vsensor.getInputStream( "input1" ).getSource( "source1" ).getWrapper().sendToWrapper( "R\n",null,null );
} catch ( OperationNotSupportedException e ) {
logger.error( e.getMessage( ) , e );
}
}
}