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comparison src/examples/RobotManager.java @ 0:61d41facf527

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initial v8 import (history reset)
author Peter Mehlitz <Peter.C.Mehlitz@nasa.gov>
date Fri, 23 Jan 2015 10:14:01 -0800
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1 /*
2 * Copyright (C) 2014, United States Government, as represented by the
3 * Administrator of the National Aeronautics and Space Administration.
4 * All rights reserved.
5 *
6 * The Java Pathfinder core (jpf-core) platform is licensed under the
7 * Apache License, Version 2.0 (the "License"); you may not use this file except
8 * in compliance with the License. You may obtain a copy of the License at
9 *
10 * http://www.apache.org/licenses/LICENSE-2.0.
11 *
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
17 */
18
19
20 import java.util.ArrayList;
21 import java.util.HashMap;
22 import java.util.List;
23 import java.util.Random;
24
25 /**
26 * a simplified version of the AWT RobotManager example
27 */
28 public class RobotManager {
29
30 static class Robot {
31 String id;
32
33 Robot (String id){
34 this.id = id;
35 }
36
37 String getId(){
38 return id;
39 }
40
41 String processSequence(String sequence){
42 System.out.printf("robot %s processing sequence: %s\n", id, sequence);
43 return "Ok";
44 }
45 }
46
47 class StatusAcquisitionThread extends Thread {
48 boolean done;
49
50 public StatusAcquisitionThread () {
51 setDaemon(true);
52 }
53
54 @Override
55 public void run () {
56 int n = robotList.size();
57 Random random = new Random(0);
58
59 while (!done) {
60 int idx = random.nextInt(n);
61 Robot robot = robotList.get(idx);
62 setRobotOnline(robot, !isRobotOnline(robot.id));
63
64 try {
65 Thread.sleep(3000);
66 } catch (InterruptedException ix) {
67 }
68 }
69 }
70
71 public void terminate () {
72 done = true;
73 }
74 }
75
76 List<Robot> robotList = new ArrayList<Robot>();
77 HashMap<String,Robot> onlineRobots = new HashMap<String,Robot>();
78 StatusAcquisitionThread acquisitionThread;
79
80 public RobotManager() {
81 robotList.add( new Robot("RATS-1"));
82 robotList.add( new Robot("RATS-2"));
83 robotList.add( new Robot("RCAT-1"));
84 robotList.add( new Robot("POGO-1"));
85
86 for (Robot r : robotList) {
87 setRobotOnline(r, true);
88 }
89 }
90
91 public void setRobotOnline (Robot robot, boolean isOnline) {
92 if (isOnline) {
93 onlineRobots.put(robot.getId(), robot);
94 } else {
95 onlineRobots.remove(robot.getId());
96 }
97 }
98
99 public boolean isRobotOnline (String robotName) {
100 return onlineRobots.containsKey(robotName);
101 }
102
103 public Robot getOnlineRobot (String robotName) {
104 return onlineRobots.get(robotName);
105 }
106
107 public String sendSequence(Robot robot, String sequence) {
108 return robot.processSequence(sequence);
109 }
110
111 void startStatusAcquisitionThread (){
112 acquisitionThread = new StatusAcquisitionThread();
113 acquisitionThread.start();
114 }
115
116 void stopStatusAcquisitionThread(){
117 acquisitionThread.terminate();
118 }
119
120 void processInput (){
121 String robotName = "POGO-1";
122 String sequence = "left; go";
123
124 if (isRobotOnline(robotName)){
125 Robot robot = getOnlineRobot( robotName);
126 String result = robot.processSequence(sequence);
127 System.out.printf("sent sequence \"%s\" to robot %s => %s\n", sequence, robotName, result);
128 } else {
129 System.out.print("robot not online: ");
130 System.out.println(robotName);
131 }
132 }
133
134 public static void main (String[] args){
135 RobotManager robotManager = new RobotManager();
136 robotManager.startStatusAcquisitionThread();
137 robotManager.processInput();
138 //robotManager.stopStatusAcquisitionThread();
139 }
140 }