package com.googlecode.grt192.HH11.deploy;
import gnu.io.NoSuchPortException;
import gnu.io.PortInUseException;
import java.io.IOException;
import javax.swing.JFrame;
import com.googlecode.grt192.HH11.actuator.ISolenoid;
import com.googlecode.grt192.HH11.actuator.PneumaticActuatorDisplay;
import com.googlecode.grt192.HH11.actuator.RPCSolenoidValve;
import com.googlecode.grt192.HH11.controller.HHController;
import com.googlecode.grt192.HH11.mechanism.HHMechanism;
import com.googlecode.grt192.HH11.sensor.HHSafety;
import com.googlecode.grt192.HH11.sensor.HHToggleSwitch;
import com.googlecode.grt192.HH11.sensor.IHHSwitch;
import com.googlecode.grt192.HH11.sensor.SwitchDisplay;
import com.googlecode.grtframework.rpc.InternetRPC;
import com.googlecode.grtframework.rpc.USBRPC;
import com.googlecode.grtframework.sensor.RPCSwitch;
import com.googlecode.grtframework.vis.Displayer;
import com.googlecode.grtframework.vis.MountedPosition;
import com.googlecode.grtframework.vis.RootMount;
/**
* Only simulation.
*
* @author ajc
*
*/
public class Main {
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 = true;
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[] { "spider",
"skull", "head", "pumpkin", "monkey", "witch", "tentacles",
"snake", "auto", "master" };
public static final int X = 0;
public static final int Y = 1;
public static final int[][] BUTTON_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 int[] BUTTON_RPC_KEYS = new int[] { 5, 6, 7, 8, 9, 10, 11,
12, 13, 14, 15 };
/**
* Actuators
*/
public static final int[] ACTUATOR_RPC_KEY = { 193, 194, 195, 196, 197,
198, 199, 200 };
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[][] MECHANISM_WAIT_TIMES =
// floor 1
// retract time is the time stays out, stays retracted
// minC, maxC, minR, maxR
{ { 2000, 5000, 3000, 5000 },// spider
{ 5000, 10000, 1000, 1000 },// skull
{ 5000, 10000, 2000, 2000 },// head
{ 4000, 6000, 4000, 6000 },// pumpkin
// 2nd story
{ 1000, 5000, 1000, 5000 },// monkey
{ 1000, 1000, 1000, 1000 },// witch
{ 5000, 10000, 1000, 1000 },// tentacles
// constant 1s extend time
{ 5000, 6000, 1000, 1000 } };// snake
public static void main(String[] args) throws InterruptedException {
InternetRPC crioConn = null;
crioConn = new InternetRPC(CRIO_ADDRESS, CRIO_RPC_PORT);
USBRPC usbConn = null;
if (USING_USB) {
try {
usbConn = new USBRPC(USB_PORT);
// usbConn.start();
} catch (NoSuchPortException e) {
// TODO Auto-generated catch block
e.printStackTrace();
} catch (PortInUseException e) {
// TODO Auto-generated catch block
e.printStackTrace();
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
usbConn.start();
}
/**
* House Display Display
*/
Displayer houseDisplay = new Displayer();
houseDisplay.startPaintLoop();
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();
switchDisplay.startPaintLoop();
JFrame switchboard = new JFrame("Haunted House 2011: Switchboardv1");
switchboard.getContentPane().add(switchDisplay);
switchboard.setVisible(true);
switchboard.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
/**
* Master button: started and initialized
*/
MountedPosition masterButtonPos = new MountedPosition(RootMount.get(),
BUTTON_POSITIONS[MASTER_BUTTON][X],
BUTTON_POSITIONS[MASTER_BUTTON][Y], 0);
RPCSwitch masterRPC = new RPCSwitch(usbConn,
BUTTON_RPC_KEYS[MASTER_BUTTON]);
SwitchDisplay masterButtonDisplay = new SwitchDisplay(masterRPC,
masterButtonPos, MECHANISM_NAMES[MASTER_BUTTON]);
masterRPC.startListening();
masterButtonDisplay.startListening();
switchDisplay.addDisplayable(masterButtonDisplay);
/**
* Auto Button: started and initialized
*/
MountedPosition autoButtonPos = new MountedPosition(RootMount.get(),
BUTTON_POSITIONS[AUTO_BUTTON][X],
BUTTON_POSITIONS[AUTO_BUTTON][Y], 0);
RPCSwitch autoRPC = new RPCSwitch(usbConn, BUTTON_RPC_KEYS[AUTO_BUTTON]);
SwitchDisplay autoButtonDisplay = new SwitchDisplay(autoRPC,
autoButtonPos, MECHANISM_NAMES[AUTO_BUTTON]);
autoRPC.startListening();
autoButtonDisplay.startListening();
switchDisplay.addDisplayable(autoButtonDisplay);
/**
* RPC SWITCHES
*/
RPCSwitch[] rpcSwitches = new RPCSwitch[NUM_MECHS];
for (int i = 0; i < NUM_MECHS; i++) {
rpcSwitches[i] = new RPCSwitch(usbConn, BUTTON_RPC_KEYS[i]);
rpcSwitches[i].startListening();
}
/**
* Mechanism buttons : started and initialized
*/
MountedPosition[] buttonPositions = new MountedPosition[NUM_MECHS];
SwitchDisplay[] buttonDisplays = new SwitchDisplay[NUM_MECHS];
for (int i = 0; i < buttonPositions.length; i++) {
// TODO match real positions
// TODO labels
buttonPositions[i] = new MountedPosition(RootMount.get(),
BUTTON_POSITIONS[i][X], BUTTON_POSITIONS[i][Y], 0);
// rpcSwitches[i];
buttonDisplays[i] = new SwitchDisplay(rpcSwitches[i],
buttonPositions[i], MECHANISM_NAMES[i]);
buttonDisplays[i].startListening();
switchDisplay.addDisplayable(buttonDisplays[i]);
}
/**
* RPC SOLENOIDS
*/
RPCSolenoidValve[] solenoids = new RPCSolenoidValve[NUM_MECHS];
for (int i = 0; i < NUM_MECHS; i++) {
solenoids[i] = new RPCSolenoidValve(crioConn, ACTUATOR_RPC_KEY[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]);
actuators[i].start();
houseDisplay.addDisplayable(actuators[i]);
}
/**
* Safety
*/
HHSafety safety = new HHSafety(masterRPC);
safety.startListening();
/**
* 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(autoRPC, rpcSwitches[i]);
switches[i].startListening();
mechanisms[i] = new HHMechanism(new ISolenoid[] { actuators[i],
solenoids[i] }, safety);
mechanisms[i].startListening();
controllers[i] = new HHController(mechanisms[i], switches[i],
MECHANISM_WAIT_TIMES[i]);
controllers[i].startListening();
}
}
}