From: yeom <yeom>
Date: Sat, 1 Oct 2011 00:18:01 +0000 (+0000)
Subject: add input sensor data file
X-Git-Url: http://plrg.eecs.uci.edu/git/?a=commitdiff_plain;h=0e648e45866f1a258cffb8147d5bde92420fdbde;p=IRC.git

add input sensor data file
---

diff --git a/Robust/src/Benchmarks/SSJava/JavaNator/RobotMain.java b/Robust/src/Benchmarks/SSJava/JavaNator/RobotMain.java
index 381e10cd..84dd7e7a 100644
--- a/Robust/src/Benchmarks/SSJava/JavaNator/RobotMain.java
+++ b/Robust/src/Benchmarks/SSJava/JavaNator/RobotMain.java
@@ -26,7 +26,7 @@
 public class RobotMain {
 
   private static boolean DEBUG1 = true;
-  private static boolean DEBUG = false;
+  private static boolean DEBUG = true;
   private static final int OFF_MODE = 1;
   private static final int ON_MODE = 2;
   private static final int MANUAL_MODE = 1;
@@ -116,9 +116,8 @@ public class RobotMain {
     // }
 
     if (DEBUG) {
-      // System.out.println("processIOCommand: Getting in opCode = "
-      // + Integer.toHexString((int) opCode) + " data = " +
-      // Integer.toHexString((int) data));
+      System.out.println("processIOCommand: Default: opCode = " + Integer.toString((int) opCode)
+          + " data = " + Integer.toString((int) data));
     }
     switch ((int) opCode) {
     case ON_OFF:
@@ -235,6 +234,7 @@ public class RobotMain {
    */
   public static void main(String args[]) {
 
+    TestSensorInput.init();
     boolean active = true;
     /**
      * RealTime management of the robot behaviour based on sensors and commands
@@ -273,17 +273,21 @@ public class RobotMain {
 
     int count = 0;
 
-    while (active && count < 10000) {
+    while (active && count < 100000) {
       try {
-        if (DEBUG) {
-          System.out.println("Main: Waiting for remote commands");
-        }
+        // if (DEBUG) {
+        // System.out.println("Main: Waiting for remote commands");
+        // }
         // try {
         // obj.wait();
         // } catch (IllegalMonitorStateException ie) {
         // System.out.println("IllegalMonitorStateException caught in main loop");
         // }
         currentCommand = TestSensorInput.getCommand();
+        if (currentCommand == -1) {
+          break;
+        }
+        System.out.println("currentCommand="+currentCommand);
         processIOCommand();
         // Nothing to do
       } catch (Exception e) {
diff --git a/Robust/src/Benchmarks/SSJava/JavaNator/StrategyMgr.java b/Robust/src/Benchmarks/SSJava/JavaNator/StrategyMgr.java
index c8d12f55..94df925a 100644
--- a/Robust/src/Benchmarks/SSJava/JavaNator/StrategyMgr.java
+++ b/Robust/src/Benchmarks/SSJava/JavaNator/StrategyMgr.java
@@ -33,7 +33,7 @@ public class StrategyMgr {
   // private boolean DEBUGL = false;
 
   // private boolean DEBUG = true;
-  private boolean DEBUG = false;
+  private boolean DEBUG = true;
 
   /**
    * Constructor - Invoke communication to remote application thread
@@ -42,8 +42,6 @@ public class StrategyMgr {
     this.pwmControl = pwmManager.getPWMControl();
     rand = new Random();
   }
-  
-  
 
   void processSonars(byte sonarSensors) {
 
@@ -149,10 +147,7 @@ public class StrategyMgr {
         } catch (InterruptedException ie) {
         }
       }
-
-      // TODO
-      // lineSensorsMask = sm.getLineSensorsState();
-
+      lineSensorsMask = TestSensorInput.getCommand();
     }// while loop
   }
 
diff --git a/Robust/src/Benchmarks/SSJava/JavaNator/TestSensorInput.java b/Robust/src/Benchmarks/SSJava/JavaNator/TestSensorInput.java
index 4ca1a31d..2f9319c3 100644
--- a/Robust/src/Benchmarks/SSJava/JavaNator/TestSensorInput.java
+++ b/Robust/src/Benchmarks/SSJava/JavaNator/TestSensorInput.java
@@ -1,14 +1,17 @@
 public class TestSensorInput {
 
-  FileInputStream inputFile;
+  private static FileInputStream inputFile;
 
-  public void init() {
+  public static void init() {
     inputFile = new FileInputStream("input.dat");
   }
 
   public static byte getCommand() {
-    // return Byte.parseInt(inputFile.readLine());
-    return 0;
+    String in = inputFile.readLine();
+    if (in == null) {
+      return (byte) -1;
+    }
+    return (byte) Integer.parseInt(in);
   }
 
 }
diff --git a/Robust/src/Benchmarks/SSJava/JavaNator/input.dat b/Robust/src/Benchmarks/SSJava/JavaNator/input.dat
new file mode 100644
index 00000000..5f5f63a4
--- /dev/null
+++ b/Robust/src/Benchmarks/SSJava/JavaNator/input.dat
@@ -0,0 +1,18 @@
+99
+99
+99
+99
+97
+97
+97
+97
+97
+68
+68
+96
+99
+99
+96
+99
+
+