/* * CommN150Hard.java */package EDU.gatech.cc.is.abstractrobot;import java.util.*;import java.awt.Color;import EDU.gatech.cc.is.communication.*;import EDU.gatech.cc.is.util.*;/** * CommN150Hard implements SimpleN150 for * Nomad 150 hardware using the Ndirect class. * You should see the specifications in SimpleN150 * and Ndirect class documentation for details. * <P> * <A HREF="../COPYRIGHT.html">Copyright</A> * (c)1998 Tucker Balch * * @see CommN150 * @see EDU.gatech.cc.is.nomad150.Ndirect * @author Tucker Balch * @version $Revision: 1.2 $ */public class CommN150Hard extends SimpleN150Hard implements CommN150, HardObject	{	/**	 * The transceiver used to communicate with the rest of the robots.	 */	protected TransceiverHard t = null;	/**	 * Channel for recieving other robot positions.	 */	protected CircularBufferEnumeration rec_positions = null;        /**         * Instantiate a <B>CommN150Hard</B> object.  You should only         * instantiate one of these per robot connected to your         * computer.  Standard call is CommN150Hard(1,38400);         * @param serial_port 1 = ttys0 (COM1), 2 = ttys1 (COM2) ...         * @param baud baud rate for communication.         * @exception Exception If unable to configure the hardware.         */	public CommN150Hard(int serial_port, int baud, String server,		int id) throws Exception		{                super(serial_port, baud);		setID(id);		/*--- connect the transceiver ---*/		t = new TransceiverHard(server, id);		/*--- channel to listen for positions ---*/		rec_positions = t.getReceiveChannel();		}	boolean last_connected = true;        /**         * Conduct periodic I/O with the robot.  It runs at most every 	 * SimpleN150Hard.MIN_CYCLE_TIME milliseconds to gather sensor 	 * data from the robot, and issue movement commands.         */	public void takeStep()		{		/*--- do all the hardware stuff ---*/                super.takeStep();		/*--- handle KinSensor communication ---*/		// only do this if communication is connected		if (t.connected())			{			/*--- communicate position to everyone else ---*/			// send our position in absolute coordinates			Message m = new PositionMessage(last_Position);			t.broadcast(m);			/*--- listen to everyone else ---*/			// toss position messages into a vector			Vector othersv = new Vector(30);			// loop until got all messages			while(rec_positions.hasMoreElements())				{				// get a message				m = (Message)rec_positions.nextElement();				// disregard other types of message				if (m instanceof PositionMessage)					{					Vec2 p = new Vec2(						((PositionMessage)m).val);					// subtract our position to make it					// egocentric					p.sub(last_Position);					// stow it in the vector					othersv.addElement(p);					}				}			// make an array to old the other positions			last_teammates = new Vec2[othersv.size()];			Enumeration othersenum = othersv.elements();			// loop to get them all			for(int i = 0; i<last_teammates.length; i++)				last_teammates[i] = 					(Vec2)othersenum.nextElement();			}		}	/*--- KinSensor methods ---*/	protected Vec2[] last_teammates = new Vec2[0];        /**         * Get an array of Vec2s that represent the locations of          * teammates (Kin).         * @param timestamp only get new information if          * timestamp > than last call or timestamp == -1.         * @return the sensed teammates.         * @see EDU.gatech.cc.is.util.Vec2         */        public Vec2[] getTeammates(long timestamp)		{		return((Vec2[])last_teammates.clone());		}	protected Vec2[] last_opponents = new Vec2[0];        /**         * Get an array of Vec2s that represent the         * locations of opponents.         * @param timestamp only get new information if          *      timestamp > than last call or timestamp == -1.         * @return the sensed opponents.         * @see EDU.gatech.cc.is.util.Vec2         */        public Vec2[] getOpponents(long timestamp)		{		return(last_opponents);		}        /**         * Get the robot's player number, between 0         * and the number of robots on the team.         * Don't confuse this with getID which returns a unique number         * for the object in the simulation as a whole, not on its individual         * team.  On real hardware however, getID == PlayerNumber.         * @param timestamp only get new information if          *      timestamp > than last call or timestamp == -1.         * @return the player number.         */        public int getPlayerNumber(long timestamp)		{		return(unique_id);		}        /**	 * NOT IMPLEMENTED         * Set the maximum range at which kin may be sensed.  Primarily         * for use in simulation.         * @param r double, the maximum range.         */        public void setKinMaxRange(double r)		{		}	/*--- Transceiver methods ---*/        /**         * Broadcast a message to all teammates, except self.         * @param m Message, the message to be broadcast.         */        public void broadcast(Message m)		{		t.broadcast(m);		}        /**         * Transmit a message to just one teammate.  Transmission to         * self is allowed.         * @param id int, the ID of the agent to receive the message.         * @param m Message, the message to transmit.         * @exception CommunicationException if the receiving agent does not         *              exist.         */        public void unicast(int id, Message m)                 throws CommunicationException		{		t.unicast(id, m);		}        /**         * Transmit a message to specific teammates.  Transmission to         * self is allowed.         * @param ids int[], the IDs of the agents to receive the message.         * @param m Message, the message to transmit.         * @exception CommunicationException if one of the receiving agents          *              does not exist.         */        public void multicast(int[] ids, Message m)                throws CommunicationException		{		t.multicast(ids, m);		}        /**         * Get an enumeration of the incoming messages.  The messages         * are automatically buffered by the implementation.         * Unless the implementation guarantees it, you cannot         * count on all messages being delivered.         * Example, to print all incoming messages:         * <PRE>         * Transceiver c = new RobotComm();         * CircularBufferEnumeration r = c.getReceiveChannel();         * while (r.hasMoreElements())         *      System.out.println(r.nextElement());         * </PRE>         * @return the Enumeration.         */        public CircularBufferEnumeration getReceiveChannel()		{		return(t.getReceiveChannel());		}        /**         * Set the maximum range at which communication can occur.         * In simulation, this corresponds to a simulation of physical limits,         * on mobile robots it corresponds to a signal strength setting.         * @param r double, the maximum range.         */        public void setCommunicationMaxRange(double r)		{		t.setCommunicationMaxRange(r);		}        /**         * Check to see if the transceiver is connected to the server.         */        public boolean connected()		{		return(t.connected());		}	  public Color getForegroundColor() {return Color.black;}	  public Color getBackgroundColor() {return Color.black;}	}