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jabrenajabrena
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Adding Subsumption examples
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-37
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10 files changed

+274
-37
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‎ev3dev-lang-java/build.gradle‎

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@@ -13,7 +13,9 @@ repositories {
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}
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dependencies {
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compile("com.github.ev3dev-lang-java:ev3dev-lang-java:v0.6.4-SNAPSHOT")
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compile("com.github.ev3dev-lang-java:ev3dev-lang-java:v0.6.0-RELEASE")
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compile("ch.qos.logback:logback-classic:1.2.3")
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compile("org.projectlombok:lombok:1.16.16")
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}
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//Compile
@@ -25,16 +27,13 @@ compileJava {
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//Jar
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jar {
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baseName = "${rootProject.name}"
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manifest {
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from file("${projectDir}/META-INF/MANIFEST.MF")
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}
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}
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//Fat Jar
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task fatJar(type: Jar) {
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baseName = "${rootProject.name}" + "-all"
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manifest {
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from file("${projectDir}/META-INF/MANIFEST.MF")
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from file("${projectDir}/src/main/resources/META-INF/MANIFEST.MF")
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}
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from { configurations.compile.collect { it.isDirectory() ? it : zipTree(it) } }
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with jar
@@ -51,36 +50,6 @@ buildscript {
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classpath "org.hidetake:gradle-ssh-plugin:2.0.0"
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}
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}
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apply plugin: 'org.hidetake.ssh'
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remotes {
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ev3dev {
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host = '192.168.1.2'
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user = 'robot'
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password = 'maker'
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}
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}
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task deploy << {
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ssh.run {
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session(remotes.ev3dev) {
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put from: "./build/libs/" + "${rootProject.name}" + "-all-" + version + ".jar", into: "/home/robot/"
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}
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}
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}
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deploy.dependsOn clean, fatJar
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task remoteRun << {
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ssh.run {
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session(remotes.ev3dev) {
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println "java -jar /home/robot/" + "${rootProject.name}" + "-all-" + version + ".jar"
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execute "java -jar /home/robot/" + "${rootProject.name}" + "-all-" + version + ".jar"
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}
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}
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}
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task deployAndRun << {
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}
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deployAndRun.dependsOn deploy, remoteRun
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apply from: 'deploy.gradle'

‎ev3dev-lang-java/deploy.gradle‎

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remotes {
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ev3dev {
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host = '192.168.1.206'
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user = 'robot'
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password = 'maker'
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}
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}
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task deploy << {
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ssh.run {
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session(remotes.ev3dev) {
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put from: "./build/libs/" + "${rootProject.name}" + "-all-" + version + ".jar", into: "/home/robot/"
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}
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}
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}
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deploy.dependsOn clean, fatJar
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task remoteRun << {
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ssh.run {
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session(remotes.ev3dev) {
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println "java -server -jar /home/robot/" + "${rootProject.name}" + "-all-" + version + ".jar"
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execute "java -server -jar /home/robot/" + "${rootProject.name}" + "-all-" + version + ".jar"
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}
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}
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}
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task deployAndRun << {
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}
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deployAndRun.dependsOn deploy, remoteRun

‎ev3dev-lang-java/src/main/java/lejos/commons/subsumption/BumperCar.java‎

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package lejos.commons.subsumption;
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import ev3dev.actuators.lego.motors.EV3LargeRegulatedMotor;
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import ev3dev.sensors.ev3.EV3UltrasonicSensor;
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import lejos.hardware.port.MotorPort;
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import lejos.hardware.port.SensorPort;
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import lejos.robotics.RegulatedMotor;
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import lejos.robotics.subsumption.Arbitrator;
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import lejos.robotics.subsumption.Behavior;
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public class BumperCar {
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public static void main(String [] args) {
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//https://en.wikipedia.org/wiki/Subsumption_architecture
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System.out.println("Example using Subsumption architecture");
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System.out.println("Starting motor on A");
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final RegulatedMotor motorLeft = new EV3LargeRegulatedMotor(MotorPort.A);
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System.out.println("Starting motor on B");
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final RegulatedMotor motorRight = new EV3LargeRegulatedMotor(MotorPort.B);
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EV3UltrasonicSensor us1 = new EV3UltrasonicSensor(SensorPort.S1);
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Behavior b1 = new DriveForward(motorLeft, motorRight);
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Behavior b2 = new HitWall(motorLeft, motorRight, us1);
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Behavior [] bArray = {b1, b2};
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Arbitrator arby = new Arbitrator(bArray);
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arby.go();
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}
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}

‎ev3dev-lang-java/src/main/java/lejos/commons/subsumption/DriveForward.java‎

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package lejos.commons.subsumption;
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import lejos.robotics.RegulatedMotor;
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import lejos.robotics.subsumption.Behavior;
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public class DriveForward implements Behavior {
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private boolean suppressed = false;
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private final RegulatedMotor motorLeft;
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private final RegulatedMotor motorRight;
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public DriveForward(
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final RegulatedMotor motorLeft,
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final RegulatedMotor motorRight) {
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this.motorLeft = motorLeft;
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this.motorRight = motorRight;
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}
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public boolean takeControl() {
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return true;
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}
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public void suppress() {
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suppressed = true;
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}
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public void action() {
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suppressed = false;
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motorLeft.forward();
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motorRight.forward();
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while( !suppressed )
33+
Thread.yield();
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motorLeft.stop(); // clean up
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motorRight.stop();
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}
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}

‎ev3dev-lang-java/src/main/java/lejos/commons/subsumption/HitWall.java‎

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package lejos.commons.subsumption;
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import ev3dev.sensors.ev3.EV3UltrasonicSensor;
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import lejos.robotics.RegulatedMotor;
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import lejos.robotics.SampleProvider;
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import lejos.robotics.subsumption.Behavior;
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public class HitWall implements Behavior {
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private boolean suppressed = false;
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private final RegulatedMotor motorLeft;
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private final RegulatedMotor motorRight;
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private final EV3UltrasonicSensor us1;
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public HitWall(
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final RegulatedMotor motorLeft,
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final RegulatedMotor motorRight,
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final EV3UltrasonicSensor us1) {
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this.motorLeft = motorLeft;
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this.motorRight = motorRight;
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this.us1 = us1;
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}
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public boolean takeControl() {
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SampleProvider sp = us1.getDistanceMode();
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float [] sample = new float[sp.sampleSize()];
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sp.fetchSample(sample, 0);
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int distanceValue = (int)sample[0];
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return distanceValue < 25;
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}
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public void suppress() {
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suppressed = true;
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}
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public void action() {
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suppressed = false;
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motorLeft.rotate(-180, true);
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motorRight.rotate(-360, true);
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while( motorRight.isMoving() && !suppressed )
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Thread.yield();
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motorLeft.stop();
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motorRight.stop();
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}
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}

‎ev3dev-lang-java/src/main/java/lejos/commons/subsumption/ko/BumperCarKO.java‎

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package lejos.commons.subsumption.ko;
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import lejos.robotics.subsumption.Arbitrator;
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import lejos.robotics.subsumption.Behavior;
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public class BumperCarKO {
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public static void main(String [] args) {
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//https://en.wikipedia.org/wiki/Subsumption_architecture
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System.out.println("Example using Subsumption architecture");
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Behavior b1 = new DriveForward();
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Behavior b2 = new HitWall();
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Behavior [] bArray = {b1, b2};
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Arbitrator arby = new Arbitrator(bArray);
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arby.go();
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}
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}

‎ev3dev-lang-java/src/main/java/lejos/commons/subsumption/ko/DriveForward.java‎

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package lejos.commons.subsumption.ko;
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import ev3dev.actuators.lego.motors.Motor;
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import lejos.robotics.subsumption.*;
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public class DriveForward implements Behavior {
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private boolean suppressed = false;
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public boolean takeControl() {
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return true;
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}
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public void suppress() {
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suppressed = true;
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}
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public void action() {
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suppressed = false;
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Motor.A.forward();
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Motor.B.forward();
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while( !suppressed )
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Thread.yield();
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Motor.A.stop(); // clean up
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Motor.B.stop();
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}
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}

‎ev3dev-lang-java/src/main/java/lejos/commons/subsumption/ko/HitWall.java‎

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package lejos.commons.subsumption.ko;
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import ev3dev.actuators.lego.motors.Motor;
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import ev3dev.sensors.ev3.EV3UltrasonicSensor;
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import lejos.hardware.port.SensorPort;
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import lejos.robotics.SampleProvider;
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import lejos.robotics.subsumption.*;
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public class HitWall implements Behavior {
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private EV3UltrasonicSensor sonar;
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private boolean suppressed = false;
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public HitWall() {
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sonar = new EV3UltrasonicSensor(SensorPort.S1);
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}
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public boolean takeControl() {
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SampleProvider sp = sonar.getDistanceMode();
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float [] sample = new float[sp.sampleSize()];
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sp.fetchSample(sample, 0);
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int distanceValue = (int)sample[0];
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return distanceValue < 25;
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}
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public void suppress() {
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suppressed = true;
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}
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public void action() {
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suppressed = false;
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Motor.A.rotate(-180, true);
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Motor.B.rotate(-360, true);
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while( Motor.B.isMoving() && !suppressed )
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Thread.yield();
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Motor.A.stop();
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Motor.B.stop();
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}
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}

‎ev3dev-lang-java/src/main/java/lejos/commons/subsumption/ko/package-info.java‎

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/**
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Technical note: 2017/06/04
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With this example, it is possible to observe a problem with current library.
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It is necessary to stop the execution until the complete object creation is ready.
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ev3dev#1|Example using Subsumption architecture
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ev3dev#1|2017-06-04 18:14:14 [main] DEBUG ev3dev.hardware.EV3DevDevice - Detecting device on port: in1
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ev3dev#1|2017-06-04 18:14:16 [main] DEBUG ev3dev.hardware.EV3DevDevice - Detected port on path: /sys/class/lego-sensor/sensor0/address
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ev3dev#1|Arbitrator created
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ev3dev#1|2017-06-04 18:14:18 [main] DEBUG e.a.lego.motors.BaseRegulatedMotor - Detecting motor on port: outA
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ev3dev#1|2017-06-04 18:14:18 [main] DEBUG ev3dev.hardware.EV3DevDevice - Detecting device on port: outA
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ev3dev#1|2017-06-04 18:14:18 [main] DEBUG ev3dev.hardware.EV3DevDevice - Detected port on path: /sys/class/lego-port/port4/address
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ev3dev#1|2017-06-04 18:14:18 [main] DEBUG e.a.lego.motors.BaseRegulatedMotor - Setting port in mode: tacho-motor
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ev3dev#1|2017-06-04 18:14:19 [main] DEBUG ev3dev.hardware.EV3DevDevice - Detecting device on port: outA
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ev3dev#1|2017-06-04 18:14:19 [main] DEBUG ev3dev.hardware.EV3DevDevice - Detected port on path: /sys/class/tacho-motor/motor8/address
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ev3dev#1|2017-06-04 18:14:19 [main] ERROR ev3dev.utils.Sysfs - File: '/sys/class/tacho-motor/motor8/command' without write permissions.
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ev3dev#1|Exception in thread "main" java.lang.ExceptionInInitializerError
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ev3dev#1| at lejos_commons.subsumption.DriveForward.action(DriveForward.java:20)
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ev3dev#1| at lejos.robotics.subsumption.Arbitrator.go(Arbitrator.java:103)
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ev3dev#1| at lejos_commons.subsumption.BumperCar.main(BumperCar.java:17)
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ev3dev#1|Caused by: java.lang.RuntimeException: Operation not executed: /sys/class/tacho-motor/motor8/command with value reset
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ev3dev#1| at ev3dev.hardware.EV3DevDevice.setStringAttribute(EV3DevDevice.java:91)
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ev3dev#1| at ev3dev.actuators.lego.motors.BaseRegulatedMotor.<init>(BaseRegulatedMotor.java:82)
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ev3dev#1| at ev3dev.actuators.lego.motors.NXTRegulatedMotor.<init>(NXTRegulatedMotor.java:24)
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ev3dev#1| at ev3dev.actuators.lego.motors.Motor.<clinit>(Motor.java:31)
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ev3dev#1| ... 3 more
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Failed command ev3dev#1 with status 1: java -server -jar /home/robot/ev3dev-lang-java-all-0.1.0.jar
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*/

‎ev3dev-lang-java/src/main/resources/META-INF/MANIFEST.MF‎

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@@ -2,6 +2,6 @@ Manifest-Version: 1.0
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Implementation-Title: EV3Dev-lang-java / examples
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Implementation-Version: 0.3.0
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Implementation-Vendor: Juan Antonio Breña Moral
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Main-Class: hardware.sensors.ev3.TouchSensorDemo
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Main-Class: ev3dev.actuators.lego.motors.MultipleMotorsStopDemo
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