Subversion Repositories Code-Repo

package IEEERobotics.IOIOAI.VT;

import ioio.lib.api.IOIO;
import ioio.lib.api.exception.ConnectionLostException;
import android.content.Context;
import android.content.SharedPreferences;
import android.os.Handler;

public class AICode {
        private IOIORoboticsActivity _parent;
        private IOIO _ioio;
        private Boolean _connected = false;
        
        // Input classes to be implemented
        private InputInterface _lineFollowIn;
        private InputInterface _voltageIn;
        private InputInterface _waveformIn;
        private InputInterface _capacitanceIn;
        private InputInterface _temperatureIn;
        
        // AI thread
        private Thread _pollingThread;
        
        /** Class initializer */
        public AICode(IOIORoboticsActivity parent) {
                _parent = parent;
        }
        
        /** Starting poing for executing AI code */
        public void Run() {
                // Initialize the input classes
                initializeInputs();
                
                setupPollingThread();
                
                _pollingThread.start();
        }
        
        /** Initialize input classes */
        private void initializeInputs() {
                _parent.logMessage("Initializing inputs");
                
                _ioio = IOIORoboticsActivity.IOIOInstance_;
                
                // Initialize each input class (opens pins)
                try {
                        _lineFollowIn = new InputLineFollower();
                        _lineFollowIn.initialize(_ioio);
                        
                        _voltageIn = new InputVoltage();
                        _voltageIn.initialize(_ioio);
                        
                        _waveformIn = new InputWaveform();
                        _waveformIn.initialize(_ioio);
                        
                        _capacitanceIn = new InputCapacitance();
                        _capacitanceIn.initialize(_ioio);
                        
                        _temperatureIn = new InputTemperature();
                        _temperatureIn.initialize(_ioio);
                        
                        _connected = true;
                } catch (ConnectionLostException e) {
                        
                }
        }
        
        /** Sets up the AI thread to poll for data */
        private void setupPollingThread() {
                _pollingThread = new Thread (new Runnable() {
                        @Override
                        public void run() {
                                
                                /////////////////////////////
                                //   INSERT AI CODE HERE   //
                                /////////////////////////////
                                
                        }
                });
        }
        
        /** Sends an interrupt signal to the thread and notifies input classes to close pins */
        public void stopPollingThread() {
                if (_pollingThread.isAlive()) {
                        _parent.logMessage("Stopping polling thread");
                        _pollingThread.interrupt();
                }
                
                if (_connected) {
                        _lineFollowIn.closePins();
                        _voltageIn.closePins();
                        _waveformIn.closePins();
                        _capacitanceIn.closePins();
                        _temperatureIn.closePins();
                }
                
                _connected = false;
        }
}