Mobile robot exploration - Software Development Case Studies in Java - page 258

// The current implementation displays the result on the
// standard output
protected synchronized void writeOut(String data) {
System.out.println(data);
}
// the following two methods synchronize the read and
// write operations of the robot's position performed by
// the robot's devices
public void readPosition(Position position) {
synchronized ( this .position) {
this .position.copyTo(position);
}
}
public void writePosition(Position position) {
synchronized ( this .position) {
position.copyTo( this .position);
}
}
// starts the robot's devices
public void start() {
platform.start();
for ( int i # 0; i < sensors.size(); i !! ) {
Device sensor # (Device) sensors.get(i);
sensor.start();
}
}
// The println() method parses a string that specifies a
// command according to the following format :
// "<deviceName>.<command> <parameter>".
// It invokes the println() method of that device. Returns
// false if the device name is incorrect
public boolean println(String p_command) {
int indexInit # p_command.indexOf(".");
if (indexInit < 0)
return false ;
String deviceName # p_command.substring(0, indexInit);
String command # p_command.substring(indexInit ! 1);
if (deviceName.equals( this .name)
&& command.equalsIgnoreCase("GETPOS")) {
writeOut("GETPOS X # " ! position.getX() !
" Y # " ! position.getY() ! " DIR # " !
Math.toDegrees(position.getT()));
}
else if (deviceName.equals(platform.name))
return platform.println(command);