fixed package mismatch

2024-11-24 15:05:33 -05:00
parent a5cf193a7d
commit 3579efea5d
23 changed files with 135 additions and 79 deletions
--- a/Java/ProjectModels/CognitiveModel/ModelFiles/Model.java
+++ b/Java/ProjectModels/CognitiveModel/ModelFiles/Model.java
@@ -0,0 +1,173 @@
+package ModelFiles;
+import java.io.IOException;
+
+import ModelFiles.ActionType;
+import ModelFiles.MotorType;
+
+public class Model {
+
+    private MindQueue q; //Queue for actions
+    boolean modelActive; // On/Off Switch for the model execution
+    XPlaneConnect xpc; //Allows connection to the simulator
+    float[] storedVision;
+
+    //Constructors
+    public Model() {
+        q = new MindQueue();
+        modelActive = false;
+    }
+
+    public Model(XPlaneConnect xpc) {
+        q = new MindQueue();
+        modelActive = false;
+        this.xpc = xpc; 
+    }
+
+
+    /*Getters*/
+    public MindQueue getQueue() {
+        return q;
+    }
+
+    /*Setters*/
+
+    /*
+     * Setup Methods
+     * Printing, Empty check, Activation/Deactivation of Model, etc.
+    */
+    public void activateModel() {
+        modelActive = true;
+    }
+
+    public void establishConnection(XPlaneConnect newXPC){
+        this.xpc = newXPC;
+    }
+
+    public void deactivateModel(){
+        modelActive = false;
+    }
+
+    public boolean isEmpty(){
+        return q.isEmpty();
+    }
+
+    public void push(Action a){
+        q.push(a);
+    }
+
+    public boolean isActive(){
+        return modelActive;
+    }
+
+    public void printModelQueue(){
+        System.out.println(q.printQueue());
+    }
+
+    public int getModelQueueLength(){
+        return q.queueLength();
+    }
+    
+    public void createAction(ActionType actionType,int delay,String target) {
+        Action newAction = null;
+        switch(actionType) {
+            case VISION:
+                newAction = new Vision(delay,target);
+                this.push(newAction);
+                break;
+            case MOTOR:
+                newAction = new Motor(delay,target);
+                this.push(newAction);
+                break;
+
+            case DELAY:
+                newAction = new Delay(delay);
+                this.push(newAction);
+                break;
+       }
+    }
+
+    /*
+     * Processing Methods
+     * 
+    */
+
+    /*
+     * Process the next event in the model queue
+     */
+    public float[] next() {
+        float[] returnArray = null;
+        Action temp = q.pop();
+        // System.out.println("Type of Action: " + temp.getType());
+
+        if(temp.getType() == ActionType.VISION){ // Vision Action (Get Data)
+           handelVisionAction(temp, returnArray);
+        } else if (temp.getType() == ActionType.MOTOR){ //Motor Action (Act Upon Data)
+            handleMotorAction(temp);
+        } else if (temp.getType() == ActionType.DELAY){//Pure Delays (Do nothing)
+            handleDelayAction(temp);    
+        }
+        // q.push(temp);
+        return returnArray;
+        
+    }
+    
+    /* Next Helpers */
+    private void handelVisionAction(Action temp, float[] returnArray) {
+         Vision tempV = (Vision) temp;
+         initiateDelay(tempV.getDelay());
+         String dref = tempV.getTarget();
+         try {
+              returnArray = xpc.getDREF(dref);
+              storedVision = returnArray.clone();
+            //   System.out.println(returnArray[0]);
+         } catch (IOException e) {
+            
+         }
+    }
+
+    private void handleMotorAction(Action temp) {
+        Motor tempM = (Motor) temp;
+        MotorType motorType = tempM.getMotorType();
+        float[] currentControls = null;
+        try {
+            
+        switch(motorType){
+            case PITCHUP:
+                float[] pitchUp = {currentControls[0] + 0.01f};
+                    if(storedVision[0] > 90) {
+                            if(currentControls[0] < 0.1f) {
+                                xpc.sendCTRL(pitchUp);
+                            }
+                    }
+                    System.out.println("Pitching Up");
+            case PITCHDOWN:
+                float[] pitchDown = {currentControls[0] - 0.01f};
+                    if(storedVision[0] < 50) {
+                            if(currentControls[0] > 0.1f) {
+                                xpc.sendCTRL(pitchDown);
+                            }
+                    }
+                    System.out.println("Pitching Down");
+        }
+
+    } catch (IOException e) {
+        // TODO Auto-generated catch block
+        e.printStackTrace();
+    }
+    }
+
+    private void handleDelayAction(Action temp){
+        Delay tempD = (Delay) temp;
+        initiateDelay(tempD.getDelay());
+    }
+
+    public static void initiateDelay(int delay){
+        try {
+            Thread.sleep(delay); // Using the action's Built in Delay 
+        } catch (InterruptedException e) {
+            // TODO Auto-generated catch block
+            e.printStackTrace();
+        }
+    }   
+    
+}