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Example 1 with GPSEvent

use of com.robo4j.hw.rpi.gps.GPSEvent in project robo4j by Robo4J.

the class GPSExample method main.

public static void main(String[] args) throws RoboBuilderException, IOException {
    RoboBuilder builder = new RoboBuilder();
    builder.add(MtkGPSUnit.class, ID_GPS);
    builder.add(GPSProcessor.class, ID_PROCESSOR);
    RoboContext ctx = builder.build();
    System.out.println("State before start:");
    System.out.println(SystemUtil.printStateReport(ctx));
    ctx.start();
    System.out.println("State after start:");
    System.out.println(SystemUtil.printStateReport(ctx));
    RoboReference<GPSRequest> gps = ctx.getReference(ID_GPS);
    RoboReference<GPSEvent> processor = ctx.getReference(ID_PROCESSOR);
    System.out.println("Press <Enter> to start requesting events, then press enter again to stop requesting events!");
    System.in.read();
    System.out.println("Requesting GPS events! Press <Enter> to stop!");
    gps.sendMessage(new GPSRequest(processor, Operation.REGISTER));
    System.in.read();
    System.out.println("Ending requesting GPS events...");
    gps.sendMessage(new GPSRequest(processor, Operation.UNREGISTER));
    // Note that we can still get a few more events after this, and that is
    // quite fine. ;)
    System.out.println("All done! Press <Enter> to quit!");
    System.in.read();
    System.out.println("Exiting! Bye!");
    ctx.shutdown();
    // Seems Pi4J keeps an executor with non-daemon threads around after
    // we've used the serial port, even after closing it. :/
    System.exit(0);
}
Also used : RoboBuilder(com.robo4j.RoboBuilder) RoboContext(com.robo4j.RoboContext) GPSEvent(com.robo4j.hw.rpi.gps.GPSEvent)

Aggregations

RoboBuilder (com.robo4j.RoboBuilder)1 RoboContext (com.robo4j.RoboContext)1 GPSEvent (com.robo4j.hw.rpi.gps.GPSEvent)1