// RobotMonitor.java
// 
// A program that displays robot state on the LCD screen,
// based on the original code by Simon Parsons & Davide Grossi, 2013.
//
// Terry Payne
// 6th October 2017
//
// This demo samples the different sensors available from the class
// SimpleRobot, and provides updates in a separate thread on the LCD
// display of the robot.


import java.text.DecimalFormat;

import lejos.hardware.ev3.LocalEV3;
import lejos.hardware.lcd.Font;
import lejos.hardware.lcd.GraphicsLCD;

public class RobotMonitor extends Thread {
	private int delay;
	public SimpleRobot robot;
	
    GraphicsLCD lcd = LocalEV3.get().getGraphicsLCD();
	
    // Make the monitor a daemon and set
    // the robot it monitors and the delay
    public RobotMonitor(SimpleRobot r, int d){
    	this.setDaemon(true);
    	delay = d;
    	robot = r;
    }

    // The monitor writes various bits of robot state to the screen, then
    // sleeps.
    public void run(){
    	// The decimalformat here is used to round the number to three significant digits
		DecimalFormat df = new DecimalFormat("####0.000");

    	while(true){
    		lcd.clear();
    		lcd.setFont(Font.getDefaultFont());
    		lcd.drawString("Robot Monitor", lcd.getWidth()/2, 0, GraphicsLCD.HCENTER);
    		lcd.setFont(Font.getSmallFont());
    		 
    		lcd.drawString("LBump: "+robot.isLeftBumpPressed(), 0, 20, 0);
    		lcd.drawString("RBump: "+robot.isRightBumpPressed(), 0, 30, 0);
    		lcd.drawString("Dist: "+robot.getDistance(), 0, 40, 0);    		
    		lcd.drawString("Colour: ["+
    				df.format(robot.getColour()[0]) +" "+
    				df.format(robot.getColour()[1]) +" "+
    				df.format(robot.getColour()[2]) +"]", 0, 50, 0);
    		lcd.drawString("Lmotor: "+robot.isLeftMotorOn(), 0, 60, 0);
    		lcd.drawString("Rmotor: "+robot.isRightMotorOn(), 0, 70, 0);
    		try{
    			sleep(delay);
    		}
    		catch(Exception e){
    			// We have no exception handling
    			;
    		}
	    }
    }
}