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The ThreadGroup class, on the other hand, is essentially useless even for versions of Java that allow its use Its original purpose was to group the threads of a program to simplify pausing, restarting, and stopping them all at once But as you probably know, the methods Threadsuspend(), Threadresume(), and Threadstop() were all deprecated because they re inherently unsafe ThreadGroup s uncaughtException() method can be useful, but without the thread lifecycle methods, putting your threads in a ThreadGroup isn t significantly more useful than grouping them in a Vector You may wonder what you re supposed to do to pause or stop your game if it has multiple threads running If you ve done much programming with threads, you probably already know the answer Your thread classes should have fields that serve as flags, telling the thread to pause or stop.

short command, Rcmd, Lcmd; byte triggers; // wait for these tasks to end Follows(main,RightJoystickLimit,LeftJoystickLimit); // rotate the motors by 110 degrees to bring the joystick vertical RotateMotorPID(JOYSTICKS,70,110,70,40,70); // store the current position (central) into the Xzero variable Rzero = MotorRotationCount(R_JOYSTICK); Lzero = MotorRotationCount(L_JOYSTICK); while(true) { // read the joysticks' angle from the central position Rpos = MotorRotationCount(R_JOYSTICK) - Rzero; Lpos = MotorRotationCount(L_JOYSTICK) - Lzero; // actuate the feedback on joysticks // to bring them to the center again OnRev(R_JOYSTICK,sign(Rpos)*TORQUE); OnRev(L_JOYSTICK,sign(Lpos)*TORQUE); // if the angle is about 0, then float the motors if (-THR0 <= Rpos && Rpos <= THR0) Float(R_JOYSTICK); if (-THR0 <= Lpos && Lpos <= THR0) Float(L_JOYSTICK); // convert the joysticks' angle to speed commands Lcmd = AngleToCommand(Lpos); Rcmd = AngleToCommand(Rpos); // read the triggers' state triggers = GetTriggers(); // show various information onscreen ShowCommands(Lcmd, Rcmd, triggers); // send the command using Bluetooth SendCommand(Lcmd,Rcmd,triggers); Wait(50); } } At the top of the listing, you can find the constant definitions and the statement to include the Bluetooth Autoconnection Library.

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Since Enterprise Library 1.0, the configuration assemblies had to be in the same location as the Enterprise Library Configuration Console executable. In the latest version, that has not changed. However, since the new Configuration Editor is a Visual Studio 2005 add-in, it is necessary to somehow determine where the configuration components are located for the Configuration Editor. To do this, a registry key determines where to find the assemblies.

When Enterprise library is installed, two assembly sets are created: the Microsoft Signed set, which points to the strong-named binaries located in the main Enterprise Library installation folder, and the EntLib3Src set, which points to the Enterprise Library s source bin.

Including the file autoconnectnxc, you can connect the remote to the robot automatically At program startup, the first code to be executed is the one inside the main task After the usual sensor initialization, the BTConnection function is called This function, in turn, checks if the connection with the slave exists; if not, it calls the Autoconnection Library s ConnectNXT function If the connection cannot be made, because the slave is off or its radio is off, the BTConnection function returns false; this condition causes the main task to call the Stop(true) NXC function to stop the whole program If the connection is established successfully, main calls the RemoteStartProgram NXC function to start the slave NXT program This way, once you have turned on your remote (master) and your robot (slave), you just have to start this program to get the connection and the program to start automatically.

Other classes can set these fields, and then your Thread subclass can query the fields and pause or stop when it becomes convenient to do so In fact, this is exactly what I did in the GameThread class of the previous version of the Tumbleweed game Since that class will not be changed for this version, I won t reprint it here See the Using the Thread Class section in 3 to review how it works The pause flags are set by my MIDlet subclass (called Jump) I ve included the code for Jump in Listing 4-1 because there are some changes in this version.

By default, every configuration file opened with the Configuration Editor uses the default assembly set. To override this for a specific solution, the SelectedEnterpriseLibraryConfigurationSet property on the solution root element can specify an alternative configuration set that will be associated with all application configuration files in the solution. The list of alternative configuration sets is stored in the Windows registry.

Not bad, is it Of course, the.

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