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leJOS (pronounced like the Spanish word "lejos" for "far") is a tiny Java Virtual Machine. In 2013 it was ported to the LEGO EV3 brick.

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package lejos.robotics.objectdetection;

import java.util.ArrayList;

import lejos.robotics.RangeReading;
import lejos.robotics.RangeReadings;

/**
 * If you have a robot with multiple sensors (touch and range) and would like them to report to one
 * listener, or if you want to control them at the same time (such as disabling them all at once) you can
 * use this class.
 * 
 * This class maintains its own thread for checking the FeatureDetectors.
 * 
 * @author BB
 *
 */
public class FusorDetector implements FeatureDetector, FeatureListener {
	// TODO: Make inner FeatureListener
	
	private ArrayList detectors = null;
	
	private ArrayList readings = null;
	
	/**
	 * The delay (in ms) between notifying listeners of detected features (if any are detected).
	 */
	private int delay;
	
	private boolean enabled = true;
	
	private ArrayList listeners = null;
	
	public FusorDetector() {
		detectors = new ArrayList();
		readings = new ArrayList();
		
		Thread x = new NotifyThread();
		x.setDaemon(true);
		x.start();
	}
	
	/**
	 * This method adds another FeatureDetector to the FusorDetector. This method will set the delay
	 * for this class to the largest delay if comes across from all the FeatureDetector objects added 
	 * to it.
	 * @param detector
	 */
	public void addDetector(FeatureDetector detector) {
		// Add this class as a FeatureListener:
		detector.addListener(this);
		
		// TODO: Does ArrayList already check if redundant objects are added?
		if(!detectors.contains(detector)) detectors.add(detector);
		
		// Set delay to the largest delay it comes across:
		if(detector.getDelay() > this.delay)
			this.delay = detector.getDelay();
		readings.add(new RangeReadings(0)); // Add dummy object to expand size of RangeReadings
	}
	/**
	 * This method scans all the sensors added to this object and returns the amalgamated results.
	 * NOTE: This method is not called by the thread code.		
	 */
	public Feature scan() {
		RangeReadings rr = new RangeReadings(0);
		for(FeatureDetector d : detectors) {
			Feature df = d.scan();
			if(df != null) {
				RangeReadings temp = df.getRangeReadings();
				for(int i=0;i 0)
						notifyListeners(new RangeFeature(rrs));
					
					// 4. Now clear out the detectors so they aren't resent next loop.
					readings.clear();
					
					// 5. And add dummies to it to make it proper size.
					for(int i=0;i();
		this.listeners.add(listener);
	}

	/**
	 * This method enables/disables automatic scanning and listener reporting for this object and
	 * all FeatureDetectors used in this FusorDetector object. 
	 */
	public void enableDetection(boolean on) {
		enabled = on;
		for(FeatureDetector fd : detectors) {
			fd.enableDetection(on);
		}
	}

	public int getDelay() {
		return delay;
	}

	public boolean isEnabled() {
		return enabled;
	}

	public void setDelay(int delay) {
		this.delay = delay;
	}
}