Package de.sg_o.app.miioMapServer

Class VacuumMap

java.lang.Object

de.sg_o.app.miioMapServer.VacuumMap

All Implemented Interfaces:

java.io.Serializable

public class VacuumMap
extends java.lang.Object
implements java.io.Serializable

This class handles the vacuums map. It parses the files stored on the vacuum, creates a bounding box for the area with valid data in the map, allows scaling the map, provides serialization and deserialization.

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
static int	BLUE
static int	GREEN
static int	RED

Constructor Summary

Constructors

Constructor	Description
VacuumMap(de.sg_o.proto.MapPackageProto.MapPackage image, de.sg_o.proto.MapSlamProto.MapSlam slam, int overSample)
VacuumMap(java.io.BufferedReader image, java.io.BufferedReader slam, int overSample, java.util.logging.Level logLevel)	Create a vacuum map object.

Method Summary

Modifier and Type	Method	Description
void	appendMapSlam(de.sg_o.proto.MapSlamProto.MapSlam slam)	Add new path segments to the previous path.
void	appendSlam(java.io.BufferedReader slam)	Append new slam lines to the map
static de.sg_o.proto.MapPackageProto.MapPackage	directToMapPackage(java.io.BufferedReader image)	Create a map message directly from a map file.
static de.sg_o.proto.MapSlamProto.MapSlam	directToPath(java.io.BufferedReader slam)	Create a path message directly from a slam file.
static de.sg_o.proto.MapSlamProto.MapSlam	directToPath(java.io.BufferedReader slam, int start)	Create a path message directly from a slam file.
boolean	equals(java.lang.Object o)
int[]	getBoundingBox()
int[]	getMap()
de.sg_o.proto.MapPackageProto.MapPackage	getMapPackage()	Get the complete map image as a proto message.
de.sg_o.proto.MapSlamProto.MapSlam	getMapPath()	Get the complete path as a proto message.
de.sg_o.proto.MapSlamProto.MapSlam	getMapPath(int start)	Get the maps path as a proto message.
int[]	getMapWithPath()
int[]	getMapWithPath(java.lang.Integer startColor, java.lang.Integer pathColor)
int[]	getMapWithPathInBounds()
int[]	getMapWithPathInBounds(java.lang.Integer startColor, java.lang.Integer pathColor)
int	getOverSample()
java.util.List<float[]>	getPath()
int	getPathSize()
int	hashCode()
int[]	mapPointScale(int[] p)	Get coordinates from a point in this map.
int[]	mapRectangleScale(int[] rec)	Get coordinates from a rectangle in this map.
void	setOverSample(int overSample)
java.lang.String	toString()

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

RED

public static final int RED

See Also:

Constant Field Values

GREEN

public static final int GREEN

See Also:

Constant Field Values

BLUE

public static final int BLUE

See Also:

Constant Field Values

Constructor Detail

VacuumMap

public VacuumMap(java.io.BufferedReader image,
                 java.io.BufferedReader slam,
                 int overSample,
                 java.util.logging.Level logLevel)

Create a vacuum map object.

Parameters:

image - The reader the map image should be read from.

slam - The reader the slam log should be read from.

overSample - The oversampling that should be applied to the map.

logLevel - The log level.

VacuumMap

public VacuumMap(de.sg_o.proto.MapPackageProto.MapPackage image,
                 de.sg_o.proto.MapSlamProto.MapSlam slam,
                 int overSample)

Method Detail

appendSlam

public void appendSlam(java.io.BufferedReader slam)

Append new slam lines to the map

Parameters:

slam - The reader to parse

getMap

public int[] getMap()

Returns:

The complete map.

getPath

public java.util.List<float[]> getPath()

Returns:

The path the vacuum took.

getPathSize

public int getPathSize()

Returns:

The number of points in the path.

getBoundingBox

public int[] getBoundingBox()

Returns:

The bounding box of the active map area.

getOverSample

public int getOverSample()

Returns:

The current overSample set.

setOverSample

public void setOverSample(int overSample)

Parameters:

overSample - The new overSample to set.

mapPointScale

public int[] mapPointScale(int[] p)

Get coordinates from a point in this map. It can be used to define the point the vacuum should move to.

Parameters:

p - The point to convert.

Returns:

An array of coordinates (x, y).

mapRectangleScale

public int[] mapRectangleScale(int[] rec)

Get coordinates from a rectangle in this map. They can be used to define the area of the area cleanup.

Parameters:

rec - The rectangle to convert.

Returns:

An array of coordinates (x0, y0, x1, y1).

getMapWithPathInBounds

public int[] getMapWithPathInBounds()

Returns:

The map with the path drawn into it within the bounding box. Using the color green for the start point and blue for the path.

getMapWithPathInBounds

public int[] getMapWithPathInBounds(java.lang.Integer startColor,
                                    java.lang.Integer pathColor)

Parameters:

startColor - The color the start point should be drawn with. If null is provided this will fall back to green.

pathColor - The color the path should be drawn with. If null is provided this will fall back to blue.

Returns:

The map with the path drawn into it within the bounding box.

getMapWithPath

public int[] getMapWithPath()

Returns:

The map with the path drawn into it. Using the color green for the start point and blue for the path.

getMapWithPath

public int[] getMapWithPath(java.lang.Integer startColor,
                            java.lang.Integer pathColor)

Parameters:

startColor - The color the start point should be drawn with. If null is provided this will fall back to green.

pathColor - The color the path should be drawn with. If null is provided this will fall back to blue.

Returns:

The map with the path drawn into it.

equals

public boolean equals(java.lang.Object o)

Overrides:

equals in class java.lang.Object

hashCode

public int hashCode()

Overrides:

hashCode in class java.lang.Object

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

getMapPackage

public de.sg_o.proto.MapPackageProto.MapPackage getMapPackage()

Get the complete map image as a proto message.

Returns:

The complete map image as a proto message.

getMapPath

public de.sg_o.proto.MapSlamProto.MapSlam getMapPath()

Get the complete path as a proto message.

Returns:

The path as a proto message.

getMapPath

public de.sg_o.proto.MapSlamProto.MapSlam getMapPath(int start)

Get the maps path as a proto message.

Parameters:

start - The first index of the path pints to get.

Returns:

The path as a proto message.

appendMapSlam

public void appendMapSlam(de.sg_o.proto.MapSlamProto.MapSlam slam)

Add new path segments to the previous path.

Parameters:

slam - The path segments to add.

directToMapPackage

public static de.sg_o.proto.MapPackageProto.MapPackage directToMapPackage(java.io.BufferedReader image)
                                                                   throws java.io.IOException

Create a map message directly from a map file.

Parameters:

image - The map file to parse.

Returns:

The message containing the map.

Throws:

java.io.IOException - If the file could not be read.

directToPath

public static de.sg_o.proto.MapSlamProto.MapSlam directToPath(java.io.BufferedReader slam)
                                                       throws java.io.IOException

Create a path message directly from a slam file.

Parameters:

slam - The slam file to parse.

Returns:

The message with the path.

Throws:

java.io.IOException - If the file could not be read.

directToPath

public static de.sg_o.proto.MapSlamProto.MapSlam directToPath(java.io.BufferedReader slam,
                                                              int start)
                                                       throws java.io.IOException

Create a path message directly from a slam file.

Parameters:

slam - The slam file to parse.

start - The path point to start reading from.

Returns:

The message with the path.

Throws:

java.io.IOException - If the file could not be read.