org.mechio.api.motion.protocol

Interface RobotRequest

public interface RobotRequest

Request message for remote robot commands.

Author:

Matthew Stevenson

Field Summary

Fields

Modifier and Type	Field and Description
static String	CMD_CONNECT_ROBOT Request type for requesting a robot to connect.
static String	CMD_DISABLE_JOINT Request type for requesting a joint be disabled.
static String	CMD_DISABLE_ROBOT Request type for requesting a robot to be disabled.
static String	CMD_DISCONNECT_ROBOT Request type for requesting a robot to disconnect.
static String	CMD_ENABLE_JOINT Request type for requesting a joint be enable.
static String	CMD_ENABLE_ROBOT Request type for requesting a robot to be enabled.
static String	CMD_GET_CONNECTION_STATUS Request type for requesting a robot's connection status.
static String	CMD_GET_CURRENT_POSITIONS Request type for requesting a robot's current positions.
static String	CMD_GET_DEFAULT_POSITIONS Request type for requesting a robot's default positions.
static String	CMD_GET_ENABLED_STATUS Request type for requesting a robot's enabled status.
static String	CMD_GET_GOAL_POSITIONS Request type for requesting a robot's goal positions.
static String	CMD_GET_JOINT_ENABLED_STATUS Request type for requesting a joint's enabled status.
static String	CMD_GET_ROBOT_DEFINITION Request type for requesting a robot definition.

Method Summary

Methods

Modifier and Type	Method and Description
String	getDestinationId() Returns a String identifying the request destination.
Integer	getRequestIndex() Returns the Joint id number if the request is intended for a Joint, otherwise returns null.
String	getRequestType() RequestType identifies what is being requested of the Robot.
Robot.Id	getRobotId() Returns the id of the robot to receive the request.
String	getSourceId() Returns a String identifying the request source.
long	getTimestampMillisecUTC() Returns the timestamp the request was made.

Field Detail

CMD_GET_ROBOT_DEFINITION

static final String CMD_GET_ROBOT_DEFINITION

Request type for requesting a robot definition.

See Also:

Constant Field Values

CMD_CONNECT_ROBOT

static final String CMD_CONNECT_ROBOT

Request type for requesting a robot to connect.

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Constant Field Values

CMD_DISCONNECT_ROBOT

static final String CMD_DISCONNECT_ROBOT

Request type for requesting a robot to disconnect.

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Constant Field Values

CMD_GET_CONNECTION_STATUS

static final String CMD_GET_CONNECTION_STATUS

Request type for requesting a robot's connection status.

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Constant Field Values

CMD_ENABLE_ROBOT

static final String CMD_ENABLE_ROBOT

Request type for requesting a robot to be enabled.

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Constant Field Values

CMD_DISABLE_ROBOT

static final String CMD_DISABLE_ROBOT

Request type for requesting a robot to be disabled.

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Constant Field Values

CMD_GET_ENABLED_STATUS

static final String CMD_GET_ENABLED_STATUS

Request type for requesting a robot's enabled status.

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Constant Field Values

CMD_ENABLE_JOINT

static final String CMD_ENABLE_JOINT

Request type for requesting a joint be enable.

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Constant Field Values

CMD_DISABLE_JOINT

static final String CMD_DISABLE_JOINT

Request type for requesting a joint be disabled.

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Constant Field Values

CMD_GET_JOINT_ENABLED_STATUS

static final String CMD_GET_JOINT_ENABLED_STATUS

Request type for requesting a joint's enabled status.

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Constant Field Values

CMD_GET_DEFAULT_POSITIONS

static final String CMD_GET_DEFAULT_POSITIONS

Request type for requesting a robot's default positions.

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Constant Field Values

CMD_GET_GOAL_POSITIONS

static final String CMD_GET_GOAL_POSITIONS

Request type for requesting a robot's goal positions.

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Constant Field Values

CMD_GET_CURRENT_POSITIONS

static final String CMD_GET_CURRENT_POSITIONS

Request type for requesting a robot's current positions.

See Also:

Constant Field Values

Method Detail

getRobotId

Robot.Id getRobotId()

Returns the id of the robot to receive the request.

Returns:

id of the robot to receive the request

getSourceId

String getSourceId()

Returns a String identifying the request source. Currently unused.

Returns:

String identifying the request source

getDestinationId

String getDestinationId()

Returns a String identifying the request destination. Currently unused.

Returns:

String identifying the request destination

getRequestType

String getRequestType()

RequestType identifies what is being requested of the Robot.

Returns:

String identifying what is being requested of the Robot

getRequestIndex

Integer getRequestIndex()

Returns the Joint id number if the request is intended for a Joint, otherwise returns null.

Returns:

Joint id number if the request is intended for a Joint, otherwise returns null

getTimestampMillisecUTC

long getTimestampMillisecUTC()

Returns the timestamp the request was made.

Returns:

timestamp the request was made