org.mechio.api.motion.sync

Class SynchronizedRobot

java.lang.Object

org.jflux.api.common.rk.property.PropertyChangeNotifier

org.mechio.api.motion.AbstractRobot<org.mechio.api.motion.sync.SynchronizedJoint>

org.mechio.api.motion.sync.SynchronizedRobot

All Implemented Interfaces:

org.jflux.api.common.rk.property.PropertyChangeSource, Robot<org.mechio.api.motion.sync.SynchronizedJoint>

public class SynchronizedRobot
extends AbstractRobot<org.mechio.api.motion.sync.SynchronizedJoint>

Holds multiple Robots and synchronizes their movements for the given JointIds. Events and JointProperties from the primary Robot are forwarded.

Author:

Matthew Stevenson

Nested Class Summary

Nested classes/interfaces inherited from interface org.mechio.api.motion.Robot

Robot.Id, Robot.JointId, Robot.RobotPositionHashMap, Robot.RobotPositionMap

Field Summary

Fields

Modifier and Type	Field and Description
static String	PROP_ADD_ROBOT Property change event name for adding a Robot.
static String	PROP_REMOVE_ROBOT Property change event name for removing a Robot.
static org.jflux.api.common.rk.config.VersionProperty	VERSION Robot type VersionProperty.
static String	VERSION_NAME Robot type version name.
static String	VERSION_NUMBER Robot type version number.

Fields inherited from class org.mechio.api.motion.AbstractRobot

myJointList, myJointMap

Fields inherited from interface org.mechio.api.motion.Robot

PROP_CONNECTED, PROP_ENABLED, PROP_ID

Constructor Summary

Constructors

Constructor and Description
SynchronizedRobot(Robot.Id robotId, Set<Joint.Id> jointIds) Creates a new SynchronizedRobot from the given values
SynchronizedRobot(SynchronizedRobotConfig config) Creates a new SynchronizedRobot from the given configuration.

Method Summary

Methods

Modifier and Type	Method and Description
void	addRobot(Robot robot) Adds a Robot to be Synchronized.
boolean	connect() The Robot will accept commands only after it is successfully connected.
void	disconnect() Disconnect the Robot.
Robot	getPrimaryRobot() Returns the primary Robot being synchronized.
List<Robot>	getRobots() Returns a List of all Robots being Synchronized.
boolean	isConnected() Returns true if the Robot is connected.
void	move(Robot.RobotPositionMap positions, long lenMillisec) Move the Joints with the given ids to the corresponding positions.
void	removeRobot(Robot.Id robotId) Removes a Robot from being Synchronized.
void	setPrimaryRobot(Robot.Id robotId) Sets the primary Robot.

Methods inherited from class org.mechio.api.motion.AbstractRobot

addJoint, clearJoints, getCurrentPositions, getDefaultPositions, getGoalPositions, getJoint, getJointIds, getJointList, getJointName, getRobotId, isEnabled, removeJoint, setEnabled

Methods inherited from class org.jflux.api.common.rk.property.PropertyChangeNotifier

addPropertyChangeListener, addPropertyChangeListener, clearAllListeners, clearListeners, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getPropertyChangeListeners, getPropertyChangeListeners, hasListeners, removePropertyChangeListener, removePropertyChangeListener

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface org.jflux.api.common.rk.property.PropertyChangeSource

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Field Detail

VERSION_NAME

public static final String VERSION_NAME

Robot type version name.

See Also:

Constant Field Values

VERSION_NUMBER

public static final String VERSION_NUMBER

Robot type version number.

See Also:

Constant Field Values

VERSION

public static final org.jflux.api.common.rk.config.VersionProperty VERSION

Robot type VersionProperty.

PROP_ADD_ROBOT

public static final String PROP_ADD_ROBOT

Property change event name for adding a Robot.

See Also:

Constant Field Values

PROP_REMOVE_ROBOT

public static final String PROP_REMOVE_ROBOT

Property change event name for removing a Robot.

See Also:

Constant Field Values

Constructor Detail

SynchronizedRobot

public SynchronizedRobot(SynchronizedRobotConfig config)

Creates a new SynchronizedRobot from the given configuration.

Parameters:

config - configuration for initializing the SynchronizedRobot

SynchronizedRobot

public SynchronizedRobot(Robot.Id robotId,
                 Set<Joint.Id> jointIds)

Creates a new SynchronizedRobot from the given values

Parameters:

robotId - unique Robot.Id for the SynchronizedRobot to use

jointIds - local ids of the joints to synchronize

Method Detail

connect

public boolean connect()

Description copied from interface: Robot

The Robot will accept commands only after it is successfully connected.

Returns:

true is successful

disconnect

public void disconnect()

Description copied from interface: Robot

Disconnect the Robot.

isConnected

public boolean isConnected()

Description copied from interface: Robot

Returns true if the Robot is connected.

Returns:

true if the Robot is connected

move

public void move(Robot.RobotPositionMap positions,
        long lenMillisec)

Description copied from interface: Robot

Move the Joints with the given ids to the corresponding positions.

Parameters:

positions - map of Joint logical ids and positions

lenMillisec - duration of the movement in milliseconds

getPrimaryRobot

public Robot getPrimaryRobot()

Returns the primary Robot being synchronized. PropertyChangeEvents from the primary Robot are forwarded as PropertyChangeEvents from this Robot.

Returns:

primary Robot being synchronized

getRobots

public List<Robot> getRobots()

Returns a List of all Robots being Synchronized.

Returns:

List of all Robots being Synchronized

addRobot

public void addRobot(Robot robot)

Adds a Robot to be Synchronized.

Parameters:

robot - Robot to add

removeRobot

public void removeRobot(Robot.Id robotId)

Removes a Robot from being Synchronized.

Parameters:

robotId - robot to remove

setPrimaryRobot

public void setPrimaryRobot(Robot.Id robotId)

Sets the primary Robot. The PropertyChangeEvents from the primary robot are forwarded as PropertyChangeEvents from this Robot.

Parameters:

robotId -