org.robokind.api.motion.messaging
Class RemoteRobotClient

java.lang.Object
  org.robokind.api.motion.messaging.RemoteRobotClient

public class RemoteRobotClient
extends Object

Author:

Matthew Stevenson

Field Summary

static int

DEFAULT_TIMEOUT_LENGTH

Constructor Summary

RemoteRobotClient(Robot.Id robotId, String sourceId, String destId, RobotRequestFactory reqFact)

Method Summary

boolean	getConnected()
String	getDestinationId()
boolean	getEnabled()
boolean	getJointEnabled(Robot.JointId jointId)
Robot.Id	getRobotId()
String	getSourceId()
Robot.RobotPositionMap	requestCurrentPositions()
Robot.RobotPositionMap	requestDefaultPositions()
Robot.RobotPositionMap	requestGoalPositions()
RobotDefinitionResponse	requestRobotDefinition()
boolean	sendConnect()
boolean	sendDisable()
boolean	sendDisconnect()
boolean	sendEnable()
boolean	sendJointDisable(Robot.JointId jointId)
boolean	sendJointEnable(Robot.JointId jointId)
void	sendMovement(MotionFrame frame)
void	setMotionFrameSender(MotionFrameSender frameSender)
void	setRequestSender(MessageSender<RobotRequest,?,Listener<RobotRequest>> reqSender)
void	setResponseReceiver(MessageBlockingReceiver<RobotResponse,?,Listener<RobotResponse>> respRec)

Methods inherited from class java.lang.Object

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

Field Detail

DEFAULT_TIMEOUT_LENGTH

public static final int DEFAULT_TIMEOUT_LENGTH

See Also:

Constant Field Values

Constructor Detail

RemoteRobotClient

public RemoteRobotClient(Robot.Id robotId,
                         String sourceId,
                         String destId,
                         RobotRequestFactory reqFact)

Method Detail

setRequestSender

public void setRequestSender(MessageSender<RobotRequest,?,Listener<RobotRequest>> reqSender)

setResponseReceiver

public void setResponseReceiver(MessageBlockingReceiver<RobotResponse,?,Listener<RobotResponse>> respRec)

setMotionFrameSender

public void setMotionFrameSender(MotionFrameSender frameSender)

getRobotId

public Robot.Id getRobotId()

getSourceId

public String getSourceId()

getDestinationId

public String getDestinationId()

requestRobotDefinition

public RobotDefinitionResponse requestRobotDefinition()

sendConnect

public boolean sendConnect()

sendDisconnect

public boolean sendDisconnect()

getConnected

public boolean getConnected()

sendEnable

public boolean sendEnable()

sendDisable

public boolean sendDisable()

getEnabled

public boolean getEnabled()

sendJointEnable

public boolean sendJointEnable(Robot.JointId jointId)

sendJointDisable

public boolean sendJointDisable(Robot.JointId jointId)

getJointEnabled

public boolean getJointEnabled(Robot.JointId jointId)

requestDefaultPositions

public Robot.RobotPositionMap requestDefaultPositions()

requestGoalPositions

public Robot.RobotPositionMap requestGoalPositions()

requestCurrentPositions

public Robot.RobotPositionMap requestCurrentPositions()

sendMovement

public void sendMovement(MotionFrame frame)