org.robokind.api.motion.messaging
Class RemoteRobot

java.lang.Object
  org.robokind.api.common.property.PropertyChangeNotifier
      org.robokind.api.motion.AbstractRobot<RemoteJoint>
          org.robokind.api.motion.messaging.RemoteRobot

All Implemented Interfaces:

PropertyChangeSource, Robot<RemoteJoint>

public class RemoteRobot
extends AbstractRobot<RemoteJoint>

RemoteRobot is a facade for controlling a remotely connected Robot. The RemoteRobot controls the Robot using a RemoteRobotClient.

Author:

Matthew Stevenson

Nested Class Summary

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

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

Field Summary

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

myJointList, myJointMap

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

PROP_CONNECTED, PROP_ENABLED, PROP_ID

Constructor Summary

RemoteRobot(RemoteRobotClient client)
Creates a RemoteRobot which uses the given RemoteRobotClient.

Method Summary

boolean	connect() Sends a command for the remote robot to connect.
void	disconnect() Sends a command for the remote robot to disconnect.
boolean	isConnected() Returns the remote robot's connection status.
boolean	isEnabled() Returns true if the Robot is enabled and accepting commands.
void	move(Robot.RobotPositionMap positions, long lenMillisec) Move the Joints with the given ids to the corresponding positions.
void	setEnabled(boolean val) Sets the enabled status of the Robot.
boolean	updateRobot() Updates all cached values.

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

addJoint, clearJoints, getCurrentPositions, getDefaultPositions, getGoalPositions, getJoint, getJointIds, getJointList, getJointName, getJointNames, getJoints, getRobotId, removeJoint

Methods inherited from class org.robokind.api.common.property.PropertyChangeNotifier

addPropertyChangeListener, addPropertyChangeListener, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, 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.robokind.api.common.property.PropertyChangeSource

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Constructor Detail

RemoteRobot

public RemoteRobot(RemoteRobotClient client)

Creates a RemoteRobot which uses the given RemoteRobotClient.

Parameters:

client - client for the remote Robot

Method Detail

updateRobot

public boolean updateRobot()

Updates all cached values.

Returns:

true if successful

connect

public boolean connect()

Sends a command for the remote robot to connect.

Returns:

true if successful

disconnect

public void disconnect()

Sends a command for the remote robot to disconnect.

isConnected

public boolean isConnected()

Returns the remote robot's connection status.

Returns:

true if successful

setEnabled

public void setEnabled(boolean val)

Description copied from class: AbstractRobot

Sets the enabled status of the Robot. The Robot only accepts new movements when Enabled is set to true.

Specified by:

setEnabled in interface Robot<RemoteJoint>

Overrides:

setEnabled in class AbstractRobot<RemoteJoint>

Parameters:

val - enabled value

isEnabled

public boolean isEnabled()

Description copied from class: AbstractRobot

Returns true if the Robot is enabled and accepting commands.

Specified by:

isEnabled in interface Robot<RemoteJoint>

Overrides:

isEnabled in class AbstractRobot<RemoteJoint>

Returns:

true if the Robot is enabled and accepting commands

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