org.robokind.api.motion.messaging
Class RemoteRobotHost

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

public class RemoteRobotHost
extends Object

Hosts a Robot to be controlled by a RemoteRobotClient through some Messaging channel. Receives RobotRequest Messages and replies with RobotResponse Messages.

Author:

Matthew Stevenson

Constructor Summary

	RemoteRobotHost(Robot robot, String sourceId, String destinationId, MessageSender<RobotResponse> sender, MessageAsyncReceiver<RobotRequest> receiver, RobotResponseFactory factory, MessageAsyncReceiver<MotionFrameEvent> motionFrameReceiver, Listener<MotionFrameEvent> moveHandler) Creates a new RemoteRobotHost to host the given Robot.
protected	RemoteRobotHost(String sourceId, String destinationId) Creates an empty RemoteRobotHost.

Method Summary

String	getDestinationId() Returns a String identifying a client.
protected Joint	getRequestedJoint(RobotRequest req) Retrieves the Joint specified in the RobotRequest.
Robot.Id	getRobotId() Returns the hosted Robot's id.
String	getSourceId() Returns a String identifying this host.
protected void	handleConnectionStatusRequest(RobotRequest req) Creates and sends a RobotStatusResponse with the Robot's connection status
protected void	handleConnectRequest(RobotRequest req) Calls connect() on the hosted Robot.
protected void	handleCurrentPositionRequest(RobotRequest req) Sends a RobotPositionResponse with the Robot's current positions.
protected void	handleDefaultPositionRequest(RobotRequest req) Sends a RobotPositionResponse with the Robot's default positions.
protected void	handleDefinitionRequest(RobotRequest req) Creates and sends a RobotDefinitionResponse.
protected void	handleDisableRequest(RobotRequest req) Calls setEnabled(false) on the hosted Robot.
protected void	handleDisableRequestForJoint(RobotRequest req) Calls setEnabled(true) on the hosted Robot's Joint.
protected void	handleDisconnectRequest(RobotRequest req) Calls disconnect() on the hosted Robot.
protected void	handleEnabledStatusRequest(RobotRequest req) Creates and sends a RobotStatusResponse with the Robot's enabled status
protected void	handleEnabledStatusRequestForJoint(RobotRequest req) Creates and sends a RobotStatusResponse with the Joint's connection status
protected void	handleEnableRequest(RobotRequest req) Calls setEnabled(true) on the hosted Robot.
protected void	handleEnableRequestForJoint(RobotRequest req) Calls setEnabled(true) on the hosted Robot's Joint.
protected void	handleGoalPositionRequest(RobotRequest req) Sends a RobotPositionResponse with the Robot's goal positions.
protected void	setMotionFrameReceiver(MessageAsyncReceiver<MotionFrameEvent> receiver) Sets the MessageReceiver to receive MotionFrames
protected void	setMoveHandle(Listener<MotionFrameEvent> moveHandler) Sets the Listener to handle MotionFrames from clients.
protected void	setRequestReceiver(MessageAsyncReceiver<RobotRequest> receiver) Sets the MessageReceiver to receive RobotRequests.
protected void	setResponseFactory(RobotResponseFactory factory) Sets the factory to use for creating new RobotResponse Messages.
protected void	setResponseSender(MessageSender<RobotResponse> sender) Sets the MessageSender to send RobotResponses.
protected void	setRobot(Robot robot) Sets the Robot to host.
void	start() Begins listening for RobotRequests and MotionFrames

Methods inherited from class java.lang.Object

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

Constructor Detail

RemoteRobotHost

public RemoteRobotHost(Robot robot,
                       String sourceId,
                       String destinationId,
                       MessageSender<RobotResponse> sender,
                       MessageAsyncReceiver<RobotRequest> receiver,
                       RobotResponseFactory factory,
                       MessageAsyncReceiver<MotionFrameEvent> motionFrameReceiver,
                       Listener<MotionFrameEvent> moveHandler)

Creates a new RemoteRobotHost to host the given Robot.

Parameters:

robot - Robot to host

sourceId - arbitrary String identifying this host

destinationId - arbitrary String identifying a client

sender - MessageSender to send RobotResponses

receiver - MessageReceiver to receive RobotRequests from a client

factory - factory for creating new RobotResponse Messages

motionFrameReceiver - MessageReceiver to receive MotionFrameEvents

moveHandler - Listener to handle MotionFrameEvents from clients

RemoteRobotHost

protected RemoteRobotHost(String sourceId,
                          String destinationId)

Creates an empty RemoteRobotHost.

Parameters:

sourceId - arbitrary String identifying this host

destinationId - arbitrary String identifying a client

Method Detail

setRobot

protected void setRobot(Robot robot)

Sets the Robot to host.

Parameters:

robot - Robot to host

setResponseSender

protected void setResponseSender(MessageSender<RobotResponse> sender)

Sets the MessageSender to send RobotResponses.

Parameters:

sender - MEssageSender to use

setRequestReceiver

protected void setRequestReceiver(MessageAsyncReceiver<RobotRequest> receiver)

Sets the MessageReceiver to receive RobotRequests.

Parameters:

receiver - MessageReceiver to use

setResponseFactory

protected void setResponseFactory(RobotResponseFactory factory)

Sets the factory to use for creating new RobotResponse Messages.

Parameters:

factory - factory to use for creating new RobotResponse Messages

setMotionFrameReceiver

protected void setMotionFrameReceiver(MessageAsyncReceiver<MotionFrameEvent> receiver)

Sets the MessageReceiver to receive MotionFrames

Parameters:

receiver - MessageReceiver to use

setMoveHandle

protected void setMoveHandle(Listener<MotionFrameEvent> moveHandler)

Sets the Listener to handle MotionFrames from clients.

Parameters:

moveHandler - Listener to handle MotionFrames from clients

getRobotId

public Robot.Id getRobotId()

Returns the hosted Robot's id.

Returns:

hosted Robot's id

getSourceId

public String getSourceId()

Returns a String identifying this host. Currently unused.

Returns:

String identifying this host

getDestinationId

public String getDestinationId()

Returns a String identifying a client. Currently unused.

Returns:

String identifying a client

start

public void start()

Begins listening for RobotRequests and MotionFrames

handleDefinitionRequest

protected void handleDefinitionRequest(RobotRequest req)

Creates and sends a RobotDefinitionResponse.

Parameters:

req - RobotRequest the host is responding to

handleConnectRequest

protected void handleConnectRequest(RobotRequest req)

Calls connect() on the hosted Robot. The return value from that call is returned in a RobotStatusResponse.

Parameters:

req - RobotRequest the host is responding to

handleDisconnectRequest

protected void handleDisconnectRequest(RobotRequest req)

Calls disconnect() on the hosted Robot. The return value from that call is returned in a RobotStatusResponse.

Parameters:

req - RobotRequest the host is responding to

handleConnectionStatusRequest

protected void handleConnectionStatusRequest(RobotRequest req)

Creates and sends a RobotStatusResponse with the Robot's connection status

Parameters:

req - RobotRequest the host is responding to

handleEnableRequest

protected void handleEnableRequest(RobotRequest req)

Calls setEnabled(true) on the hosted Robot. Sends a successful RobotStatusResponse.

Parameters:

req - RobotRequest the host is responding to

handleDisableRequest

protected void handleDisableRequest(RobotRequest req)

Calls setEnabled(false) on the hosted Robot. Sends a successful RobotStatusResponse.

Parameters:

req - RobotRequest the host is responding to

handleEnabledStatusRequest

protected void handleEnabledStatusRequest(RobotRequest req)

Creates and sends a RobotStatusResponse with the Robot's enabled status

Parameters:

req - RobotRequest the host is responding to

handleEnableRequestForJoint

protected void handleEnableRequestForJoint(RobotRequest req)

Calls setEnabled(true) on the hosted Robot's Joint. Sends a successful RobotStatusResponse.

Parameters:

req - RobotRequest the host is responding to

handleDisableRequestForJoint

protected void handleDisableRequestForJoint(RobotRequest req)

Calls setEnabled(true) on the hosted Robot's Joint. Sends a successful RobotStatusResponse.

Parameters:

req - RobotRequest the host is responding to

handleEnabledStatusRequestForJoint

protected void handleEnabledStatusRequestForJoint(RobotRequest req)

Creates and sends a RobotStatusResponse with the Joint's connection status

Parameters:

req - RobotRequest the host is responding to

getRequestedJoint

protected Joint getRequestedJoint(RobotRequest req)

Retrieves the Joint specified in the RobotRequest.

Parameters:

req - RobotRequest specifying a Joint

Returns:

Joint specified in the RobotRequest

handleDefaultPositionRequest

protected void handleDefaultPositionRequest(RobotRequest req)

Sends a RobotPositionResponse with the Robot's default positions.

Parameters:

req - RobotRequest the host is responding to

handleGoalPositionRequest

protected void handleGoalPositionRequest(RobotRequest req)

Sends a RobotPositionResponse with the Robot's goal positions.

Parameters:

req - RobotRequest the host is responding to

handleCurrentPositionRequest

protected void handleCurrentPositionRequest(RobotRequest req)

Sends a RobotPositionResponse with the Robot's current positions.

Parameters:

req - RobotRequest the host is responding to