org.robokind.api.motion.messaging
Interface RobotRequestFactory<Req extends RobotRequest>

Type Parameters:

Req - type of RobotRequest built by this factory

public interface RobotRequestFactory<Req extends RobotRequest>

Factory for creating new RobotRequest Messages.

Author:

Matthew Stevenson

Method Summary

Req	buildJointRequest(Robot.JointId jointId, String sourceId, String destId, String requestType, long timestampMillisecUTC) Creates a new RobotRequest for the given Joint.
Req	buildRobotRequest(Robot.Id robotId, String sourceId, String destId, String requestType, long timestampMillisecUTC) Creates a new RobotRequest with the given values.

Method Detail

buildRobotRequest

Req buildRobotRequest(Robot.Id robotId,
                      String sourceId,
                      String destId,
                      String requestType,
                      long timestampMillisecUTC)

Creates a new RobotRequest with the given values.

Parameters:

robotId - requested robot

sourceId - request source id

destId - request destination id

requestType - request type

timestampMillisecUTC - request timestamp

Returns:

new RobotRequest

buildJointRequest

Req buildJointRequest(Robot.JointId jointId,
                      String sourceId,
                      String destId,
                      String requestType,
                      long timestampMillisecUTC)

Creates a new RobotRequest for the given Joint.

Parameters:

jointId - global JointId of the requested Joint

sourceId - request source id

destId - request destination id

requestType - request type

timestampMillisecUTC - request timestamp

Returns:

new RobotRequest for the given Joint