org.robokind.api.motion.messaging

Class RemoteRobotClient

java.lang.Object

org.robokind.api.motion.messaging.RemoteRobotClient

public class RemoteRobotClient
extends Object

Client for messaging with a RemoteRobotHost. Used by RemoteRobot to control a Robot through a messaging channel.

Author:

Matthew Stevenson

Field Summary

Fields

Modifier and Type	Field and Description
static int	DEFAULT_TIMEOUT_LENGTH Default number of milliseconds before a request times out.

Constructor Summary

Constructors

Constructor and Description
RemoteRobotClient(Robot.Id robotId, String sourceId, String destId, RobotRequestFactory reqFact, MotionFrameEvent.MotionFrameEventFactory motionFrameEventFactory) Creates a new RemoteRobotClient.

Method Summary

Methods

Modifier and Type	Method and Description
boolean	getConnected() Requests the remote Robot's connection status.
String	getDestinationId() Returns the String identifying the host, currently unused.
boolean	getEnabled() Requests the remote Robot's enabled status.
boolean	getJointEnabled(Robot.JointId jointId) Requests the remote Joint's enabled status.
Robot.Id	getRobotId() Returns the id of the remote Robot
String	getSourceId() Returns the String identifying this client, currently unused.
Robot.RobotPositionMap	requestCurrentPositions() Requests the remote Robot's current positions.
Robot.RobotPositionMap	requestDefaultPositions() Requests the remote Robot's default joint positions.
Robot.RobotPositionMap	requestGoalPositions() Requests the remote Robot's goal positions.
RobotDefinitionResponse	requestRobotDefinition() Requests a RobotDefinition from the host.
boolean	sendConnect() Sends a connect command to the remote Robot.
boolean	sendDisable() Sends an disable command to the remote Robot.
boolean	sendDisconnect() Sends a disconnect command to the remote Robot.
boolean	sendEnable() Sends an enable command to the remote Robot.
boolean	sendJointDisable(Robot.JointId jointId) Sends an disable command to a remote Joint.
boolean	sendJointEnable(Robot.JointId jointId) Sends an disable command to a remote Joint.
void	sendMovement(MotionFrame frame) Sends a MotionFrame to move a RemoteRobot.
void	setMotionFrameSender(org.jflux.api.messaging.rk.MessageSender<MotionFrameEvent> frameSender) Sets the MotionFrameSender to use for sending MotionFrames to the host.
void	setRequestSender(org.jflux.api.messaging.rk.MessageSender<RobotRequest> reqSender) Sets the MessageSender to send RobotRequests.
void	setResponseReceiver(org.jflux.api.messaging.rk.MessageBlockingReceiver<RobotResponse> respRec) Sets the MessageReceiver to receive RobotResponses.

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

Default number of milliseconds before a request times out.

See Also:

Constant Field Values

Constructor Detail

RemoteRobotClient

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

Creates a new RemoteRobotClient.

Parameters:

robotId - id of the remote robot

sourceId - arbitrary String to identify this client

destId - arbitrary String to identify the host

reqFact - factory used for creating new RobotRequests

Method Detail

setRequestSender

public void setRequestSender(org.jflux.api.messaging.rk.MessageSender<RobotRequest> reqSender)

Sets the MessageSender to send RobotRequests.

Parameters:

reqSender - MessageSender to use

setResponseReceiver

public void setResponseReceiver(org.jflux.api.messaging.rk.MessageBlockingReceiver<RobotResponse> respRec)

Sets the MessageReceiver to receive RobotResponses.

Parameters:

respRec - MessageReceiver to use

setMotionFrameSender

public void setMotionFrameSender(org.jflux.api.messaging.rk.MessageSender<MotionFrameEvent> frameSender)

Sets the MotionFrameSender to use for sending MotionFrames to the host.

Parameters:

frameSender - MotionFrameSender to use

getRobotId

public Robot.Id getRobotId()

Returns the id of the remote Robot

Returns:

getSourceId

public String getSourceId()

Returns the String identifying this client, currently unused.

Returns:

String identifying this client

getDestinationId

public String getDestinationId()

Returns the String identifying the host, currently unused.

Returns:

String identifying the host

requestRobotDefinition

public RobotDefinitionResponse requestRobotDefinition()

Requests a RobotDefinition from the host.

Returns:

RobotDefinition defining the remote robot

sendConnect

public boolean sendConnect()

Sends a connect command to the remote Robot.

Returns:

true if successful

sendDisconnect

public boolean sendDisconnect()

Sends a disconnect command to the remote Robot.

Returns:

true if successful

getConnected

public boolean getConnected()

Requests the remote Robot's connection status.

Returns:

remote Robot's connection status

sendEnable

public boolean sendEnable()

Sends an enable command to the remote Robot.

Returns:

true if successful

sendDisable

public boolean sendDisable()

Sends an disable command to the remote Robot.

Returns:

true if successful

getEnabled

public boolean getEnabled()

Requests the remote Robot's enabled status.

Returns:

remote Robot's enabled status

sendJointEnable

public boolean sendJointEnable(Robot.JointId jointId)

Sends an disable command to a remote Joint.

Parameters:

jointId - id of the remote Joint

Returns:

true if successful

sendJointDisable

public boolean sendJointDisable(Robot.JointId jointId)

Sends an disable command to a remote Joint.

Parameters:

jointId - id of the remote Joint

Returns:

true if successful

getJointEnabled

public boolean getJointEnabled(Robot.JointId jointId)

Requests the remote Joint's enabled status.

Parameters:

jointId - id of the remote Joint

Returns:

remote Robot's enabled status

requestDefaultPositions

public Robot.RobotPositionMap requestDefaultPositions()

Requests the remote Robot's default joint positions.

Returns:

remote Robot's default joint positions

requestGoalPositions

public Robot.RobotPositionMap requestGoalPositions()

Requests the remote Robot's goal positions.

Returns:

remote Robot's goal positions

requestCurrentPositions

public Robot.RobotPositionMap requestCurrentPositions()

Requests the remote Robot's current positions.

Returns:

remote Robot's current positions

sendMovement

public void sendMovement(MotionFrame frame)

Sends a MotionFrame to move a RemoteRobot.

Parameters:

frame - MotionFrame to send