org.robokind.api.motion.servos

Class AbstractServoController<IdType,ServoConf extends ServoConfig<IdType>,S extends Servo<IdType,ServoConf>,ControllerConf extends ServoControllerConfig<IdType,ServoConf>>

java.lang.Object

org.robokind.api.common.property.PropertyChangeNotifier

org.robokind.api.motion.servos.AbstractServoController<IdType,ServoConf,S,ControllerConf>

Type Parameters:

IdType - Id Type use by this ServoController's Servos

S - Servo type used by this AbstractServoController

ControllerConf - ServoControllerConfig type used

ServoConf - ServoConfig type used by S and Conf

All Implemented Interfaces:

PropertyChangeSource, ServoController<IdType,ServoConf,S,ControllerConf>

public abstract class AbstractServoController<IdType,ServoConf extends ServoConfig<IdType>,S extends Servo<IdType,ServoConf>,ControllerConf extends ServoControllerConfig<IdType,ServoConf>>
extends PropertyChangeNotifier
implements ServoController<IdType,ServoConf,S,ControllerConf>

Provides common functionality for ServoControllers.

Author:

Matthew Stevenson

Nested Class Summary

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

ServoController.Id, ServoController.ServoId<ServoIdType>

Field Summary

Fields

Modifier and Type	Field and Description
protected PropertyChangeMonitor	myChangeMonitor The Controllers's PropertyChangeMonitor to listen for changes in Servos and configs.
protected ControllerConf	myConfig ServoController's Confgiuration parameters.
protected ConnectionStatus	myConnectionStatus The Controller's ConnectionStatus.
protected Map<ServoController.ServoId<IdType>,S>	myServoMap Map of the Controller's Servos and their ids.
protected List<S>	myServos List of the Coontroller's Servos.

Fields inherited from interface org.robokind.api.motion.servos.ServoController

PROP_CONNECTION_STATUS, PROP_ENABLED, PROP_ERROR_MESSAGES, PROP_SERVO_ADD, PROP_SERVO_REMOVE, PROP_SERVOS, PROP_VERSION

Constructor Summary

Constructors

Constructor and Description
AbstractServoController(ControllerConf config) Creates a new AbstractServoController from the given config.

Method Summary

Methods

Modifier and Type	Method and Description
protected void	addingServo(ServoConf config) Called when a Servo is added to the underlying ServoControllerConfig.
void	addServo(ServoConf config) Add a Servo the ServoController.
protected void	changeServoId(ServoController.ServoId<IdType> oldId, ServoController.ServoId<IdType> newId) Called when the id of a Servo changes in the underlying ServoControllerConfig.
protected abstract S	connectServo(ServoConf config) Called when a new Servo is being added.
boolean	containsId(ServoController.ServoId<IdType> id) Returns true if the controller contains a Servo for the given Servo id.
boolean	containsIds(Set<ServoController.ServoId<IdType>> ids) Returns true if the controller contains a Servo for each of the given Servo ids.
protected abstract boolean	disconnectServo(ServoController.ServoId<IdType> id) Called when a Servo is being removed.
ControllerConf	getConfig() Returns the ServoController's ServoControllerConfig.
ConnectionStatus	getConnectionStatus() Return the current ConnectionStatus.
ServoController.Id	getId() Returns the ServoController.Id identifying this ServoController.
S	getServo(ServoController.ServoId<IdType> id) Returns the Servo with the given id.
List<S>	getServos() Returns a List of the controller's Servos.
void	removeServo(S servo) Remove a Servo from the ServoController.
protected void	removingServo(ServoController.ServoId<IdType> id) Called when a Servo is removed from the underlying ServoControllerConfig.
protected ServoController.ServoId<IdType>	servoId(IdType id) Creates a ServoController.ServoId from this ServoController's Id and a Servo's Id
protected void	setConnectStatus(ConnectionStatus status) Set the ServoController's ConnectionStatus.

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

addPropertyChangeListener, addPropertyChangeListener, clearAllListeners, clearListeners, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getPropertyChangeListeners, getPropertyChangeListeners, hasListeners, 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.motion.servos.ServoController

connect, disconnect, getEnabled, getErrorMessages, getServoIdClass, moveAllServos, moveServo, moveServos, setEnabled

Methods inherited from interface org.robokind.api.common.property.PropertyChangeSource

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Field Detail

myConfig

protected ControllerConf extends ServoControllerConfig<IdType,ServoConf> myConfig

ServoController's Confgiuration parameters.

myServos

protected List<S extends Servo<IdType,ServoConf>> myServos

List of the Coontroller's Servos.

myServoMap

protected Map<ServoController.ServoId<IdType>,S extends Servo<IdType,ServoConf>> myServoMap

Map of the Controller's Servos and their ids.

myConnectionStatus

protected ConnectionStatus myConnectionStatus

The Controller's ConnectionStatus.

myChangeMonitor

protected PropertyChangeMonitor myChangeMonitor

The Controllers's PropertyChangeMonitor to listen for changes in Servos and configs.

Constructor Detail

AbstractServoController

public AbstractServoController(ControllerConf config)

Creates a new AbstractServoController from the given config.

Parameters:

config - the Controller's cofig

Method Detail

getId

public final ServoController.Id getId()

Description copied from interface: ServoController

Returns the ServoController.Id identifying this ServoController.

Specified by:

getId in interface ServoController<IdType,ServoConf extends ServoConfig<IdType>,S extends Servo<IdType,ServoConf>,ControllerConf extends ServoControllerConfig<IdType,ServoConf>>

Returns:

connectServo

protected abstract S connectServo(ServoConf config)

Called when a new Servo is being added. The overriding method should make the Servo available from the given ServoConfig.

Parameters:

config -

Returns:

a new Servo from the ServoConfig

disconnectServo

protected abstract boolean disconnectServo(ServoController.ServoId<IdType> id)

Called when a Servo is being removed. The overriding method should remove references to the Servo from the ServoController.

Parameters:

id - Servo's id

Returns:

true if successful

addServo

public void addServo(ServoConf config)

Add a Servo the ServoController.

Parameters:

config - Servo's configuration parameters

removeServo

public void removeServo(S servo)

Remove a Servo from the ServoController.

Parameters:

servo - Servo to remove

setConnectStatus

protected void setConnectStatus(ConnectionStatus status)

Set the ServoController's ConnectionStatus.

Parameters:

status - new ConnectionStatus

getServo

public S getServo(ServoController.ServoId<IdType> id)

Description copied from interface: ServoController

Returns the Servo with the given id.

Specified by:

getServo in interface ServoController<IdType,ServoConf extends ServoConfig<IdType>,S extends Servo<IdType,ServoConf>,ControllerConf extends ServoControllerConfig<IdType,ServoConf>>

Parameters:

id - the Servo id

Returns:

Servo with the given id

getServos

public List<S> getServos()

Description copied from interface: ServoController

Returns a List of the controller's Servos.

Specified by:

getServos in interface ServoController<IdType,ServoConf extends ServoConfig<IdType>,S extends Servo<IdType,ServoConf>,ControllerConf extends ServoControllerConfig<IdType,ServoConf>>

Returns:

List of the controller's Servos

containsIds

public boolean containsIds(Set<ServoController.ServoId<IdType>> ids)

Description copied from interface: ServoController

Returns true if the controller contains a Servo for each of the given Servo ids.

Specified by:

containsIds in interface ServoController<IdType,ServoConf extends ServoConfig<IdType>,S extends Servo<IdType,ServoConf>,ControllerConf extends ServoControllerConfig<IdType,ServoConf>>

Parameters:

ids - Set of Servo ids to check

Returns:

true if the controller contains a Servo for each of the given Servo ids

containsId

public boolean containsId(ServoController.ServoId<IdType> id)

Description copied from interface: ServoController

Returns true if the controller contains a Servo for the given Servo id.

Specified by:

containsId in interface ServoController<IdType,ServoConf extends ServoConfig<IdType>,S extends Servo<IdType,ServoConf>,ControllerConf extends ServoControllerConfig<IdType,ServoConf>>

Parameters:

id - Servo id to check

Returns:

true if the controller contains a Servo for the given Servo id

getConnectionStatus

public ConnectionStatus getConnectionStatus()

Description copied from interface: ServoController

Return the current ConnectionStatus.

Specified by:

getConnectionStatus in interface ServoController<IdType,ServoConf extends ServoConfig<IdType>,S extends Servo<IdType,ServoConf>,ControllerConf extends ServoControllerConfig<IdType,ServoConf>>

Returns:

current ConnectionStatus

addingServo

protected void addingServo(ServoConf config)

Called when a Servo is added to the underlying ServoControllerConfig.

Parameters:

config - the Servo's configuration parameters

removingServo

protected void removingServo(ServoController.ServoId<IdType> id)

Called when a Servo is removed from the underlying ServoControllerConfig.

Parameters:

id - id of the Servo being removed

changeServoId

protected void changeServoId(ServoController.ServoId<IdType> oldId,
                 ServoController.ServoId<IdType> newId)

Called when the id of a Servo changes in the underlying ServoControllerConfig.

Parameters:

oldId - old id

newId - new id

getConfig

public ControllerConf getConfig()

Description copied from interface: ServoController

Returns the ServoController's ServoControllerConfig.

Specified by:

getConfig in interface ServoController<IdType,ServoConf extends ServoConfig<IdType>,S extends Servo<IdType,ServoConf>,ControllerConf extends ServoControllerConfig<IdType,ServoConf>>

Returns:

this ServoController's ServoControllerConfig

servoId

protected ServoController.ServoId<IdType> servoId(IdType id)

Creates a ServoController.ServoId from this ServoController's Id and a Servo's Id

Parameters:

id - Servo Id to use

Returns:

ServoController.ServoId containing this ServoController's Id and the give Servo Id