org.mechio.api.animation.Animation Maven / Gradle / Ivy
/*
* Copyright 2014 the MechIO Project.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package org.mechio.api.animation;
import java.util.ArrayList;
import org.mechio.api.animation.compiled.CompiledPath;
import org.mechio.api.animation.compiled.CompiledMap;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.Map.Entry;
import java.util.Set;
import java.util.logging.Level;
import java.util.logging.Logger;
import org.jflux.api.common.rk.config.VersionProperty;
import org.jflux.api.common.rk.playable.Playable;
import org.jflux.api.common.rk.services.addon.ServiceAddOn;
import org.mechio.api.animation.editor.features.SyncPointGroupConfig.SyncGroupConfig;
/**
* An Animation holds a map of servo IDs and Channel.
* This also stores the JointParameters corresponding to each Channel.
*
* @author Matthew Stevenson
*/
public class Animation {
private final static Logger theLogger = Logger.getLogger(Animation.class.getName());
private List myChannels;
private Map myChannelMap;
private VersionProperty myVersion;
private Long myStartTime;
private Long myStopTime;
private List> myAddOns;
private List mySyncGroupConfigs;
/**
* Creates an empty Animation.
*/
public Animation(){
this(new VersionProperty("New Animation", "1.0"));
}
/**
* Creates an Animation with the given VersionProperty.
*
* @param version the Animation's Version
*/
public Animation(VersionProperty version){
myChannels = new ArrayList();
myChannelMap = new HashMap();
myAddOns = new ArrayList>();
myVersion = version;
}
/**
* Returns The Animation's Version.
* @return the Animation's Version
*/
public VersionProperty getVersion(){
return myVersion;
}
/**
* Set the Animation's Version with the given name and version number.
* @param name the Animations new name
* @param versionNumber the Animations new version number
*/
public void setVersion(String name, String versionNumber){
if(name == null || name.isEmpty()){
throw new IllegalArgumentException("Unable to set empty Version Name.");
}
myVersion = new VersionProperty(name, versionNumber);
}
/**
*
* Adds a given Channel for the given servo parameters.
*
* @param channel Channel to add
* @throws IllegalArgumentException if servo id has already been added
* @throws NullPointerException if channel is null
*/
public void addChannel(Channel channel) throws IllegalArgumentException{
if(channel == null){
throw new NullPointerException("Unable to add null channel.");
}
int id = channel.getId();
if(myChannelMap.containsKey(id)){
throw new IllegalArgumentException("Unable to add channel. Channel for servo " + id + " already exists.");
}
myChannelMap.put(id, channel);
myChannels.add(channel);
}
/**
*
* Adds a list of Channels.
*
* @param channels Channels to add
* @throws NullPointerException if channels is null
*/
public void addChannels(List channels) throws NullPointerException{
if(channels == null){
throw new NullPointerException("Unable to add null channels.");
}
for(Channel channel : channels){
try{
addChannel(channel);
}catch(IllegalArgumentException ex){
theLogger.log(Level.WARNING, ex.getMessage(), ex);
}
}
}
/**
* Sets the start time
* @param time start time
*/
public void setStartTime(Long time){
if(time < 0){
throw new IllegalArgumentException("start time must be positive");
}
myStartTime = time;
setChannelStartTime(time);
}
private void setChannelStartTime(Long time){
for(Channel c : myChannels){
c.setStartTime(time);
}
}
/**
* Returns the start time
* @return start time
*/
public Long getStartTime(){
return myStartTime;
}
/**
* Sets the stop time
* @param time stop time
*/
public void setStopTime(Long time){
if(time < 0){
throw new IllegalArgumentException("start time must be positive");
}
myStopTime = time;
setChannelStopTime(time);
}
private void setChannelStopTime(Long time){
for(Channel c : myChannels){
c.setStopTime(time);
}
}
/**
* Returns the stop time
* @return stop time
*/
public Long getStopTime(){
return myStopTime;
}
/**
*
* Adds a given Channel for the given servo parameters, and orders it by the given index.
*
* @param channel Channel to add
* @param i the index to insert the channel
* @throws IllegalArgumentException if servo id has already been added
* @throws NullPointerException if channel is null
*/
public void insertChannel(int i, Channel channel) throws IllegalArgumentException{
if(channel == null){
throw new NullPointerException("Unable to add null channel.");
}
int id = channel.getId();
if(myChannelMap.containsKey(id)){
throw new IllegalArgumentException("Unable to add channel. Channel for servo " + id + " already exists.");
}
myChannelMap.put(id, channel);
myChannels.add(i, channel);
}
/**
* Returns true if there exists a channel for the given id.
* @param id servo id
* @return true if there exists a channel for the given id.
*/
public boolean containsLogicalId(int id){
return myChannelMap.containsKey(id);
}
/**
* Returns the Channel for id, ordered by when the Channels were added.
*
* @param id for Channel
* @return Channel for given id
*/
public Channel getChannel(int id){
return myChannels.get(id);
}
/**
* Returns the Channel for the given id.
*
* @param id Servo id for Channel
* @return Channel for given id, null if none exists
*/
public Channel getChannelByLogicalId(int id){
return myChannelMap.get(id);
}
/**
* Returns a set of entries of servo ids and Channels
*
* @return a set of entries of servo ids and Channels
*/
public Set> getEntrySet(){
return myChannelMap.entrySet();
}
/**
* Returns a set of entries of servo ids and Channels
*
* @return a set of entries of servo ids and Channels
*/
public List getChannels(){
return myChannels;
}
/**
* Removes the ith Channel, ordered by when the channels were added.
*
* @param i the index of the channel to remove
* @return the removed Channel, null if i is out of bounds
*/
public Channel removeChannelByListOrder(int i){
if(i < 0 || i > myChannels.size()){
return null;
}
Channel channel = myChannels.remove(i);
int logicalId = channel.getId();
myChannelMap.remove(logicalId);
return channel;
}
/**
* Removes the Channel with the given logical id.
*
* @param logicalId the logicalId of the Channel to remove
* @return the removed Channel, null if the logicalId is not found.
*/
public Channel removeChannelByLogicalId(int logicalId){
if(!myChannelMap.containsKey(logicalId)){
return null;
}
Channel channel = myChannelMap.remove(logicalId);
myChannels.remove(channel);
return channel;
}
/**
* Creates a CompiledMap from contained Channels' CompiledPaths.
*
* @param stepLength milliseconds between positions
* @return CompiledMap from contained Channels' CompiledPaths
*/
public CompiledMap getCompiledMap(long stepLength){
long start = myStartTime == null ? -1 : myStartTime;
long stop = myStopTime == null ? -1 : myStopTime;
return compileMap(start, stop, stepLength);
}
/**
* Creates a composite CompiledPath from all MotionPaths for given times.
* Start and end constraints ignored only when (start == -1 && end == -1).
*
* @param start path start time
* @param end path end time
* @param stepLength milliseconds between positions
* @return combined path from MotionPaths for given times
*/
public CompiledMap compileMap(long start, long end, long stepLength){
Map paths = new HashMap();
for(Entry e : myChannelMap.entrySet()){
CompiledPath cp = e.getValue().compilePath(start, end, stepLength);
if(cp != null && !cp.isEmpty()){
paths.put(e.getKey(), cp);
}
}
CompiledMap cm = new CompiledMap(stepLength, start, end);
cm.putAll(paths);
return cm;
}
public long getLength(){
double max = 0;
for(Channel c : myChannels){
for(MotionPath m : c.getMotionPaths()){
if(m.myXVals.isEmpty()){
continue;
}
double end = m.myXVals.get(m.myXVals.size()-1);
if(end > max){
max = end;
}
}
}
if(myStopTime == null || myStopTime < 0 || myStopTime > max){
return (long)max;
}else{
return myStopTime;
}
}
public void setSyncGroupConfigs(List configs){
mySyncGroupConfigs = configs;
}
public List getSyncGroupConfigs(){
return mySyncGroupConfigs;
}
/**
* Returns a deep copy of the Animation.
*
* @return a deep copy of the Animation.
*/
@Override
public Animation clone(){
Animation a = new Animation();
a.setVersion(myVersion.getName(), myVersion.getNumber());
for(Channel c : myChannels){
a.addChannel(c.clone());
}
for(ServiceAddOn addon : myAddOns){
a.myAddOns.add(addon);
}
if(mySyncGroupConfigs != null){
a.mySyncGroupConfigs =
new ArrayList(mySyncGroupConfigs);
}
return a;
}
public void addAddOn(ServiceAddOn addOn){
if(addOn == null){
throw new NullPointerException();
}
if(myAddOns.contains(addOn)){
return;
}
myAddOns.add(addOn);
}
public void removeAddOn(ServiceAddOn addOn){
myAddOns.remove(addOn);
}
public List> getAddOns(){
return myAddOns;
}
@Override
public boolean equals(Object obj) {
if (obj == null) {
return false;
}
if (getClass() != obj.getClass()) {
return false;
}
final Animation other = (Animation) obj;
if (this.myChannelMap != other.myChannelMap && (this.myChannelMap == null || !this.myChannelMap.equals(other.myChannelMap))) {
return false;
}
if (this.myVersion != other.myVersion && (this.myVersion == null || !this.myVersion.equals(other.myVersion))) {
return false;
}
if (this.myStartTime != other.myStartTime && (this.myStartTime == null || !this.myStartTime.equals(other.myStartTime))) {
return false;
}
if (this.myStopTime != other.myStopTime && (this.myStopTime == null || !this.myStopTime.equals(other.myStopTime))) {
return false;
}
return true;
}
@Override
public int hashCode() {
int hash = 7;
hash = 23 * hash + (this.myChannelMap != null ? this.myChannelMap.hashCode() : 0);
hash = 23 * hash + (this.myVersion != null ? this.myVersion.hashCode() : 0);
hash = 23 * hash + (this.myStartTime != null ? this.myStartTime.hashCode() : 0);
hash = 23 * hash + (this.myStopTime != null ? this.myStopTime.hashCode() : 0);
return hash;
}
}
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