org.robokind.api.motion.AbstractJoint Maven / Gradle / Ivy

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/*
 * Copyright 2011 Hanson Robokind LLC.
 *
 * 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.robokind.api.motion;

import java.beans.PropertyChangeEvent;
import java.beans.PropertyChangeListener;
import java.util.Collection;
import java.util.Collections;
import java.util.HashMap;
import java.util.Map;
import java.util.logging.Level;
import java.util.logging.Logger;
import org.robokind.api.common.position.NormalizableRange;
import org.robokind.api.common.position.NormalizedDouble;
import org.robokind.api.common.property.PropertyChangeNotifier;
import org.robokind.api.motion.joint_properties.ReadCurrentPosition;

/**
 * Abstract implementation providing much of the functionality need to implement
 * various Joints.
 * 
 * @author Matthew Stevenson 
 */
public abstract class AbstractJoint extends PropertyChangeNotifier implements 
        Joint, PropertyChangeListener{
    private static final Logger theLogger = Logger.getLogger(AbstractJoint.class.getName());
    
    private Joint.Id myJointId;
    
    /**
     * JointProperties available from this Joint
     */
    protected Map myProperties;

    /**
     * Creates a new AbstractJoint with the given Id.
     * @param id Joint.Id of the new Joint
     */
    public AbstractJoint(Joint.Id id){
        if(id == null){
            throw new NullPointerException();
        }
        myJointId = id;
        myProperties = new HashMap();
    }

    @Override
    public Joint.Id getId() {
        return myJointId;
    }
    
    /**
     * Adds a JointProperty to the Joint
     * @param prop JointProperty to add
     */
    protected void addProperty(JointProperty prop){
        if(myProperties == null){
            myProperties = new HashMap();
        }
        String name = prop.getPropertyName();
        if(myProperties.containsKey(name)){
            return;
        }
        prop.addPropertyChangeListener(this);
        myProperties.put(name,prop);        
    }
    
    /**
     * Removes a JointProperty from the Joint
     * @param prop JointProperty to remove
     */
    protected void removeProperty(JointProperty prop){
        if(myProperties == null || 
                prop == null || prop.getPropertyName() == null){
            return;
        }
        myProperties.remove(prop.getPropertyName());
    }
    
    @Override
    public  JointProperty getProperty(String name, Class propertyType){
        if(myProperties == null){
            return null;
        }
        JointProperty prop = myProperties.get(name);
        if(prop == null){
            return null;
        }
        Class c = prop.getPropertyClass();
        if(!propertyType.isAssignableFrom(c)){
            theLogger.log(Level.WARNING, 
                    "Found Joint property ({0}) with bad type ({1}).  "
                    + "Expected type ({2}).", 
                    new Object[]{name, c, propertyType});
            return null;
        }
        return (JointProperty)prop;
    }
    
    @Override
    public JointProperty getProperty(String name){
        return getProperty(name, Object.class);
    }
    
    @Override
    public Collection getProperties(){
        if(myProperties == null){
            return Collections.EMPTY_LIST;
        }
        return myProperties.values();
    }

    /**
     * Used to broadcast PropertyChangeEvents from internal sources such as
     * JointProperties or, in the case of a ServoJoint, a Servo.
     * @param pce internal PropertyChangeEvent to
     */
    @Override
    public void propertyChange(PropertyChangeEvent pce) {
        firePropertyChange(pce);
    }
}