org.robokind.api.motion.Robot Maven / Gradle / Ivy
/*
* 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.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.Set;
import org.jflux.impl.services.rk.utils.GlobalIdentifier;
import org.jflux.impl.services.rk.utils.HashCodeUtil;
import org.robokind.api.common.position.NormalizedDouble;
import org.robokind.api.common.property.PropertyChangeSource;
import org.robokind.api.motion.protocol.JointPositionMap;
/**
*A Robot provides access to a List of Joints backed by a List of
* JointControllers.
*
* @param type of Joint used by this Robot
* @author Matthew Stevenson
*/
public interface Robot extends PropertyChangeSource{
/**
* Property String for the Robot Id.
*/
public final static String PROP_ID = "robotId";
/**
* Property String for the connection status.
*/
public final static String PROP_CONNECTED = "isConnected";
/**
* Property String for the enabled status.
*/
public final static String PROP_ENABLED = "isEnabled";
/**
* Returns a String uniquely identifying this Robot.
* @return unique identifier for this Robot
*/
public Id getRobotId();
/**
* The Robot will accept commands only after it is successfully connected.
* @return true is successful
*/
public boolean connect();
/**
* Disconnect the Robot.
*/
public void disconnect();
/**
* Returns true if the Robot is connected.
* @return true if the Robot is connected
*/
public boolean isConnected();
/**
* Sets the enabled status of the Robot. The Robot only accepts new
* movements when Enabled is set to true.
* @param val enabled value
*/
public void setEnabled(boolean val);
/**
* Returns true if the Robot is enabled and accepting commands.
* @return true if the Robot is enabled and accepting commands
*/
public boolean isEnabled();
/**
* Return the Joint with the given id.
* @param id Joint's logical id
* @return Joint with the given logical id, null if no Joint is found
*/
public J getJoint(Robot.JointId id);
/**
* Returns a set of the Robot's Joint ids.
* @return set of the Robot's Joint ids
*/
public Set getJointIds();
/**
* Returns a List of the Robot's Joints.
* @return List of the Robot's Joints
*/
public List getJointList();
/**
* The Robot's name for the Joint with the given logical id.
* @param id Joint's logical id
* @return Robot's name for the Joint with the given logical id
*/
public String getJointName(Robot.JointId id);
/**
* Returns a map of the Robot's Joint's ids and their default positions.
* @return map of the Robot's Joint's ids and their default positions
*/
public RobotPositionMap getDefaultPositions();
/**
* Returns a map of the Robot's Joint's ids and their current positions.
* @return map of the Robot's Joint's ids and their current positions
*/
public RobotPositionMap getCurrentPositions();
/**
* Returns a map of the Robot's Joint's ids and their goal positions.
* @return map of the Robot's Joint's ids and their goal positions
*/
public RobotPositionMap getGoalPositions();
/**
* Move the Joints with the given ids to the corresponding positions.
* @param positions map of Joint logical ids and positions
* @param lenMillisec duration of the movement in milliseconds
*/
public void move(RobotPositionMap positions, long lenMillisec);
/**
* RobotPositionMap expected by the Robot.
*/
public static interface RobotPositionMap extends
JointPositionMap {}
/**
* RobotPositionMap backed by java.util.HashMap.
*/
public static class RobotPositionHashMap extends
HashMap implements RobotPositionMap {
/**
* @see HashMap
*/
public RobotPositionHashMap(){}
/**
* @param initialCapacity
* @see HashMap
*/
public RobotPositionHashMap(int initialCapacity){
super(initialCapacity);
}
/**
* @param initialCapacity
* @param loadFactor
* @see HashMap
*/
public RobotPositionHashMap(int initialCapacity, float loadFactor){
super(initialCapacity, loadFactor);
}
/**
* @param m
* @see HashMap
*/
public RobotPositionHashMap(Map m){
super(m);
}
}
/**
* Id is an immutable globally unique identifier for a Robot.
*/
public static class Id implements GlobalIdentifier{
private String myRobotIdString;
private int myHashCode;
/**
*
* @param robotId
*/
public Id(String robotId){
if(robotId == null){
throw new NullPointerException();
}else if(robotId.isEmpty()){
throw new NullPointerException("Robot.Id cannot be empty.");
}
myRobotIdString = robotId;
}
@Override
public boolean equals(Object obj){
if(obj == null || obj.getClass() != this.getClass()){
return false;
}
Id id = (Id)obj;
return myRobotIdString.equals(id.myRobotIdString);
}
@Override
public int hashCode() {
if(myHashCode == 0){
myHashCode =
HashCodeUtil.hash(HashCodeUtil.SEED, myRobotIdString);
}
return myHashCode;
}
/**
* Returns the String value of this Robot.Id.
* @return String value of this Robot.Id
*/
public String getRobtIdString(){
return myRobotIdString;
}
@Override
public String toString() {
return myRobotIdString;
}
}
/**
* JointId is an immutable globally unique identifier for a Joint
* belonging to a Robot. The JointId is a combination of a
* Robot.Id and Joint.Id.
*/
public static class JointId implements GlobalIdentifier{
private Id myRobotId;
private Joint.Id myJointId;
private int myHashCode;
/**
* Creates a new Robot.JointId with the given Robot.Id and Joint.Id.
* @param robotId Id of the Robot with the Joint
* @param jointId Local Id of the Joint
*/
public JointId(Id robotId, Joint.Id jointId){
if(robotId == null || jointId == null){
throw new NullPointerException();
}
myRobotId = robotId;
myJointId = jointId;
}
/**
* Returns the value of the Id.
* @return the value of the Id
*/
public final Joint.Id getJointId(){
return myJointId;
}
/**
* Returns the value of the Id.
* @return the value of the Id
*/
public final Robot.Id getRobotId(){
return myRobotId;
}
@Override
public boolean equals(Object obj){
if(obj == null || obj.getClass() != this.getClass()){
return false;
}
JointId id = (JointId)obj;
return myRobotId.equals(id.myRobotId)
&& myJointId.equals(id.myJointId);
}
@Override
public int hashCode() {
if(myHashCode == 0){
myHashCode = HashCodeUtil.hash(
HashCodeUtil.SEED, myRobotId, myJointId);
}
return myHashCode;
}
@Override
public String toString() {
return myRobotId.toString() + "::" + myJointId.toString();
}
}
}
© 2015 - 2025 Weber Informatics LLC | Privacy Policy