org.robokind.api.motion.jointgroup.AbstractJointGroup 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.jointgroup;

import java.util.ArrayList;
import java.util.Collections;
import java.util.Iterator;
import java.util.List;
import java.util.logging.Level;
import java.util.logging.Logger;
import org.robokind.api.motion.Joint;
import org.robokind.api.common.property.PropertyChangeNotifier;

/**
 * Abstract class providing common functionality for JointGroups.
 * @param  Type used to identify Joints
 * @param   Type of child JointGroups
 * @param   Type of Joints used by this JointGroup
 * 
 * @author Matthew Stevenson 
 */
public abstract class AbstractJointGroup 
        extends PropertyChangeNotifier implements JointGroup{
    private final static Logger theLogger = Logger.getLogger(AbstractJointGroup.class.getName());

    /**
     * Name of this JointGroup
     */
    protected String myName;
    /**
     * JointIds used by this JointGroup
     */
    protected List myJointIds;
    /**
     * Child JointGroups
     */
    protected List myGroups;
    
    private boolean myEnabledFlag;
    
    /**
     * Creates an empty AbstractJointGroup
     */
    public AbstractJointGroup(){
        myJointIds = new ArrayList();
        myGroups = new ArrayList();
        myEnabledFlag = true;
    }
    /**
     * 
     * @param name name of this JointGroup
     * @param ids initial JointIds
     * @param groups initial child JointGroups
     */
    public AbstractJointGroup(
            String name, List ids, List groups){
        myName = name;
        myJointIds = ids == null ? new ArrayList() : 
                new ArrayList(ids);
        myGroups = groups == null ? new ArrayList() : new ArrayList(groups);
        myEnabledFlag = true;
    }
    
    /**
     * Retrieves a Joint with the given jointId.
     * @param jointId id of the joint to retrieve
     * @return Joint with the given jointId, null if no Joint is found
     */
    protected abstract J getJointById(Id jointId);
    
    @Override
    public void setName(String name){
        String oldName = myName;
        myName = name;
        firePropertyChange(PROP_NAME, oldName, myName);
    }
    
    @Override
    public String getName(){
        return myName;
    }
    
    @Override
    public void setEnabled(boolean enabled){
        boolean old = myEnabledFlag;
        myEnabledFlag = enabled;
        for(J joint : getJoints()){
            if(joint == null){
                continue;
            }
            joint.setEnabled(enabled);
        }
        for(G group : myGroups){
            group.setEnabled(enabled);
        }
        firePropertyChange(PROP_ENABLED, old, myEnabledFlag);
    }
    
    /**
     * Returns the Joint at the given index, or null if out of bounds.
     * @param index index of the Joint to return
     * @return Joint at the given index, or null if out of bounds
     */
    @Override
    public J getJoint(int index){
        if(index < 0 || index >= myJointIds.size()){
            return null;
        }
        Id jointId = myJointIds.get(index);
        return getJointById(jointId);
    }
    
    /**
     * Returns a List of Joints belonging to this JointGroup.
     * @return List of Joints belonging to this JointGroup
     */
    @Override
    public List getJoints(){
        List joints = new ArrayList();
        for(Id id : myJointIds){
            J joint = getJointById(id);
            joints.add(joint);
        }
        return joints;
    }
    
    @Override
    public boolean getEnabled(){
        return myEnabledFlag;
    }
    
    @Override
    public void addJointId(Id jointId){
        if(myJointIds.contains(jointId)){
            theLogger.log(Level.WARNING, "Unable to add Joint Id.  Id ''{0}'' already exists.", jointId);
            return;
        }
        myJointIds.add(jointId);
        firePropertyChange(PROP_ADD_JOINT_ID, null, jointId);
    }
    
    @Override
    public void insertJointId(Id jointId, int index){
        if(myJointIds.contains(jointId)){
            theLogger.log(Level.WARNING, "Unable to add Joint Id.  Id ''{0}'' already exists.", jointId);
            return;
        }
        if(index < 0 || index > myJointIds.size()){
            throw new IllegalArgumentException("Unable to add JointId.  Index '" + index + "'out of range.");
        }
        myJointIds.add(index, jointId);
        firePropertyChange(PROP_ADD_JOINT_ID, null, jointId);
    }
    
    @Override
    public void removeJointId(Id jointId){
        if(!myJointIds.contains(jointId)){
            theLogger.log(Level.WARNING, "Unable to remove Joint Id.  Id ''{0}'' not found.", jointId);
            return;
        }
        myJointIds.remove(jointId);
        firePropertyChange(PROP_REMOVE_JOINT_ID, null, jointId);
    }
    
    @Override
    public void removeJointIdAt(int index){
        Id jointId = myJointIds.remove(index);
        firePropertyChange(PROP_REMOVE_JOINT_ID, null, jointId);
    }
    
    @Override
    public List getJointIds(){
        return Collections.unmodifiableList(myJointIds);
    }
    
    @Override
    public Id getJointId(int index){
        return myJointIds.get(index);
    }
    
    @Override
    public int getJointCount(){
        return myJointIds.size();
    }
    
    @Override
    public void addGroup(G group){
        if(this == group){
            theLogger.log(Level.WARNING, "Unable to add JointGroup.  JointGroup cannot contain itself.");
            return;
        }
        if(myGroups.contains(group)){
            theLogger.log(Level.WARNING, "Unable to add JointGroup.  JointGroup already exists.");
            return;
        }
        myGroups.add(group);
        firePropertyChange(PROP_ADD_JOINT_GROUP, null, group);
    }
    
    @Override
    public void insertGroup(G group, int index){
        if(this == group){
            theLogger.log(Level.WARNING, "Unable to add JointGroup.  JointGroup cannot contain itself.");
            return;
        }
        if(myGroups.contains(group)){
            theLogger.log(Level.WARNING, "Unable to add JointGroup.  JointGroup already exists.");
            return;
        }
        if(index < 0 || index > myGroups.size()){
            throw new IllegalArgumentException("Unable to add JointGroup.  Index '" + index + "'out of range.");
        }
        myGroups.add(index, group);
        firePropertyChange(PROP_ADD_JOINT_GROUP, null, group);
    }
    
    @Override
    public void removeGroup(G group){
        if(!myGroups.contains(group)){
            theLogger.log(Level.WARNING, "Unable to remove JointGroup.  Cannot find JointGroup.");
            return;
        }
        myGroups.remove(group);
        firePropertyChange(PROP_REMOVE_JOINT_GROUP, null, group);
    }
    
    @Override
    public void removeGroupAt(int index){
        G group = myGroups.remove(index);
        firePropertyChange(PROP_REMOVE_JOINT_GROUP, null, group);
    }
    
    @Override
    public List getJointGroups(){
        return Collections.unmodifiableList(myGroups);
    }
    
    @Override
    public G getJointGroup(int index){
        return myGroups.get(index);
    }
    
    @Override
    public int getGroupCount(){
        return myGroups.size();
    }
    
    @Override
    public String toString(){
        String format = "{\"name\":\"%s\", \"jointIds\":[%s], \"groups\":[%s]}";
        String ids = "";
        Iterator idIt = myJointIds.iterator();
        while(idIt.hasNext()){
            if(!ids.isEmpty()){
                ids += ",";
            }
            ids += idIt.next().toString();
        }
        String groups = "";
        Iterator groupIt = myGroups.iterator();
        while(groupIt.hasNext()){
            if(!groups.isEmpty()){
                groups += ",";
            }
            groups += groupIt.next().toString();
        }
        return String.format(format, myName, ids, groups);
    }
}