org.robokind.api.motion.jointgroup.DefaultJointGroupConfig 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.common.property.PropertyChangeNotifier;

/**
 * Default implementation of a JointGroupConfig
 * @param  type used to identify Joints
 * @param  JointGroupConfig used to create children JointGroups
 * 
 * @author Matthew Stevenson 
 */
public class DefaultJointGroupConfig> extends 
        PropertyChangeNotifier implements JointGroupConfig {
    private final static Logger theLogger = Logger.getLogger(JointGroupConfig.class.getName());
    
    private String myName;
    private List myJointIds;
    private List myGroups;
    private boolean myEnabledFlag;
    
    /**
     * Creates an empty DefaultJointGroupConfig with the given name.
     * @param name name for the JointGroup
     */
    public DefaultJointGroupConfig(String name){
        myName = name;
        myJointIds = new ArrayList();
        myGroups = new ArrayList();
        myEnabledFlag = true;
    }
    
    /**
     * Creates a new DefaultJointGroupConfig with the given values
     * @param name name for the JointGroup
     * @param ids initial JointIds
     * @param groups initial child JointGroupConfigs
     */
    public DefaultJointGroupConfig(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;
    }
    
    @Override
    public void setName(String name){
        String oldName = name;
        myName = name;
        firePropertyChange(JointGroupConfig.PROP_NAME, oldName, myName);
    }
    
    @Override
    public String getName(){
        return myName;
    }
    
    @Override
    public void setEnabled(boolean enabled){
        boolean old = myEnabledFlag;
        myEnabledFlag = enabled;
        firePropertyChange(JointGroupConfig.PROP_ENABLED, old, myEnabledFlag);
    }
    
    @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(JointGroupConfig.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(JointGroupConfig.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(JointGroupConfig.PROP_REMOVE_JOINT_ID, null, jointId);
    }
    
    @Override
    public void removeJointIdAt(int index){
        Id jointId = myJointIds.remove(index);
        firePropertyChange(JointGroupConfig.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(GroupConfig 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(JointGroupConfig.PROP_ADD_JOINT_GROUP, null, group);
    }
    
    @Override
    public void insertGroup(GroupConfig 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(JointGroupConfig.PROP_ADD_JOINT_GROUP, null, group);
    }
    
    @Override
    public void removeGroup(GroupConfig group){
        if(!myGroups.contains(group)){
            theLogger.log(Level.WARNING, "Unable to remove JointGroup.  Cannot find JointGroup.");
            return;
        }
        myGroups.remove(group);
        firePropertyChange(JointGroupConfig.PROP_REMOVE_JOINT_GROUP, null, group);
    }
    
    @Override
    public void removeGroupAt(int index){
        JointGroupConfig group = myGroups.remove(index);
        firePropertyChange(JointGroupConfig.PROP_REMOVE_JOINT_GROUP, null, group);
    }
    
    @Override
    public List getJointGroups(){
        return Collections.unmodifiableList(myGroups);
    }
    
    @Override
    public GroupConfig 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);
    }
}