kaos.robots.activmedia
Class KAoSAriaRobot

java.lang.Object
  kaos.core.util.MethodCallRequestHandler
      kaos.robots.core.ExecutionManager
          kaos.robots.activmedia.KAoSAriaRobot

All Implemented Interfaces:

KAoSObservable, KAoSObserver, ObserverManager, HashMapRequestReceiver, OWLRequestReceiver, CommRelay, MobileRobot

Direct Known Subclasses:

KAoSAriaSonar

public class KAoSAriaRobot
extends ExecutionManager
implements MobileRobot, CommRelay, KAoSObserver

Nested Class Summary

Nested classes/interfaces inherited from class kaos.robots.core.ExecutionManager

ExecutionManager.RequestHandlerThread

Field Summary

AriaRobot

robot

Fields inherited from class kaos.robots.core.ExecutionManager

_actorID, _agentDescription, _classificationListeners, _connected, _currentActions, _enablingClasses, _enforcer, _ihmcDomain, _kaosEnabled, _learnedTasks, _learnedTaskVariables, _learning, _listeners, _logger, _nickName, _policyAdvice, _policyService, _query, _registeredWithKAoS, _registration, _reniaCallback, _spatialReasoning, _subtasks, _taskName, _transportName, myTeam

Fields inherited from class kaos.core.util.MethodCallRequestHandler

_helper, _mts, DEFAULT_NICKNAME, myLocator, myMessageReceiver, myMessageSender

Constructor Summary

KAoSAriaRobot()

Method Summary

void	Beep(java.util.HashMap properties)
void	CommRelayMoveTo(java.util.HashMap properties) CommRelayMoveTo
void	CommRelayStop() CommRelayStop
protected void	createRobot(java.lang.String[] args)
void	FailCamera(java.util.HashMap properties)
void	FailLaser(java.util.HashMap properties)
void	FailSonar(java.util.HashMap properties)
void	Failure(java.util.HashMap properties)
void	FoundTarget(java.util.HashMap properties)
Coordinate	GetCoordinate() GetCoordinate
java.lang.String	getID() Return the unique identifier of this observer.
double	GetMaxTranslationalVelocity()
Coordinate	GetNamedLocationCoordinate(java.util.HashMap properties)
java.util.Iterator	GetNamedLocations()
Pose	GetPose(java.util.HashMap properties)
static java.lang.String	getPropertyValue(java.lang.String property, java.util.HashMap properties)
static java.lang.String	getQualitativeFromPropertyValue(java.util.HashMap properties)
static java.lang.String	getQuantitativeFromPropertyValue(java.util.HashMap properties)
static double	getValueFromProperties(java.lang.String property, java.util.HashMap properties)
void	init(java.lang.String[] args)
boolean	IsMoving(java.util.HashMap properties) IsMoving
boolean	isRateQuantitativeValue(java.util.HashMap properties)
java.lang.Boolean	IsTurning(java.util.HashMap properties)
void	LostTarget(java.util.HashMap properties)
static void	main(java.lang.String[] args)
void	MonitorBoundary(java.util.HashMap properties)
void	Move(java.util.HashMap properties) MoveTo
void	MoveDistance(java.util.HashMap properties)
void	NameCurrentLocation(java.util.HashMap properties)
void	NameSpecifiedLocation(java.util.HashMap properties)
void	registerKAoSExtensionComponentObserver(java.lang.String repType, java.lang.String ontType, KAoSObserver observer, java.lang.String updateType, java.io.Serializable updateCondition, KAoSEntityDescription entityDesc)
void	RestoreCamera(java.util.HashMap properties)
void	RestoreLaser(java.util.HashMap properties)
void	RestoreSonar(java.util.HashMap properties)
void	SearchDistance(java.util.HashMap properties)
void	SecureBoundary(java.util.HashMap properties)
void	SetMaxTranslationalVelocity(java.util.HashMap properties)
void	setOrigin(java.util.HashMap properties)
void	SetRelativeRotationalVelocity(java.util.HashMap properties)
void	SetRelativeTranslationalVelocity(java.util.HashMap properties)
void	SetRotationalVelocity(java.util.HashMap properties)
void	SetTranslationalVelocity(java.util.HashMap properties)
void	shutdown()
void	SlowDown(java.util.HashMap properties)
void	SpeedUp(java.util.HashMap properties)
void	statusChange(java.lang.String subject, java.lang.String change)
void	Stop(java.util.HashMap properties) Stop
void	Turn(java.util.HashMap properties)
void	TurnRelative(java.util.HashMap properties)
void	TurnTo(java.util.HashMap properties) TurnTo
void	update(java.lang.String observableID, java.lang.String updateType, java.lang.Object updateCondition, java.lang.Object update) Receive an update from the KAoSObservable when the KAoSObservable has a change or event to report.

Methods inherited from class kaos.robots.core.ExecutionManager

AssignLeader, buildAID, checkObligations, checkPermissionForAction, createMyOwnAgentDescription, deregisterObserver, deregisterObserver, deregisterObserver, executeLearnedAction, getActions, getActorID, getAdjustedMoveToActions, getAgentCapabilities, getAgentDescription, getCoordinateFromPointInstance, GetLeadersOfTeam, getPropertiesFromAID, getRestrictedAreas, GetTeamMembers, getTeamMembers, isRegisteredWithKAoS, isWithinRestrictedArea, JoinTeam, LeaveTeam, makeActionAllowable, modifySpatialProperties, notify, printDebugString, processAIDRequest, processHashMapRequest, processHashMapRequest, processHashMapRequest, processHashMapRequest, processOWLRequest, processOWLRequest, registerObserver, registerObserver, registerObserver, registerObserver, registerWithKAoS, registerWithSpatialProperties, searchForAgentDescription, setRegisteredWithKAoS, startLearning, stopLearning, UnassignLeader

Methods inherited from class kaos.core.util.MethodCallRequestHandler

bindToTransport, handleMsgContent, handleObjContent, initialize, receiveMessage

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

robot

public AriaRobot robot

Constructor Detail

KAoSAriaRobot

public KAoSAriaRobot()
              throws AbortActionException

Throws:

AbortActionException

Method Detail

createRobot

protected void createRobot(java.lang.String[] args)

init

public void init(java.lang.String[] args)

Overrides:

init in class ExecutionManager

FailLaser

public void FailLaser(java.util.HashMap properties)
               throws AbortActionException

Throws:

AbortActionException

FailCamera

public void FailCamera(java.util.HashMap properties)
                throws AbortActionException

Throws:

AbortActionException

FailSonar

public void FailSonar(java.util.HashMap properties)
               throws AbortActionException

Throws:

AbortActionException

RestoreLaser

public void RestoreLaser(java.util.HashMap properties)
                  throws AbortActionException

Throws:

AbortActionException

RestoreCamera

public void RestoreCamera(java.util.HashMap properties)
                   throws AbortActionException

Throws:

AbortActionException

RestoreSonar

public void RestoreSonar(java.util.HashMap properties)
                  throws AbortActionException

Throws:

AbortActionException

statusChange

public void statusChange(java.lang.String subject,
                         java.lang.String change)

FoundTarget

public void FoundTarget(java.util.HashMap properties)
                 throws AbortActionException

Throws:

AbortActionException

LostTarget

public void LostTarget(java.util.HashMap properties)
                throws AbortActionException

Throws:

AbortActionException

Failure

public void Failure(java.util.HashMap properties)
             throws AbortActionException

Throws:

AbortActionException

Beep

public void Beep(java.util.HashMap properties)

Move

public void Move(java.util.HashMap properties)
          throws AbortActionException

Description copied from interface: MobileRobot

MoveTo

Specified by:

Move in interface MobileRobot

Throws:

AbortActionException - with possible reasons: unable to move failed to find path failed to get to goal received stop command

Turn

public void Turn(java.util.HashMap properties)
          throws AbortActionException

Throws:

AbortActionException

getPropertyValue

public static java.lang.String getPropertyValue(java.lang.String property,
                                                java.util.HashMap properties)

isRateQuantitativeValue

public boolean isRateQuantitativeValue(java.util.HashMap properties)

getQualitativeFromPropertyValue

public static java.lang.String getQualitativeFromPropertyValue(java.util.HashMap properties)

getQuantitativeFromPropertyValue

public static java.lang.String getQuantitativeFromPropertyValue(java.util.HashMap properties)

getValueFromProperties

public static double getValueFromProperties(java.lang.String property,
                                            java.util.HashMap properties)

SpeedUp

public void SpeedUp(java.util.HashMap properties)
             throws AbortActionException

Throws:

AbortActionException

SlowDown

public void SlowDown(java.util.HashMap properties)
              throws AbortActionException

Throws:

AbortActionException

Stop

public void Stop(java.util.HashMap properties)
          throws AbortActionException

Description copied from interface: MobileRobot

Stop

Specified by:

Stop in interface MobileRobot

Throws:

AbortActionException - with possible reasons: unable to stop

TurnTo

public void TurnTo(java.util.HashMap properties)
            throws AbortActionException

Description copied from interface: MobileRobot

TurnTo

Specified by:

TurnTo in interface MobileRobot

Throws:

AbortActionException - with possible reasons: unable to move

TurnRelative

public void TurnRelative(java.util.HashMap properties)
                  throws AbortActionException

Throws:

AbortActionException

GetCoordinate

public Coordinate GetCoordinate()

Description copied from interface: MobileRobot

GetCoordinate

Specified by:

GetCoordinate in interface MobileRobot

Returns:

Coordinate containing X in meters Y in meters

GetPose

public Pose GetPose(java.util.HashMap properties)

setOrigin

public void setOrigin(java.util.HashMap properties)

NameCurrentLocation

public void NameCurrentLocation(java.util.HashMap properties)

NameSpecifiedLocation

public void NameSpecifiedLocation(java.util.HashMap properties)

GetNamedLocations

public java.util.Iterator GetNamedLocations()

GetNamedLocationCoordinate

public Coordinate GetNamedLocationCoordinate(java.util.HashMap properties)

IsMoving

public boolean IsMoving(java.util.HashMap properties)
                 throws AbortActionException

Description copied from interface: MobileRobot

IsMoving

Specified by:

IsMoving in interface MobileRobot

Returns:

boolean where: true = moving false = not moving

Throws:

AbortActionException

IsTurning

public java.lang.Boolean IsTurning(java.util.HashMap properties)

SetMaxTranslationalVelocity

public void SetMaxTranslationalVelocity(java.util.HashMap properties)

SetTranslationalVelocity

public void SetTranslationalVelocity(java.util.HashMap properties)
                              throws java.lang.Exception

Specified by:

SetTranslationalVelocity in interface MobileRobot

Throws:

java.lang.Exception

SetRelativeTranslationalVelocity

public void SetRelativeTranslationalVelocity(java.util.HashMap properties)
                                      throws java.lang.Exception

Throws:

java.lang.Exception

SetRotationalVelocity

public void SetRotationalVelocity(java.util.HashMap properties)
                           throws java.lang.Exception

Specified by:

SetRotationalVelocity in interface MobileRobot

Throws:

java.lang.Exception

SetRelativeRotationalVelocity

public void SetRelativeRotationalVelocity(java.util.HashMap properties)
                                   throws java.lang.Exception

Throws:

java.lang.Exception

GetMaxTranslationalVelocity

public double GetMaxTranslationalVelocity()

SecureBoundary

public void SecureBoundary(java.util.HashMap properties)
                    throws AbortActionException

Throws:

AbortActionException

MonitorBoundary

public void MonitorBoundary(java.util.HashMap properties)
                     throws AbortActionException

Throws:

AbortActionException

MoveDistance

public void MoveDistance(java.util.HashMap properties)

update

public void update(java.lang.String observableID,
                   java.lang.String updateType,
                   java.lang.Object updateCondition,
                   java.lang.Object update)

Description copied from interface: KAoSObserver

Receive an update from the KAoSObservable when the KAoSObservable has a change or event to report.

Specified by:

update in interface KAoSObserver

Parameters:

observableID - String identifying the KAoSObservable sending the update.

updateType - String indicating type of update.

updateCondition - String describing the condition of the update.

update - Object containing the update.

getID

public java.lang.String getID()

Description copied from interface: KAoSObserver

Return the unique identifier of this observer.

Specified by:

getID in interface KAoSObserver

Returns:

String containing the unique ID of this observer.

SearchDistance

public void SearchDistance(java.util.HashMap properties)

CommRelayMoveTo

public void CommRelayMoveTo(java.util.HashMap properties)
                     throws java.lang.Exception

Description copied from interface: CommRelay

CommRelayMoveTo

Specified by:

CommRelayMoveTo in interface CommRelay

Throws:

AbortActionException - with possible reasons: unable to move failed to find path failed to get to goal received stop command

java.lang.Exception

CommRelayStop

public void CommRelayStop()
                   throws java.lang.Exception

Description copied from interface: CommRelay

CommRelayStop

Specified by:

CommRelayStop in interface CommRelay

Throws:

AbortActionException - with possible reasons: unable to stop

java.lang.Exception

shutdown

public void shutdown()

Overrides:

shutdown in class ExecutionManager

main

public static void main(java.lang.String[] args)

registerKAoSExtensionComponentObserver

public void registerKAoSExtensionComponentObserver(java.lang.String repType,
                                                   java.lang.String ontType,
                                                   KAoSObserver observer,
                                                   java.lang.String updateType,
                                                   java.io.Serializable updateCondition,
                                                   KAoSEntityDescription entityDesc)
                                            throws NotLocatableException,
                                                   TransportFailure

Specified by:

registerKAoSExtensionComponentObserver in interface ObserverManager

Throws:

NotLocatableException

TransportFailure