kaos.robots.core.test
Class KAoSRobotTest

java.lang.Object
  kaos.core.util.MethodCallRequestHandler
      kaos.robots.core.KAoSRobot
          kaos.robots.core.test.KAoSRobotTest

All Implemented Interfaces:

KAoSObservable, ObserverManager, FeedbackReceiver, HashMapRequestReceiver, MobileRobot

public class KAoSRobotTest
extends KAoSRobot
implements MobileRobot

This class simulates a behavior of a real robot. It is used for testing.

Version:

1.0 $Revision: 1.34 $

Author:

KAoS Team

Nested Class Summary

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

KAoSRobot.RequestHandlerThread

Field Summary

Fields inherited from class kaos.robots.core.KAoSRobot

_actorID, _address, _agentDescription, _classificationListeners, _connectBtn, _connected, _connectToCmb, _currentActions, _enablingClasses, _enforcer, _gpsIsAvailable, _gpsOrigin, _learnedTasks, _learnedTaskVariables, _learning, _listeners, _logger, _messageReceiver, _myLocator, _nickName, _policyService, _port, _registeredWithKAoS, _registration, _reniaCallback, _sender, _subtasks, _taskName, _transportName

Fields inherited from class kaos.core.util.MethodCallRequestHandler

_helper, _mts, DEFAULT_NICKNAME, myLocator, myMessageReceiver, myMessageSender

Constructor Summary

KAoSRobotTest(java.lang.String name)
Constructor.

KAoSRobotTest(java.lang.String[] args)

Method Summary

void	buildGUI()
void	CommunicationAction(java.util.HashMap properties)
boolean	connect() This function is used to connect to robot
void	disconnect() This function is used to disconnect from robot
void	EncryptedCommunicationAction(java.util.HashMap properties)
Coordinate	GetCoordinate() GetCoordinate
Coordinate	GetCoordinate(java.util.HashMap properties)
java.lang.Double	GetMaximumEffectiveSonarRange()
Coordinate	GetNamedLocationCoordinate(java.util.HashMap properties)
java.util.Iterator	GetNamedLocations()
java.lang.Integer	GetNumberOfSonarSensors()
Pose	GetPose()
java.lang.Double	GetSonarRange(java.util.HashMap properties)
SonarReading	GetSonarReading(java.util.HashMap properties)
boolean	IsMoving(java.util.HashMap properties) IsMoving
static void	main(java.lang.String[] args)
void	Move(java.util.HashMap properties) MoveTo
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	SetMaxEffectiveSonarRange(java.util.HashMap properties)
void	SetRotationalVelocity(java.util.HashMap properties)
void	SetTranslationalVelocity(java.util.HashMap properties)
void	Stop(java.util.HashMap properties) Stop
void	SurveyArea(java.util.HashMap properties)
void	TurnTo(java.util.HashMap properties) TurnTo

Methods inherited from class kaos.robots.core.KAoSRobot

assertNotLocatable, buildAID, buildConnectPanel, checkObligations, checkPermissionForAction, deregisterObserver, deregisterObserver, deregisterObserver, executeLearnedAction, ExtendTimeout, getActions, getActorID, getAgentDescription, getAgentDescriptionFromName, getAllAgents, getCurrentActions, getDetectedObjectObservable, getGPSCommPort, getLocator, getMTS, getPropertiesFromAID, getTimeoutPeriod, gpsIsAvailable, init, isRegisteredWithKAoS, makeActionAllowable, modifySpatialProperties, notify, onAborted, onAccepted, onCompleted, onRefused, onStarted, printDebugString, processHashMapRequest, processHashMapRequest, processHashMapRequest, processHashMapRequest, receiveKAoSStatus, registerObserver, registerObserver, registerObserver, registerObserver, registerWithKAoS, registerWithSpatialProperties, requestAction, sendMessage, sendRequestToKaa, setRegisteredWithKAoS, startLearning, stopLearning, updateTimeout

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

Constructor Detail

KAoSRobotTest

public KAoSRobotTest(java.lang.String name)

Constructor.

Parameters:

name - String specifying the robot nickname.

KAoSRobotTest

public KAoSRobotTest(java.lang.String[] args)

Method Detail

connect

public boolean connect()

This function is used to connect to robot

Specified by:

connect in class KAoSRobot

Returns:

boolean indicating true if successful and false if failed

disconnect

public void disconnect()

This function is used to disconnect from robot

Specified by:

disconnect in class KAoSRobot

buildGUI

public void buildGUI()

CommunicationAction

public void CommunicationAction(java.util.HashMap properties)

SurveyArea

public void SurveyArea(java.util.HashMap properties)

EncryptedCommunicationAction

public void EncryptedCommunicationAction(java.util.HashMap properties)

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()

GetCoordinate

public Coordinate GetCoordinate(java.util.HashMap properties)

Move

public void Move(java.util.HashMap properties)

Description copied from interface: MobileRobot

MoveTo

Specified by:

Move in interface MobileRobot

GetNamedLocations

public java.util.Iterator GetNamedLocations()

TurnTo

public void TurnTo(java.util.HashMap properties)

Description copied from interface: MobileRobot

TurnTo

Specified by:

TurnTo in interface MobileRobot

Stop

public void Stop(java.util.HashMap properties)

Description copied from interface: MobileRobot

Stop

Specified by:

Stop in interface MobileRobot

NameCurrentLocation

public void NameCurrentLocation(java.util.HashMap properties)

NameSpecifiedLocation

public void NameSpecifiedLocation(java.util.HashMap properties)

GetNamedLocationCoordinate

public Coordinate GetNamedLocationCoordinate(java.util.HashMap properties)

IsMoving

public boolean IsMoving(java.util.HashMap properties)

Description copied from interface: MobileRobot

IsMoving

Specified by:

IsMoving in interface MobileRobot

Returns:

boolean where: true = moving false = not moving

SetTranslationalVelocity

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

Specified by:

SetTranslationalVelocity in interface MobileRobot

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

GetNumberOfSonarSensors

public java.lang.Integer GetNumberOfSonarSensors()

GetMaximumEffectiveSonarRange

public java.lang.Double GetMaximumEffectiveSonarRange()

GetSonarRange

public java.lang.Double GetSonarRange(java.util.HashMap properties)

GetSonarReading

public SonarReading GetSonarReading(java.util.HashMap properties)

SetMaxEffectiveSonarRange

public void SetMaxEffectiveSonarRange(java.util.HashMap properties)

main

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

Throws:

java.lang.Exception

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