kaos.robots.core.test
Class RobotClient

java.lang.Object
  kaos.robots.core.test.RobotClient

All Implemented Interfaces:

java.awt.event.KeyListener, java.awt.event.MouseListener, java.util.EventListener, FeedbackReceiver, ActionStatusCallback, InfoStatusCallback, UserInput

public class RobotClient
extends java.lang.Object
implements FeedbackReceiver, UserInput, ActionStatusCallback, java.awt.event.KeyListener, java.awt.event.MouseListener

Nested Class Summary

class

RobotClient.StreamGobbler This class is used to handle the output from spawned processes *

Field Summary

protected javax.swing.JTextField	_attachment
protected java.lang.String	_basePath
ActionStatusCallbackImpl	_cbl
protected RobotClient	_client
protected javax.swing.JCheckBox	_connectCB
protected boolean	_connectedToRobot
protected double	_currentHdg
protected javax.swing.JTextField	_destination
protected javax.swing.JTextField	_domainTF
protected javax.swing.JTextField	_fileNameTF
protected double	_goalDist
protected double	_goalHdg
protected javax.swing.JTextField	_gpsCommPort
protected javax.swing.JTextField	_gpsOriginTF
protected javax.swing.JCheckBox	_guiCB
protected javax.swing.JTextField	_hostTF
protected Logger	_logger
protected javax.swing.JTextField	_lrbX
protected javax.swing.JTextField	_lrbY
protected javax.swing.JTextField	_mapTF
protected javax.swing.JTextField	_maxSpeedTF
protected javax.swing.JTextField	_moveRelX
protected javax.swing.JTextField	_moveRelY
protected javax.swing.JTextField	_moveToName
protected javax.swing.JTextField	_moveToPose
protected javax.swing.JTextField	_msg
protected javax.swing.JTextField	_nameTF
protected javax.swing.JCheckBox	_newJVMCB
protected javax.swing.JTextField	_originTF
protected javax.swing.JTextField	_phraseTF
protected javax.swing.JTextField	_pictureParameters
protected Plotter	_plotter
protected KAoSPlotterPanel	_plotterPanel
protected javax.swing.JTextField	_portTF
protected javax.swing.JCheckBox	_registerCB
protected ExecutionManager	_selectedRobot
protected javax.swing.JTextField	_setPose
protected javax.swing.JTextField	_sonarRangeTF
protected javax.swing.JTextField	_sonarTurnRateTF
protected javax.swing.JCheckBox	_spatialReasoningCB
protected javax.swing.JTextField	_subject
protected javax.swing.JTabbedPane	_tabPane
protected javax.swing.JCheckBox	_targetCB
protected double	_testX
protected double	_testY
protected javax.swing.JTextField	_timeoutTF
protected double	_turnHdg
protected javax.swing.JTextField	_ulbX
protected javax.swing.JTextField	_ulbY
protected javax.swing.JCheckBox	_useGPSHeadingCB
protected java.lang.String	recvMsg

Constructor Summary

RobotClient()

RobotClient(java.lang.String[] args)

Method Summary

void	clearPolygon()
void	createRobot(java.lang.String robotClass, java.lang.String[] args)
void	doubleClicked()
Viewer	getImageViewer()
ExecutionManager	getLocalRobotExecMgr(java.lang.String robotName)
Plotter	getPlotter()
java.util.Vector<Point2d>	getPolygon()
java.lang.Object	getReceiver(java.lang.String id)
Area	getSelectedArea()
Coordinate	getSelectedCoordinate()
java.util.HashMap	getSelectedRecievers()
java.util.Vector	getSelectedRobots()
void	hidePath()
void	init()
void	keyPressed(java.awt.event.KeyEvent evt)
void	keyReleased(java.awt.event.KeyEvent evt)
void	keyTyped(java.awt.event.KeyEvent evt)
static void	main(java.lang.String[] args)
void	mouseClicked(java.awt.event.MouseEvent e)
void	mouseEntered(java.awt.event.MouseEvent e)
void	mouseExited(java.awt.event.MouseEvent e)
void	mousePressed(java.awt.event.MouseEvent e)
void	mouseReleased(java.awt.event.MouseEvent e)
void	onAborted(java.util.Calendar time, java.lang.Object reason) This method is invoked when the requested action is aborted.
void	onAborted(java.util.Calendar time, java.lang.Object reason, java.lang.String actionID, java.lang.String robotID) This method is invoked when the requested action is aborted.
void	onAccepted(java.util.Calendar time, java.lang.Object acceptInfo) This method is invoked when the request is accepted by the receiver.
void	onAccepted(java.util.Calendar time, java.lang.Object acceptInfo, java.lang.String actionID, java.lang.String robotID) This method is invoked when the request is accepted by the robot.
void	onCompleted(java.util.Calendar time, java.lang.Object result) This method is invoked upon completion of the request.
void	onCompleted(java.util.Calendar time, java.lang.Object result, java.lang.String actionID, java.lang.String robotID) This method is invoked upon completion of the request byt the requested robot.
void	onRefused(java.util.Calendar time, java.lang.Object reason) This method is invoked when the request is refused by the receiver.
void	onRefused(java.util.Calendar time, java.lang.Object reason, java.lang.String actionID, java.lang.String robotID) This method is invoked when the request is refused by the robot.
void	onStarted(java.util.Calendar time, java.lang.Object startedInfo) This method is invoked when the requested action starts.
void	onStarted(java.util.Calendar time, java.lang.Object startedInfo, java.lang.String actionID, java.lang.String robotID) This method is invoked when the robot starts the requested action.
protected void	printDebugString(java.lang.String msg, int loggerDisplayLevel)
void	receiveKAoSStatus(java.lang.String statusMsg, java.lang.String actionID, java.lang.String robotID) Receive a status message describing the execution of the requested action.
void	reset() Reset callback settings.
void	sendCommand(java.lang.String actionName, java.util.HashMap properties)
void	setDatum(java.lang.String gpsString)
void	showPath(java.util.Vector path)

Methods inherited from class java.lang.Object

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

Field Detail

_client

protected RobotClient _client

_selectedRobot

protected ExecutionManager _selectedRobot

_logger

protected Logger _logger

_moveToName

protected javax.swing.JTextField _moveToName

_moveToPose

protected javax.swing.JTextField _moveToPose

_moveRelX

protected javax.swing.JTextField _moveRelX

_moveRelY

protected javax.swing.JTextField _moveRelY

_setPose

protected javax.swing.JTextField _setPose

_pictureParameters

protected javax.swing.JTextField _pictureParameters

_destination

protected javax.swing.JTextField _destination

_subject

protected javax.swing.JTextField _subject

_msg

protected javax.swing.JTextField _msg

_attachment

protected javax.swing.JTextField _attachment

_fileNameTF

protected javax.swing.JTextField _fileNameTF

_phraseTF

protected javax.swing.JTextField _phraseTF

_ulbX

protected javax.swing.JTextField _ulbX

_ulbY

protected javax.swing.JTextField _ulbY

_lrbX

protected javax.swing.JTextField _lrbX

_lrbY

protected javax.swing.JTextField _lrbY

_originTF

protected javax.swing.JTextField _originTF

_sonarRangeTF

protected javax.swing.JTextField _sonarRangeTF

_mapTF

protected javax.swing.JTextField _mapTF

recvMsg

protected java.lang.String recvMsg

_goalHdg

protected double _goalHdg

_turnHdg

protected double _turnHdg

_goalDist

protected double _goalDist

_connectedToRobot

protected boolean _connectedToRobot

_testX

protected double _testX

_testY

protected double _testY

_currentHdg

protected double _currentHdg

_basePath

protected java.lang.String _basePath

_cbl

public ActionStatusCallbackImpl _cbl

_plotter

protected Plotter _plotter

_targetCB

protected javax.swing.JCheckBox _targetCB

_newJVMCB

protected javax.swing.JCheckBox _newJVMCB

_guiCB

protected javax.swing.JCheckBox _guiCB

_connectCB

protected javax.swing.JCheckBox _connectCB

_registerCB

protected javax.swing.JCheckBox _registerCB

_useGPSHeadingCB

protected javax.swing.JCheckBox _useGPSHeadingCB

_spatialReasoningCB

protected javax.swing.JCheckBox _spatialReasoningCB

_tabPane

protected javax.swing.JTabbedPane _tabPane

_plotterPanel

protected KAoSPlotterPanel _plotterPanel

_hostTF

protected javax.swing.JTextField _hostTF

_portTF

protected javax.swing.JTextField _portTF

_nameTF

protected javax.swing.JTextField _nameTF

_domainTF

protected javax.swing.JTextField _domainTF

_gpsCommPort

protected javax.swing.JTextField _gpsCommPort

_maxSpeedTF

protected javax.swing.JTextField _maxSpeedTF

_timeoutTF

protected javax.swing.JTextField _timeoutTF

_gpsOriginTF

protected javax.swing.JTextField _gpsOriginTF

_sonarTurnRateTF

protected javax.swing.JTextField _sonarTurnRateTF

Constructor Detail

RobotClient

public RobotClient()

RobotClient

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

Method Detail

init

public void init()

sendCommand

public void sendCommand(java.lang.String actionName,
                        java.util.HashMap properties)

keyPressed

public void keyPressed(java.awt.event.KeyEvent evt)

Specified by:

keyPressed in interface java.awt.event.KeyListener

keyReleased

public void keyReleased(java.awt.event.KeyEvent evt)

Specified by:

keyReleased in interface java.awt.event.KeyListener

keyTyped

public void keyTyped(java.awt.event.KeyEvent evt)

Specified by:

keyTyped in interface java.awt.event.KeyListener

mouseClicked

public void mouseClicked(java.awt.event.MouseEvent e)

Specified by:

mouseClicked in interface java.awt.event.MouseListener

mousePressed

public void mousePressed(java.awt.event.MouseEvent e)

Specified by:

mousePressed in interface java.awt.event.MouseListener

mouseReleased

public void mouseReleased(java.awt.event.MouseEvent e)

Specified by:

mouseReleased in interface java.awt.event.MouseListener

mouseEntered

public void mouseEntered(java.awt.event.MouseEvent e)

Specified by:

mouseEntered in interface java.awt.event.MouseListener

mouseExited

public void mouseExited(java.awt.event.MouseEvent e)

Specified by:

mouseExited in interface java.awt.event.MouseListener

createRobot

public void createRobot(java.lang.String robotClass,
                        java.lang.String[] args)

setDatum

public void setDatum(java.lang.String gpsString)

onAccepted

public void onAccepted(java.util.Calendar time,
                       java.lang.Object acceptInfo,
                       java.lang.String actionID,
                       java.lang.String robotID)

This method is invoked when the request is accepted by the robot.

Specified by:

onAccepted in interface FeedbackReceiver

Parameters:

time - Calendar time of acceptance.

acceptInfo - Object containing additional (optional) info about the acceptance.

actionID - String containing the id of the requested action/information.

robotID - String containing the name of the robot performing the action.

onRefused

public void onRefused(java.util.Calendar time,
                      java.lang.Object reason,
                      java.lang.String actionID,
                      java.lang.String robotID)

This method is invoked when the request is refused by the robot.

Specified by:

onRefused in interface FeedbackReceiver

Parameters:

time - Calendar time of refusal.

reason - Object containing the reason for refusing the request.

actionID - String containing the id of the requested action/information.

robotID - String containing the name of the robot performing the action.

onCompleted

public void onCompleted(java.util.Calendar time,
                        java.lang.Object result,
                        java.lang.String actionID,
                        java.lang.String robotID)

This method is invoked upon completion of the request byt the requested robot.

Specified by:

onCompleted in interface FeedbackReceiver

Parameters:

time - Calendar time of information/action completion.

result - Object containing the result of the requested action.

actionID - String containing the id of the requested action/information.

robotID - String containing the name of the robot performing the action.

onStarted

public void onStarted(java.util.Calendar time,
                      java.lang.Object startedInfo,
                      java.lang.String actionID,
                      java.lang.String robotID)

This method is invoked when the robot starts the requested action.

Specified by:

onStarted in interface FeedbackReceiver

Parameters:

time - Calendar time of starting an action.

startedInfo - Object containing additional (optional) info about the start of the action.

actionID - String containing the id of the requested action/information.

robotID - String containing the name of the robot performing the action.

onAborted

public void onAborted(java.util.Calendar time,
                      java.lang.Object reason,
                      java.lang.String actionID,
                      java.lang.String robotID)

This method is invoked when the requested action is aborted.

Specified by:

onAborted in interface FeedbackReceiver

Parameters:

time - Calendar time of aborting an action.

reason - Object containing the reason for aborting an action.

actionID - String containing the id of the requested action/information.

robotID - String containing the name of the robot performing the action.

onAccepted

public void onAccepted(java.util.Calendar time,
                       java.lang.Object acceptInfo)

Description copied from interface: InfoStatusCallback

This method is invoked when the request is accepted by the receiver.

Specified by:

onAccepted in interface InfoStatusCallback

Parameters:

time - Calendar time of acceptance.

acceptInfo - Object containing additional (optional) info about the acceptance.

onRefused

public void onRefused(java.util.Calendar time,
                      java.lang.Object reason)

Description copied from interface: InfoStatusCallback

This method is invoked when the request is refused by the receiver.

Specified by:

onRefused in interface InfoStatusCallback

Parameters:

time - Calendar time of refusal.

reason - Object containing the reason for refusing the request.

onCompleted

public void onCompleted(java.util.Calendar time,
                        java.lang.Object result)

Description copied from interface: InfoStatusCallback

This method is invoked upon completion of the request.

Specified by:

onCompleted in interface InfoStatusCallback

Parameters:

time - Calendar time of information/action completion.

result - Object containing the result of the requested action.

onStarted

public void onStarted(java.util.Calendar time,
                      java.lang.Object startedInfo)

Description copied from interface: ActionStatusCallback

This method is invoked when the requested action starts.

Specified by:

onStarted in interface ActionStatusCallback

Parameters:

time - Calendar time of starting an action.

startedInfo - Object containing additional (optional) info about the start of the action.

onAborted

public void onAborted(java.util.Calendar time,
                      java.lang.Object reason)

Description copied from interface: ActionStatusCallback

This method is invoked when the requested action is aborted.

Specified by:

onAborted in interface ActionStatusCallback

Parameters:

time - Calendar time of aborting an action.

reason - Object containing the reason for aborting an action.

reset

public void reset()

Description copied from interface: InfoStatusCallback

Reset callback settings.

Specified by:

reset in interface InfoStatusCallback

receiveKAoSStatus

public void receiveKAoSStatus(java.lang.String statusMsg,
                              java.lang.String actionID,
                              java.lang.String robotID)

Receive a status message describing the execution of the requested action. There maybe several status messages sent during action execution.

Specified by:

receiveKAoSStatus in interface FeedbackReceiver

Parameters:

statusMsg - Object containing the result of the requested action/information.

actionID - String containing the id of the requested action/information.

robotID - String containing the name of the robot performing the action.

getSelectedCoordinate

public Coordinate getSelectedCoordinate()

Specified by:

getSelectedCoordinate in interface UserInput

getSelectedArea

public Area getSelectedArea()

Specified by:

getSelectedArea in interface UserInput

getPolygon

public java.util.Vector<Point2d> getPolygon()

Specified by:

getPolygon in interface UserInput

clearPolygon

public void clearPolygon()

Specified by:

clearPolygon in interface UserInput

getSelectedRecievers

public java.util.HashMap getSelectedRecievers()

Specified by:

getSelectedRecievers in interface UserInput

getReceiver

public java.lang.Object getReceiver(java.lang.String id)

Specified by:

getReceiver in interface UserInput

getSelectedRobots

public java.util.Vector getSelectedRobots()

getLocalRobotExecMgr

public ExecutionManager getLocalRobotExecMgr(java.lang.String robotName)

getImageViewer

public Viewer getImageViewer()

Specified by:

getImageViewer in interface UserInput

showPath

public void showPath(java.util.Vector path)

Specified by:

showPath in interface UserInput

hidePath

public void hidePath()

Specified by:

hidePath in interface UserInput

getPlotter

public Plotter getPlotter()

Specified by:

getPlotter in interface UserInput

doubleClicked

public void doubleClicked()

printDebugString

protected void printDebugString(java.lang.String msg,
                                int loggerDisplayLevel)

main

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