kaos.robots.core.test
Class KAoSRobotTest

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

All Implemented Interfaces:

Command, FeedbackReceiver, KAoSObservable, ObserverManager, MobileRobot, Sonar

public class KAoSRobotTest
extends KAoSRobot
implements MobileRobot, Sonar

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

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, _listeners, _locator, _logger, _messageReceiver, _msgTransportService, _myLocator, _nickName, _port, _registeredWithKAoS, _reniaCallback, _sender

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() GetSonarRange
Coordinate	GetNamedLocationCoordinate(java.util.HashMap properties)
java.util.Iterator	GetNamedLocations()
java.lang.Integer	GetNumberOfSonarSensors() GetNumberOfSonarSensors
Pose	GetPose() GetPose
java.lang.Double	GetSonarRange(java.util.HashMap properties) GetSonarRange
SonarReading	GetSonarReading(java.util.HashMap properties) GetSonarReading
boolean	IsMoving() IsMoving
static void	main(java.lang.String[] args)
void	MoveTo(java.util.HashMap properties) MoveTo
void	NameCurrentLocation(java.util.HashMap properties)
void	NameSpecifiedLocation(java.util.HashMap properties)
void	SetMaxEffectiveSonarRange(java.util.HashMap properties) SetMaxEffectiveSonarRange
void	Stop() 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, buildKAoSPanel, checkObligations, deregisterObserver, deregisterObserver, deregisterObserver, equals, ExtendTimeout, getActions, getActorID, getAgentDescription, getAgentDescriptionFromName, getAllAgents, getCurrentActions, getDetectedObjectObservable, getGPSCommPort, getLocator, getMTS, getPropertiesFromAID, getTimeoutPeriod, gpsIsAvailable, hashCode, init, initialize, isRegisteredWithKAoS, makeActionAllowable, notify, onAborted, onAccepted, onCompleted, onRefused, onStarted, printDebugString, receiveKAoSStatus, receiveMessage, registerObserver, registerObserver, registerObserver, registerObserver, registerWithKAoS, requestAction, requestAction, requestAction, requestAction, requestAction, requestAction, requestAction, requestAction, requestAction, requestAction, sendMessage, sendRequestToKaa, setRegisteredWithKAoS, updateTimeout

Methods inherited from class java.lang.Object

clone, finalize, getClass, 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()

Description copied from interface: MobileRobot

GetPose

Specified by:

GetPose in interface MobileRobot

Returns:

Pose containing X in meters Y in meters TH in degrees

GetCoordinate

public Coordinate GetCoordinate(java.util.HashMap properties)

MoveTo

public void MoveTo(java.util.HashMap properties)

Description copied from interface: MobileRobot

MoveTo

Specified by:

MoveTo 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()

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()

Description copied from interface: MobileRobot

IsMoving

Specified by:

IsMoving in interface MobileRobot

Returns:

boolean where: true = moving false = not moving

GetNumberOfSonarSensors

public java.lang.Integer GetNumberOfSonarSensors()

Description copied from interface: Sonar

GetNumberOfSonarSensors

Specified by:

GetNumberOfSonarSensors in interface Sonar

Returns:

int representing the number of sensors

GetMaximumEffectiveSonarRange

public java.lang.Double GetMaximumEffectiveSonarRange()

Description copied from interface: Sonar

GetSonarRange

Specified by:

GetMaximumEffectiveSonarRange in interface Sonar

Returns:

int representing effective range in meters

GetSonarRange

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

Description copied from interface: Sonar

GetSonarRange

Specified by:

GetSonarRange in interface Sonar

Returns:

int representing the range in meters

GetSonarReading

public SonarReading GetSonarReading(java.util.HashMap properties)

Description copied from interface: Sonar

GetSonarReading

Specified by:

GetSonarReading in interface Sonar

Returns:

SonarReading representing the range and position in meters

SetMaxEffectiveSonarRange

public void SetMaxEffectiveSonarRange(java.util.HashMap properties)

Description copied from interface: Sonar

SetMaxEffectiveSonarRange

Specified by:

SetMaxEffectiveSonarRange in interface Sonar

main

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

Throws:

java.lang.Exception