kaos.robots.playerJavaClient
Class PlayerClient

java.lang.Object
  java.lang.Thread
      kaos.robots.playerJavaClient.PlayerClient

All Implemented Interfaces:

java.lang.Runnable

public class PlayerClient
extends java.lang.Thread

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Thread

java.lang.Thread.State, java.lang.Thread.UncaughtExceptionHandler

Field Summary

protected java.io.BufferedOutputStream	buffer
protected int[]	deviceCnt
protected PlayerDevice[][]	deviceList
java.io.DataInputStream	is The input stream for the socket connected to the player server
protected static int	MAX_DEVICES
protected static int	N_DEVICES
java.io.DataOutputStream	os The input stream for the socket connected to the player server It's buffered, so remember to flush()!!
static byte	PLAYER_DATAMODE_PULL_ALL
static byte	PLAYER_DATAMODE_PULL_NEW
static byte	PLAYER_DATAMODE_PUSH_ALL
static byte	PLAYER_DATAMODE_PUSH_NEW
static short	PLAYER_PLAYER_AUTH_REQ
static short	PLAYER_PLAYER_DATA_REQ
static short	PLAYER_PLAYER_DATAFREQ_REQ
static short	PLAYER_PLAYER_DATAMODE_REQ
static short	PLAYER_PLAYER_DEV_REQ
static short	PLAYER_PLAYER_DEVLIST_REQ
static short	PLAYER_PLAYER_DRIVERINFO_REQ
boolean	receivedAuthentication
protected java.net.Socket	socket
protected int	subscribedSensors
boolean	succReadF

Fields inherited from class java.lang.Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Constructor Summary

PlayerClient(java.lang.String serverName, int portNumber)
Make a new player client connection for the url "servername" and port "portNumber".

Method Summary

int	getI()
kaos.robots.playerJavaClient.PlayerDeviceDriverInfo	getPDDI()
kaos.robots.playerJavaClient.PlayerDeviceDevlistT	getPDDT()
void	handleResponce(int size)
void	incI(int increment)
boolean	isAuthenticated()
boolean	isReadyPDDI()
boolean	isReadyPDDT()
void	readAll()
void	requestAuthentication(byte[] key)
BlobfinderInterface	requestBlobfinder(int index, char r)
void	requestData()
void	requestDataDeliveryFrequency(short frequency)
void	requestDataDeliveryMode(byte mode)
void	requestDeviceList() Add new device code here
void	requestDriverName(short device)
FiducialInterface	requestFiducial(int index, char r)
LaserPlayerDevice	requestLaser(int index, char r)
PositionPlayerDevice	requestPosition(int index, char r) Request 'r' acces for device If successful it returns the device.
PtzPlayerDevice	requestPtz(int index, char r)
SonarPlayerDevice	requestSonar(int index, char r)
TruthPlayerDevice	requestTruth(int index, char r)
void	run()
void	runThreaded(long millis, int nanos)
void	setNotThreaded()

Methods inherited from class java.lang.Thread

activeCount, checkAccess, countStackFrames, currentThread, destroy, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, resume, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, start, stop, stop, suspend, toString, yield

Methods inherited from class java.lang.Object

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

Field Detail

PLAYER_DATAMODE_PUSH_ALL

public static final byte PLAYER_DATAMODE_PUSH_ALL

See Also:

Constant Field Values

PLAYER_DATAMODE_PULL_ALL

public static final byte PLAYER_DATAMODE_PULL_ALL

See Also:

Constant Field Values

PLAYER_DATAMODE_PUSH_NEW

public static final byte PLAYER_DATAMODE_PUSH_NEW

See Also:

Constant Field Values

PLAYER_DATAMODE_PULL_NEW

public static final byte PLAYER_DATAMODE_PULL_NEW

See Also:

Constant Field Values

PLAYER_PLAYER_DEVLIST_REQ

public static final short PLAYER_PLAYER_DEVLIST_REQ

See Also:

Constant Field Values

PLAYER_PLAYER_DRIVERINFO_REQ

public static final short PLAYER_PLAYER_DRIVERINFO_REQ

See Also:

Constant Field Values

PLAYER_PLAYER_DEV_REQ

public static final short PLAYER_PLAYER_DEV_REQ

See Also:

Constant Field Values

PLAYER_PLAYER_DATA_REQ

public static final short PLAYER_PLAYER_DATA_REQ

See Also:

Constant Field Values

PLAYER_PLAYER_DATAMODE_REQ

public static final short PLAYER_PLAYER_DATAMODE_REQ

See Also:

Constant Field Values

PLAYER_PLAYER_DATAFREQ_REQ

public static final short PLAYER_PLAYER_DATAFREQ_REQ

See Also:

Constant Field Values

PLAYER_PLAYER_AUTH_REQ

public static final short PLAYER_PLAYER_AUTH_REQ

See Also:

Constant Field Values

receivedAuthentication

public boolean receivedAuthentication

socket

protected java.net.Socket socket

is

public java.io.DataInputStream is

The input stream for the socket connected to the player server

buffer

protected java.io.BufferedOutputStream buffer

os

public java.io.DataOutputStream os

The input stream for the socket connected to the player server It's buffered, so remember to flush()!!

N_DEVICES

protected static int N_DEVICES

MAX_DEVICES

protected static int MAX_DEVICES

subscribedSensors

protected int subscribedSensors

deviceCnt

protected int[] deviceCnt

deviceList

protected PlayerDevice[][] deviceList

succReadF

public boolean succReadF

Constructor Detail

PlayerClient

public PlayerClient(java.lang.String serverName,
                    int portNumber)

Make a new player client connection for the url "servername" and port "portNumber".

Method Detail

setNotThreaded

public void setNotThreaded()

runThreaded

public void runThreaded(long millis,
                        int nanos)

getI

public int getI()

incI

public void incI(int increment)

run

public void run()

Specified by:

run in interface java.lang.Runnable

Overrides:

run in class java.lang.Thread

requestPosition

public PositionPlayerDevice requestPosition(int index,
                                            char r)

Request 'r' acces for device If successful it returns the device. Otherwise it returns null

requestSonar

public SonarPlayerDevice requestSonar(int index,
                                      char r)

requestLaser

public LaserPlayerDevice requestLaser(int index,
                                      char r)

requestBlobfinder

public BlobfinderInterface requestBlobfinder(int index,
                                             char r)

requestPtz

public PtzPlayerDevice requestPtz(int index,
                                  char r)

requestFiducial

public FiducialInterface requestFiducial(int index,
                                         char r)

requestTruth

public TruthPlayerDevice requestTruth(int index,
                                      char r)

requestDeviceList

public void requestDeviceList()

Add new device code here

requestDriverName

public void requestDriverName(short device)

requestData

public void requestData()

requestDataDeliveryMode

public void requestDataDeliveryMode(byte mode)

requestDataDeliveryFrequency

public void requestDataDeliveryFrequency(short frequency)

requestAuthentication

public void requestAuthentication(byte[] key)

readAll

public void readAll()

handleResponce

public void handleResponce(int size)

isReadyPDDT

public boolean isReadyPDDT()

getPDDT

public kaos.robots.playerJavaClient.PlayerDeviceDevlistT getPDDT()

isReadyPDDI

public boolean isReadyPDDI()

getPDDI

public kaos.robots.playerJavaClient.PlayerDeviceDriverInfo getPDDI()

isAuthenticated

public boolean isAuthenticated()