cz.cuni.amis.pogamut.usar2004.agent.module.master

Class GeometryMasterModule

java.lang.Object

cz.cuni.amis.pogamut.base.agent.module.AgentModule<AGENT>

cz.cuni.amis.pogamut.base.agent.module.SensomotoricModule<USAR2004Bot>

cz.cuni.amis.pogamut.usar2004.agent.module.master.GeometryMasterModule

All Implemented Interfaces:

cz.cuni.amis.pogamut.base.component.IComponent

public class GeometryMasterModule
extends cz.cuni.amis.pogamut.base.agent.module.SensomotoricModule<USAR2004Bot>

GeometryMasterModule provides methods for querying messages to server and methods for reading answers to those queries. Please note, that You have to produce suitable query before reading any data. Query methods: starts with query* Module methods: starts with get* Data at each module updates every time You call query method again.

Author:

vejmanm

Field Summary

Fields

Modifier and Type	Field and Description
protected cz.cuni.amis.pogamut.usar2004.agent.module.master.GeometryMasterModule.GeometryMessageListener	geoListener
protected GeometryContainer	geometryModules
protected static GeometryMasterModule	singleton

Fields inherited from class cz.cuni.amis.pogamut.base.agent.module.SensomotoricModule

act, worldView

Fields inherited from class cz.cuni.amis.pogamut.base.agent.module.AgentModule

agent, controller, eventBus, log

Method Summary

Methods

Modifier and Type	Method and Description
protected void	cleanUp()
protected SuperGeometry	createNewSensor(GeometryMessage message) Asks GeometryType enum if it knows GeometryType represented by string type.
protected void	fileMessage(GeometryMessage message) Updates previous State on genuine Sensor or creates a new Record.
List<SuperGeometry>	getGeometriesByClass(Class clazz) Adds every object that can be casted to initial class to the output list.
List<SuperGeometry>	getGeometriesByGeometryType(GeometryType type) Note, that if type = UNKNOWN it returns all unknown Geometries.
List<SuperGeometry>	getGeometriesByType(String type)
SuperGeometry	getGeometryByTypeName(String type, String name) Gets geometry message representatives from local hashmap specified by type and by name.
static GeometryMasterModule	getModuleInstance(USAR2004Bot bot) Method for obtaining the singleton.
List<MessageDescriptor>	getNonEmptyDescription() For each type of Geometry it adds all individuals to the returnee List as a couple (Type, Name)
Boolean	isReady() Collection of sensor data check.
void	queryGeometryByType(String type) Sends GETGEO message with specified type.
void	queryGeometryByTypeName(String type, String name) Sends GETGEO message with specified type and name.
protected boolean	updateSensorCollection(GeometryMessage message) Returns a flag that indicates if sensorUpdate was successful.

Methods inherited from class cz.cuni.amis.pogamut.base.agent.module.AgentModule

getComponentId, getLog, getState, initComponentId, isRunning, kill, pause, reset, resume, start, stop, toString

Methods inherited from class java.lang.Object

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

Field Detail

geoListener

protected cz.cuni.amis.pogamut.usar2004.agent.module.master.GeometryMasterModule.GeometryMessageListener geoListener

singleton

protected static GeometryMasterModule singleton

geometryModules

protected GeometryContainer geometryModules

Method Detail

getModuleInstance

public static GeometryMasterModule getModuleInstance(USAR2004Bot bot)

Method for obtaining the singleton.

Parameters:

bot - USAR2004Bot parameter for creation of the singleton instance when called for the first time.

Returns:

Returns singleton instance.

isReady

public Boolean isReady()

Collection of sensor data check.

Returns:

Returns false if either sensor collection is empty or null;

getGeometriesByClass

public List<SuperGeometry> getGeometriesByClass(Class clazz)

Adds every object that can be casted to initial class to the output list. Note that if You feed this method with SuperClass it will return all available submodules.

Parameters:

c - Class representing the type of which the return list should be

Returns:

Returns a list of eligible objects, that can be casted to Class c

getGeometriesByType

public List<SuperGeometry> getGeometriesByType(String type)

Parameters:

type - String representing the type of Geometry to return

Returns:

Returns List of specified type of Geometry module.

getGeometriesByGeometryType

public List<SuperGeometry> getGeometriesByGeometryType(GeometryType type)

Note, that if type = UNKNOWN it returns all unknown Geometries.

Parameters:

type - GeometryType representing the type of Geometry to return

Returns:

Returns List of all Geometries that suit input GeometryType.

getGeometryByTypeName

public SuperGeometry getGeometryByTypeName(String type,
                                  String name)

Gets geometry message representatives from local hashmap specified by type and by name. Returns null if none matches or this hash map is empty.

Parameters:

type - String representing the type of geometry to return.

name - String representing the name of geometry to return.

Returns:

Returns List of specified type of Geometry representative.

getNonEmptyDescription

public List<MessageDescriptor> getNonEmptyDescription()

For each type of Geometry it adds all individuals to the returnee List as a couple (Type, Name)

Returns:

returns Map of couples (Type/Name) of non empty Geometries

queryGeometryByType

public void queryGeometryByType(String type)

Sends GETGEO message with specified type. If the type is genuine, this module will acquire geometry data of all sensors/effecters specified by type.

Parameters:

type - type of geometry data we want to know about. For example : Sonar, MisPkg, Robot, Effecter, etc..

queryGeometryByTypeName

public void queryGeometryByTypeName(String type,
                           String name)

Sends GETGEO message with specified type and name. This module then ought to acquire data from server matching requirements.

Parameters:

type - type of geometry data we want to know about. For example : Sonar, MisPkg, Robot, Effecter, etc..

name - of sensor/effecter. Can be omitted.

createNewSensor

protected SuperGeometry createNewSensor(GeometryMessage message)

Asks GeometryType enum if it knows GeometryType represented by string type. If it does, it also contains Class reference. This reference is then instantiated and returned. If it does not, it returns instance of base class SuperGeometry which is represented by GeometryType.SENSOR_EFFECTER.

Parameters:

type - String representing possible valid GeometryType.

Returns:

Returns Class instance relevant to input String.

updateSensorCollection

protected boolean updateSensorCollection(GeometryMessage message)

Returns a flag that indicates if sensorUpdate was successful.

Parameters:

message -

Returns:

Return false if this message type with this name does not exist yet.

fileMessage

protected void fileMessage(GeometryMessage message)

Updates previous State on genuine Sensor or creates a new Record.

Parameters:

message - This ought to be SensorMessage caught by listener.

cleanUp

protected void cleanUp()

Overrides:

cleanUp in class cz.cuni.amis.pogamut.base.agent.module.AgentModule<USAR2004Bot>