cz.cuni.amis.pogamut.usar2004.communication.messages.usarinfomessages

Class StateMessage

java.lang.Object

cz.cuni.amis.pogamut.base.communication.messages.InfoMessage

cz.cuni.amis.pogamut.usar2004.communication.messages.GBEvent

cz.cuni.amis.pogamut.usar2004.communication.messages.usarinfomessages.StateMessage

All Implemented Interfaces:

cz.cuni.amis.pogamut.base.communication.translator.event.IWorldChangeEvent, cz.cuni.amis.pogamut.base.communication.translator.event.IWorldEventWrapper, cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEvent, IGBWorldEvent, cz.cuni.amis.utils.listener.Event

public class StateMessage
extends GBEvent
implements cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEvent, cz.cuni.amis.pogamut.base.communication.translator.event.IWorldChangeEvent

A State message is the message class that reports the robot or mission package’s state. State message reports the robot's actual state. Please note that the robot state message parameters depend on the type of robot that you are driving. For example, a robot of type “GroundVehicle” will not have the same state message as a robot of type “AerialVehicle.” A robot state message looks like (for a ground vehicle): STA {Type string} {Time float} {FrontSteer float} {RearSteer float}{LightToggle bool} {LightIntensity int} {Battery int} Corresponding GameBots message is STA.

Field Summary

Fields

Modifier and Type	Field and Description
protected int	Battery
protected double	FrontSteer
protected int	LightIntensity
protected boolean	LightToggle
protected Map<String,String>	PartsValues
static String	PROTOTYPE Example how the message looks like - used during parser tests.
protected double	RearSteer
protected double	RudderAngle
protected double	SternPlaneAngle
protected double	Time Timestamp form the UT since server start in seconds.
protected String	Type Type describes the vehicle type.
protected int	View

Constructor Summary

Constructors

Constructor and Description
StateMessage() Used by Yylex to create empty message then to fill it's protected fields (Yylex is in the same package).
StateMessage(StateMessage original) Cloning constructor.
StateMessage(String Type, double Time, double FrontSteer, double RearSteer, double SternPlaneAngle, double RudderAngle, boolean LightToggle, int LightIntensity, int Battery)

Method Summary

Methods

Modifier and Type	Method and Description
int	getBattery() Power state of the battery.
double	getFrontSteer() Note: parameter only available for robots of “GroundVehicle” type.
int	getLightIntensity() Light intensity of the headlight.
Map<String,String>	getPartsValues() Kenaf robot uses these to describe state of its Flippers.
double	getRearSteer() Note: parameter only available for robots of “GroundVehicle” type.
double	getRudderAngle() Note: parameter only available for robots of “NauticVehicle” type.
double	getSternPlaneAngle() Note: parameter only available for robots of “NauticVehicle” type.
double	getTime() Timestamp form the UT since server start in seconds.
String	getType() Type will be one of the following values: "GroundVehicle”, “LeggedRobot”, “NauticVehicle”, or “AerialVehicle”.
int	getView() This was added for UT2004 version.
boolean	isLightToggle() Indicate whether the headlight has been turned on.
String	toHtmlString() Gets all properties and values to create a HTML formated string;
String	toString()

Methods inherited from class cz.cuni.amis.pogamut.usar2004.communication.messages.GBEvent

getSimTime, getWorldEvent

Methods inherited from class cz.cuni.amis.pogamut.base.communication.messages.InfoMessage

toJsonLiteral

Methods inherited from class java.lang.Object

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

Methods inherited from interface cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEvent

getSimTime

Methods inherited from interface cz.cuni.amis.pogamut.base.communication.translator.event.IWorldChangeEvent

getSimTime

Field Detail

PROTOTYPE

public static final String PROTOTYPE

Example how the message looks like - used during parser tests.

See Also:

Constant Field Values

Type

protected String Type

Type describes the vehicle type. It will be one of the following values: "GroundVehicle”, “LeggedRobot”, “NauticVehicle”, or “AerialVehicle”.

Time

protected double Time

Timestamp form the UT since server start in seconds.

FrontSteer

protected double FrontSteer

RearSteer

protected double RearSteer

SternPlaneAngle

protected double SternPlaneAngle

RudderAngle

protected double RudderAngle

LightToggle

protected boolean LightToggle

LightIntensity

protected int LightIntensity

Battery

protected int Battery

View

protected int View

PartsValues

protected Map<String,String> PartsValues

Constructor Detail

StateMessage

public StateMessage(String Type,
            double Time,
            double FrontSteer,
            double RearSteer,
            double SternPlaneAngle,
            double RudderAngle,
            boolean LightToggle,
            int LightIntensity,
            int Battery)

StateMessage

public StateMessage(StateMessage original)

Cloning constructor.

StateMessage

public StateMessage()

Used by Yylex to create empty message then to fill it's protected fields (Yylex is in the same package).

Method Detail

getType

public String getType()

Type will be one of the following values: "GroundVehicle”, “LeggedRobot”, “NauticVehicle”, or “AerialVehicle”.

Returns:

Returns Type of the vehicle.

getTime

public double getTime()

Timestamp form the UT since server start in seconds.

Returns:

Returns seconds elapsed from the start of the server.

getFrontSteer

public double getFrontSteer()

Note: parameter only available for robots of “GroundVehicle” type. Current front steer angle of the robot, in radians.

Returns:

Returns front steer angle value

getRearSteer

public double getRearSteer()

Note: parameter only available for robots of “GroundVehicle” type. Current rear steer angle of the robot, in radians.

Returns:

Returns rear steer angle value.

getSternPlaneAngle

public double getSternPlaneAngle()

Note: parameter only available for robots of “NauticVehicle” type. Current stern plane angle of the robot, in radians.

Returns:

Returns sern plane angle.

getRudderAngle

public double getRudderAngle()

Note: parameter only available for robots of “NauticVehicle” type. Current rudder angle of the robot, in radians.

Returns:

Returns rudder angle.

isLightToggle

public boolean isLightToggle()

Indicate whether the headlight has been turned on.

Returns:

Returns wether the Headlight is on or not.

getLightIntensity

public int getLightIntensity()

Light intensity of the headlight. Right now, it always is 100.

Returns:

Returns the intensity of the Headlight.

getBattery

public int getBattery()

Power state of the battery. It is the battery lifetime in second. It’s the total time remaining for the robot to run.

Returns:

Returns remaining battery life.

getView

public int getView()

This was added for UT2004 version. Represents number of views when Multiview(Multiple Cameras) is used.

Returns:

Returns number of views if MultiView used, else -1;

getPartsValues

public Map<String,String> getPartsValues()

Kenaf robot uses these to describe state of its Flippers.

Returns:

Returns a map containing data about Kenafs flippers.

toString

public String toString()

Overrides:

toString in class cz.cuni.amis.pogamut.base.communication.messages.InfoMessage

toHtmlString

public String toHtmlString()

Gets all properties and values to create a HTML formated string;

Returns:

Returns all properties in HTML format