rp1.rossum
Class RsClient

java.lang.Object
  rp1.rossum.RsProtocol
      rp1.rossum.RsClient

All Implemented Interfaces:

java.lang.Runnable, RsLogInterface, RsRunnable

public class RsClient
extends RsProtocol
implements RsRunnable, RsLogInterface

The main class for connecting a client-side application to the simulator. Note that even though this class implements Runnable (through RsRunnable), an application does not necessarily have to launch it as an independent thread. For example, an object of type RsClient might just be an element in another class which does, itself, extend Thread. The run method and Runnable interface is provided both as documentation and as a convenience. In general, the methods in this class are organized as follows:

• Send methods -- send requests (control sequences) to simulator
• Add methods -- allow an application to add event handlers
• Initialization and run methods
• Miscelaneous utilities

In implementing an RP1 client, it is often useful to write a client class that extends RsClient. This is not, of course, the only approach to building an RP1 client, but is a good way of taking advantage of Java's object-oriented capabilities. The sequence for establishing an RP1 client is discussed extensively in the RP1 Users Guide.

This class will not prevent you from sending a request for an event when you have no event handler registered. When the requested, but non-handled, event comes in, it will be ignored.

Field Summary

RsProperties

rsProperties

Constructor Summary

RsClient()

Method Summary

void	addContactSensorEventHandler(RsBodyContactSensor sensor, RsContactSensorEventHandler reference)
void	addEncoderStatusEventHandler(RsEncoderStatusEventHandler reference)
void	addHeartbeatEventHandler(RsHeartbeatEventHandler reference)
void	addMotionHaltedEventHandler(RsMotionHaltedEventHandler reference)
void	addMotionStartedEventHandler(RsMotionStartedEventHandler reference)
void	addMouseClickEventHandler(RsMouseClickEventHandler reference)
void	addPaintSensorEventHandler(RsBodyPaintSensor sensor, RsPaintSensorEventHandler reference)
void	addPlacementEventHandler(RsPlacementEventHandler reference)
void	addPlanEventHandler(RsPlanEventHandler reference)
void	addPositionEventHandler(RsPositionEventHandler reference)
void	addRangeSensorEventHandler(RsBodyRangeSensor sensor, RsRangeSensorEventHandler reference)
void	addTargetSelectionEventHandler(RsTargetSelectionEventHandler reference)
void	addTargetSensorEventHandler(RsBodyTargetSensor sensor, RsTargetSensorEventHandler reference)
void	addTimeoutEventHandler(RsTimeoutEventHandler reference)
RsProperties	getProperties()
double	getSimTime() returns the simulation time based on the most recent communications from the simulator.
void	initialize() The initialize call is used to set up the RP1 client before the run() method is invoked.
void	initialize(RsProperties rsp) This version of initialize allows the application to supply alternate properties specifications rather than reading them from rossum.ini as the standard initialize method does
void	initiateConnection(RsProperties properties)
void	initiateLogger(RsProperties properties)
void	removeContactSensorEventHandler(RsBodyContactSensor sensor)
void	removeContactSensorEventHandler(RsBodyContactSensor sensor, RsContactSensorEventHandler reference)
void	removeEncoderStatusEventHandler()
void	removeEncoderStatusEventHandler(RsEncoderStatusEventHandler reference)
void	removeHeartbeatEventHandler()
void	removeHeartbeatEventHandler(RsHeartbeatEventHandler reference)
void	removeMotionHaltedEventHandler()
void	removeMotionHaltedEventHandler(RsMotionStartedEventHandler reference)
void	removeMotionStartedEventHandler()
void	removeMotionStartedEventHandler(RsMotionStartedEventHandler reference)
void	removeMouseClickEventHandler()
void	removeMouseClickEventHandler(RsMouseClickEventHandler reference)
void	removePaintSensorEventHandler(RsBodyPaintSensor sensor)
void	removePaintSensorEventHandler(RsBodyPaintSensor sensor, RsPaintSensorEventHandler reference)
void	removePlacementEventHandler()
void	removePlacementEventHandler(RsPlacementEventHandler reference)
void	removePlanEventHandler()
void	removePlanEventHandler(RsPlanEventHandler reference)
void	removePositionEventHandler()
void	removePositionEventHandler(RsPositionEventHandler reference)
void	removeRangeSensorEventHandler(RsBodyRangeSensor sensor)
void	removeRangeSensorEventHandler(RsBodyRangeSensor sensor, RsRangeSensorEventHandler reference)
void	removeTargetSelectionEventHandler()
void	removeTargetSelectionEventHandler(RsTargetSelectionEventHandler reference)
void	removeTargetSensorEventHandler(RsBodyTargetSensor sensor)
void	removeTargetSensorEventHandler(RsBodyTargetSensor sensor, RsTargetSensorEventHandler reference)
void	removeTimeoutEventHandler()
void	removeTimeoutEventHandler(RsTimeoutEventHandler reference)
void	run()
void	sendActuatorControlRequest(RsActuatorControlRequest r)
void	sendAllTargetsSelectionRequest(boolean status)
void	sendBodySpecification(RsBody body) The sendBodySpecification sends the body specification to the simulator and absolutely must be invoked before any requests are sent to RP1.
int	sendEncoderStatusRequest(RsEncoder[] encoders, boolean clearOnRequest) sends an request for the status of one or more encoders (given in array).
int	sendEncoderStatusRequest(RsEncoder encoder, boolean clearOnRequest) sends a request for the status of a single encoder.
void	sendExclusiveRandomTargetSelectionRequest()
void	sendExclusiveTargetSelectionRequest(java.lang.String targetName)
void	sendHaltRequest()
void	sendHeartbeatCancellationRequest()
void	sendHeartbeatRequest(double period) Activates the "heartbeat" function in RP1.
void	sendMotionRequest(RsMotionRequest r)
void	sendPainterActivationRequest(RsBodyPainter painter)
void	sendPainterDeactivationRequest(RsBodyPainter painter)
void	sendPainterErasureRequest(RsBodyPainter painter)
void	sendPlacementRequest(java.lang.String name)
void	sendPlanRequest()
void	sendPositionRequest()
void	sendRandomTargetSelectionRequest(boolean status)
void	sendSensorStatusRequest(RsBodySensor sensor)
void	sendTargetSelectionRequest(java.lang.String targetName, boolean status)
int	sendTimeoutRequest(double duration) Sends a request for a timeout event.

Methods inherited from class rp1.rossum.RsProtocol

getVerbosity, isInputSet, isLoggerSet, isOutputSet, log, logIt, setInputOutputStreams, setLogger, setProtocolShutdownHandler, setSocket, setVerbosity, verbose

Methods inherited from class java.lang.Object

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

Methods inherited from interface rp1.rossum.RsRunnable

setInputOutputStreams, setLogger

Methods inherited from interface rp1.rossum.RsLogInterface

getVerbosity, log, logIt, setVerbosity, verbose

Field Detail

rsProperties

public RsProperties rsProperties

Constructor Detail

RsClient

public RsClient()

Method Detail

initiateLogger

public void initiateLogger(RsProperties properties)
                    throws java.io.IOException

Throws:

java.io.IOException

initiateConnection

public void initiateConnection(RsProperties properties)
                        throws java.io.IOException

Throws:

java.io.IOException

getProperties

public RsProperties getProperties()

addMouseClickEventHandler

public void addMouseClickEventHandler(RsMouseClickEventHandler reference)

removeMouseClickEventHandler

public void removeMouseClickEventHandler()

removeMouseClickEventHandler

public void removeMouseClickEventHandler(RsMouseClickEventHandler reference)

addMotionStartedEventHandler

public void addMotionStartedEventHandler(RsMotionStartedEventHandler reference)

removeMotionStartedEventHandler

public void removeMotionStartedEventHandler()

removeMotionStartedEventHandler

public void removeMotionStartedEventHandler(RsMotionStartedEventHandler reference)

addMotionHaltedEventHandler

public void addMotionHaltedEventHandler(RsMotionHaltedEventHandler reference)

removeMotionHaltedEventHandler

public void removeMotionHaltedEventHandler()

removeMotionHaltedEventHandler

public void removeMotionHaltedEventHandler(RsMotionStartedEventHandler reference)

addTargetSensorEventHandler

public void addTargetSensorEventHandler(RsBodyTargetSensor sensor,
                                        RsTargetSensorEventHandler reference)

removeTargetSensorEventHandler

public void removeTargetSensorEventHandler(RsBodyTargetSensor sensor)

removeTargetSensorEventHandler

public void removeTargetSensorEventHandler(RsBodyTargetSensor sensor,
                                           RsTargetSensorEventHandler reference)

addContactSensorEventHandler

public void addContactSensorEventHandler(RsBodyContactSensor sensor,
                                         RsContactSensorEventHandler reference)

removeContactSensorEventHandler

public void removeContactSensorEventHandler(RsBodyContactSensor sensor)

removeContactSensorEventHandler

public void removeContactSensorEventHandler(RsBodyContactSensor sensor,
                                            RsContactSensorEventHandler reference)

addRangeSensorEventHandler

public void addRangeSensorEventHandler(RsBodyRangeSensor sensor,
                                       RsRangeSensorEventHandler reference)

removeRangeSensorEventHandler

public void removeRangeSensorEventHandler(RsBodyRangeSensor sensor)

removeRangeSensorEventHandler

public void removeRangeSensorEventHandler(RsBodyRangeSensor sensor,
                                          RsRangeSensorEventHandler reference)

addPaintSensorEventHandler

public void addPaintSensorEventHandler(RsBodyPaintSensor sensor,
                                       RsPaintSensorEventHandler reference)

removePaintSensorEventHandler

public void removePaintSensorEventHandler(RsBodyPaintSensor sensor)

removePaintSensorEventHandler

public void removePaintSensorEventHandler(RsBodyPaintSensor sensor,
                                          RsPaintSensorEventHandler reference)

addTimeoutEventHandler

public void addTimeoutEventHandler(RsTimeoutEventHandler reference)

removeTimeoutEventHandler

public void removeTimeoutEventHandler()

removeTimeoutEventHandler

public void removeTimeoutEventHandler(RsTimeoutEventHandler reference)

addPositionEventHandler

public void addPositionEventHandler(RsPositionEventHandler reference)

removePositionEventHandler

public void removePositionEventHandler()

removePositionEventHandler

public void removePositionEventHandler(RsPositionEventHandler reference)

addPlacementEventHandler

public void addPlacementEventHandler(RsPlacementEventHandler reference)

removePlacementEventHandler

public void removePlacementEventHandler()

removePlacementEventHandler

public void removePlacementEventHandler(RsPlacementEventHandler reference)

addTargetSelectionEventHandler

public void addTargetSelectionEventHandler(RsTargetSelectionEventHandler reference)

removeTargetSelectionEventHandler

public void removeTargetSelectionEventHandler()

removeTargetSelectionEventHandler

public void removeTargetSelectionEventHandler(RsTargetSelectionEventHandler reference)

addPlanEventHandler

public void addPlanEventHandler(RsPlanEventHandler reference)

removePlanEventHandler

public void removePlanEventHandler()

removePlanEventHandler

public void removePlanEventHandler(RsPlanEventHandler reference)

addHeartbeatEventHandler

public void addHeartbeatEventHandler(RsHeartbeatEventHandler reference)

removeHeartbeatEventHandler

public void removeHeartbeatEventHandler()

removeHeartbeatEventHandler

public void removeHeartbeatEventHandler(RsHeartbeatEventHandler reference)

addEncoderStatusEventHandler

public void addEncoderStatusEventHandler(RsEncoderStatusEventHandler reference)

removeEncoderStatusEventHandler

public void removeEncoderStatusEventHandler()

removeEncoderStatusEventHandler

public void removeEncoderStatusEventHandler(RsEncoderStatusEventHandler reference)

sendTimeoutRequest

public int sendTimeoutRequest(double duration)

Sends a request for a timeout event. After a period of time specified in seconds, the simulator wil respond with a timeout event. Note that this function returns a serial index number identified with the timeout request. Thus, when a timeout event is received, it can be matched to the request from which it was generated.

Parameters:

duration - delay time in seconds until the timeout event is returned.

sendSensorStatusRequest

public void sendSensorStatusRequest(RsBodySensor sensor)

sendMotionRequest

public void sendMotionRequest(RsMotionRequest r)

sendPositionRequest

public void sendPositionRequest()

sendPlacementRequest

public void sendPlacementRequest(java.lang.String name)

sendHaltRequest

public void sendHaltRequest()

sendTargetSelectionRequest

public void sendTargetSelectionRequest(java.lang.String targetName,
                                       boolean status)

sendExclusiveTargetSelectionRequest

public void sendExclusiveTargetSelectionRequest(java.lang.String targetName)

sendRandomTargetSelectionRequest

public void sendRandomTargetSelectionRequest(boolean status)

sendExclusiveRandomTargetSelectionRequest

public void sendExclusiveRandomTargetSelectionRequest()

sendAllTargetsSelectionRequest

public void sendAllTargetsSelectionRequest(boolean status)

sendPlanRequest

public void sendPlanRequest()

sendHeartbeatRequest

public void sendHeartbeatRequest(double period)

Activates the "heartbeat" function in RP1. When activated, the simulator will send an RsHeartbeatEvent back to the client at a fixed interval. The stream of events will continue until a call is made to sendHeartbeatCancellationRequest.

Parameters:

period - heartbeat interval, in seconds.

sendHeartbeatCancellationRequest

public void sendHeartbeatCancellationRequest()

sendPainterActivationRequest

public void sendPainterActivationRequest(RsBodyPainter painter)

sendPainterDeactivationRequest

public void sendPainterDeactivationRequest(RsBodyPainter painter)

sendPainterErasureRequest

public void sendPainterErasureRequest(RsBodyPainter painter)

sendActuatorControlRequest

public void sendActuatorControlRequest(RsActuatorControlRequest r)

sendEncoderStatusRequest

public int sendEncoderStatusRequest(RsEncoder encoder,
                                    boolean clearOnRequest)

sends a request for the status of a single encoder.

Parameters:

encoder - An RsEncoder object associated with an RsWheel object.

clearOnRequest - indicates that the encoder accumulators are to be clear upon query completion.

sendEncoderStatusRequest

public int sendEncoderStatusRequest(RsEncoder[] encoders,
                                    boolean clearOnRequest)

sends an request for the status of one or more encoders (given in array).

Parameters:

encoders - An array of RsEncoder objects associated with RsWheel objects.

clearOnRequest - indicates that the encoder accumulators are to be cleared upon query completion.

sendBodySpecification

public void sendBodySpecification(RsBody body)

The sendBodySpecification sends the body specification to the simulator and absolutely must be invoked before any requests are sent to RP1.

initialize

public void initialize()
                throws java.io.IOException

The initialize call is used to set up the RP1 client before the run() method is invoked. The expectation for use is that when client classes extend RsClient, they will usually override initialize(), but may call it using a call to super.initialize(). Note that it performs three tasks

• reads properties from rossum.ini if they were not supplied by application
• opens run-time log as indicated in config file if it's not opened by application by calling initiateLogger.
• establishes connection to RP1 simulator by calling initiateConnection.

Specified by:

initialize in interface RsRunnable

Throws:

java.io.IOException

initialize

public void initialize(RsProperties rsp)
                throws java.io.IOException

This version of initialize allows the application to supply alternate properties specifications rather than reading them from rossum.ini as the standard initialize method does

Throws:

java.io.IOException

run

public void run()

Specified by:

run in interface java.lang.Runnable

getSimTime

public double getSimTime()

returns the simulation time based on the most recent communications from the simulator. Note that this value will not be updated during a period of inactivity. If more regular updates are required, it is that a heartbeat request be sent to the simulator.