rp1.rossum
Class RsConnection

java.lang.Object
  rp1.rossum.RsProtocol
      rp1.rossum.RsConnection

All Implemented Interfaces:

java.lang.Runnable, RsLogInterface

Direct Known Subclasses:

SimClient

public class RsConnection
extends RsProtocol
implements java.lang.Runnable

A class used by the simulator to communicate with clients.

Constructor Summary

RsConnection()

Method Summary

void	addInterlock(RsInterlock interlock)
void	exchangeIntroductions()
int	getMaxInterlockSent()
boolean	isClientSubscribedToEvent(int row, int column)
void	run() note: in the references below, we have several places where we check verbosity if(verbosity) verbose(someString+someOtherString); If we are not in verbose mode, verbose is a do-nothing method, but we check first anyway so as not to incur the overhead of creating a temporary string (in Java, someString+someOtherString would be created as a short-lived String object even though it is never used).
void	sendContactSensorEvent(double simTime, int sensorID, boolean status, java.lang.String contactObjectName)
void	sendContactSensorEvent(RsContactSensorEvent event)
void	sendEncoderStatusEvent(RsEncoderStatusEvent event)
void	sendEvent(RsEvent t)
void	sendHeartbeatEvent(double simTime, int sequence)
void	sendHeartbeatEvent(RsHeartbeatEvent heartbeat)
void	sendMotionHaltedEvent(RsMotionHaltedEvent event)
void	sendMotionStartedEvent(RsMotionStartedEvent event)
void	sendMouseClickEvent(RsMouseClickEvent mouseClick)
void	sendPaintSensorEvent(RsPaintSensorEvent event)
void	sendPlacementEvent(RsPlacementEvent placement)
void	sendPlanEvent(RsPlanEvent planEvent)
void	sendPositionEvent(RsPositionEvent position)
void	sendRangeSensorEvent(RsRangeSensorEvent event)
void	sendTargetSelectionEvent(RsTargetSelectionEvent targetSelection)
void	sendTargetSensorEvent(RsTargetSensorEvent event)
void	sendTimeoutEvent(RsTimeoutEvent timeout)
void	setActuatorControlRequestHandler(RsActuatorControlRequestHandler handler)
void	setBodyHandler(RsConnectionBodyHandler handler)
void	setEncoderStatusRequestHandler(RsEncoderStatusRequestHandler handler)
void	setHaltRequestHandler(RsHaltRequestHandler handler)
void	setHeartbeatRequestHandler(RsHeartbeatRequestHandler handler)
void	setMotionRequestHandler(RsMotionRequestHandler handler)
void	setPainterChangeRequestHandler(RsPainterChangeRequestHandler handler)
void	setPlacementRequestHandler(RsPlacementRequestHandler handler)
void	setPlanRequestHandler(RsPlanRequestHandler handler)
void	setPositionRequestHandler(RsPositionRequestHandler handler)
void	setSensorRequestHandler(RsSensorRequestHandler handler)
void	setSubscriptionRequestHandler(RsSubscriptionRequestHandler handler)
void	setSubscriptionTableEntry(int row, int column, boolean value)
void	setTargetSelectionRequestHandler(RsTargetSelectionRequestHandler handler)
void	setTimeoutRequestHandler(RsTimeoutRequestHandler handler)

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

Constructor Detail

RsConnection

public RsConnection()

Method Detail

addInterlock

public void addInterlock(RsInterlock interlock)

getMaxInterlockSent

public int getMaxInterlockSent()

sendTimeoutEvent

public void sendTimeoutEvent(RsTimeoutEvent timeout)

sendMouseClickEvent

public void sendMouseClickEvent(RsMouseClickEvent mouseClick)

sendPositionEvent

public void sendPositionEvent(RsPositionEvent position)

sendPlacementEvent

public void sendPlacementEvent(RsPlacementEvent placement)

sendMotionHaltedEvent

public void sendMotionHaltedEvent(RsMotionHaltedEvent event)

sendMotionStartedEvent

public void sendMotionStartedEvent(RsMotionStartedEvent event)

sendTargetSensorEvent

public void sendTargetSensorEvent(RsTargetSensorEvent event)

sendContactSensorEvent

public void sendContactSensorEvent(RsContactSensorEvent event)

sendContactSensorEvent

public void sendContactSensorEvent(double simTime,
                                   int sensorID,
                                   boolean status,
                                   java.lang.String contactObjectName)

sendRangeSensorEvent

public void sendRangeSensorEvent(RsRangeSensorEvent event)

sendTargetSelectionEvent

public void sendTargetSelectionEvent(RsTargetSelectionEvent targetSelection)

sendPlanEvent

public void sendPlanEvent(RsPlanEvent planEvent)

sendPaintSensorEvent

public void sendPaintSensorEvent(RsPaintSensorEvent event)

sendHeartbeatEvent

public void sendHeartbeatEvent(RsHeartbeatEvent heartbeat)

sendHeartbeatEvent

public void sendHeartbeatEvent(double simTime,
                               int sequence)

sendEncoderStatusEvent

public void sendEncoderStatusEvent(RsEncoderStatusEvent event)

sendEvent

public void sendEvent(RsEvent t)

setTimeoutRequestHandler

public void setTimeoutRequestHandler(RsTimeoutRequestHandler handler)

setSubscriptionRequestHandler

public void setSubscriptionRequestHandler(RsSubscriptionRequestHandler handler)

setMotionRequestHandler

public void setMotionRequestHandler(RsMotionRequestHandler handler)

setPositionRequestHandler

public void setPositionRequestHandler(RsPositionRequestHandler handler)

setPlacementRequestHandler

public void setPlacementRequestHandler(RsPlacementRequestHandler handler)

setHaltRequestHandler

public void setHaltRequestHandler(RsHaltRequestHandler handler)

setSensorRequestHandler

public void setSensorRequestHandler(RsSensorRequestHandler handler)

setTargetSelectionRequestHandler

public void setTargetSelectionRequestHandler(RsTargetSelectionRequestHandler handler)

setPainterChangeRequestHandler

public void setPainterChangeRequestHandler(RsPainterChangeRequestHandler handler)

setActuatorControlRequestHandler

public void setActuatorControlRequestHandler(RsActuatorControlRequestHandler handler)

setEncoderStatusRequestHandler

public void setEncoderStatusRequestHandler(RsEncoderStatusRequestHandler handler)

setBodyHandler

public void setBodyHandler(RsConnectionBodyHandler handler)

setPlanRequestHandler

public void setPlanRequestHandler(RsPlanRequestHandler handler)

setHeartbeatRequestHandler

public void setHeartbeatRequestHandler(RsHeartbeatRequestHandler handler)

exchangeIntroductions

public void exchangeIntroductions()
                           throws java.io.IOException

Throws:

java.io.IOException

run

public void run()

note: in the references below, we have several places where we check verbosity if(verbosity) verbose(someString+someOtherString); If we are not in verbose mode, verbose is a do-nothing method, but we check first anyway so as not to incur the overhead of creating a temporary string (in Java, someString+someOtherString would be created as a short-lived String object even though it is never used). In cases where I don't think the verbose method would be invoked often, or where no short-lived string is required, I often don't bother checking. If you see a place I missed, let me know.

Specified by:

run in interface java.lang.Runnable

setSubscriptionTableEntry

public void setSubscriptionTableEntry(int row,
                                      int column,
                                      boolean value)

isClientSubscribedToEvent

public boolean isClientSubscribedToEvent(int row,
                                         int column)