mns
Class MNSRobotPart

java.lang.Object
  java.lang.Thread
      biocell.BioThread
          mns.MNSRobotPart

All Implemented Interfaces:

java.lang.Runnable, CommandListener

public class MNSRobotPart
extends BioThread
implements CommandListener

Class implementing parts of the robot from the symbolic or highest point of view Each BodyPart has a set of associated devices that are fetched against the incoming commands in form of either files or strings This set of command is send to CNS that takes care about the synchronization and other low level features The order of devices is as follows: first is speech synthesis second is speech recognition Third is vision control system all devices after are servos associated with robot movements Each CNSRobotPart can have only one ThreadedCommand at a time This is not restricted but the feedback is not tracking the appropriatte devices and confusion between threads can occur This is done by initiating a command with a ExecPeriod != 0 ThreadedCommand will be executing all parts of the command beside SpeechProduction.

Author:

Martin Lukac

Nested Class Summary

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

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

Field Summary

Fields inherited from class java.lang.Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Constructor Summary

MNSRobotPart(MNSRobotPartListener listener, BioDevice[] devs, java.lang.String name)

MNSRobotPart(MNSRobotPartListener listener, java.lang.String name)

Method Summary

void	addCommand(java.lang.String biocommand) add a command to the list of current commands, the ordering of the variables for the constructor matters!!!! Thus synax is maximally required.
void	addDevs(BioDevice[] devs) add a set of devices (BioDevices) and replace the old ones
void	addDevs(java.util.Vector bioDevices)
void	commandOccured(CommandEvent o)
void	execute(java.lang.String comm, java.lang.String argument) The only public method to execute commands from a external parent such as the CNS All commands must be previously registered specific commands for control of devices: parameters modifying the way of doing things in short direct commands to the hardware that needs a thread executes a command if it exists with the set of parameters
Command	getCommand(java.lang.String comName) get a Command if available in this CNSRobotPart
java.util.Vector	getCommands()
BioDevice	getDevice(int index) return the BioDevice at specified index
BioDevice[]	getDevices()
java.lang.String	getname() get the name of this CNSRobotPArt
int	getPartAccel(int bioindex)
int	getPartMax(int bioindex)
int	getPartMin(int bioindex)
int	getPartSpeed(int bioindex)
int	getstate() fetch the current state according to BioDevice scheme - unusual but exploitable in the future
void	run() overriden from Thread Each RobotPart is sleeping for a period = endCycle and then checks for the command Queue.
void	setname(java.lang.String name) set name of this CNSRobotPart
void	setPartAccel(int accel, int bioindex)
void	setPartMax(int max, int bioindex)
void	setPartMax(java.lang.String max)
void	setPartMin(int min, int bioindex)
void	setPartMin(java.lang.String min)
void	setPartSpeed(int speed, int bioindex)
void	stateChanged(int currentState)

Methods inherited from class biocell.BioThread

getCurrentmood, getMoodParam, setMood, stepEnergy

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

Constructor Detail

MNSRobotPart

public MNSRobotPart(MNSRobotPartListener listener,
                    java.lang.String name)

Parameters:

RobotPartListener - - the CNSRobotPart listener

name - - the name of the command

MNSRobotPart

public MNSRobotPart(MNSRobotPartListener listener,
                    BioDevice[] devs,
                    java.lang.String name)

Parameters:

RobotPartListener - - the CNSRobotPart listener

devs - - the pointers to dedicated devices

name - - the name of the robotpart

Method Detail

commandOccured

public void commandOccured(CommandEvent o)

Specified by:

commandOccured in interface CommandListener

addCommand

public void addCommand(java.lang.String biocommand)

add a command to the list of current commands, the ordering of the variables for the constructor matters!!!! Thus synax is maximally required.

Parameters:

command - - command to be added

getCommand

public Command getCommand(java.lang.String comName)

get a Command if available in this CNSRobotPart

Parameters:

commandName - - name of the desired command

Returns:

- returns null or the command found

getCommands

public java.util.Vector getCommands()

getDevices

public BioDevice[] getDevices()

Returns:

- the list of biodevices associated with this robotpart

getDevice

public BioDevice getDevice(int index)

return the BioDevice at specified index

Parameters:

index - - index of the device

Returns:

- BioDevice

addDevs

public void addDevs(BioDevice[] devs)

add a set of devices (BioDevices) and replace the old ones

Parameters:

devs - - the array of BioDevices

addDevs

public void addDevs(java.util.Vector bioDevices)

Parameters:

bioDevices -

getname

public java.lang.String getname()

get the name of this CNSRobotPArt

Returns:

- String - name of the comp0nent

setname

public void setname(java.lang.String name)

set name of this CNSRobotPart

Parameters:

name - - String

setPartMax

public void setPartMax(int max,
                       int bioindex)

setPartMin

public void setPartMin(int min,
                       int bioindex)

setPartSpeed

public void setPartSpeed(int speed,
                         int bioindex)

getPartAccel

public int getPartAccel(int bioindex)

getPartMax

public int getPartMax(int bioindex)

getPartMin

public int getPartMin(int bioindex)

getPartSpeed

public int getPartSpeed(int bioindex)

setPartAccel

public void setPartAccel(int accel,
                         int bioindex)

setPartMax

public void setPartMax(java.lang.String max)

Parameters:

max -

setPartMin

public void setPartMin(java.lang.String min)

Parameters:

min -

getstate

public int getstate()

fetch the current state according to BioDevice scheme - unusual but exploitable in the future

Overrides:

getstate in class BioThread

Returns:

- the current state of the RobotPart

execute

public void execute(java.lang.String comm,
                    java.lang.String argument)

The only public method to execute commands from a external parent such as the CNS All commands must be previously registered specific commands for control of devices: parameters modifying the way of doing things in short direct commands to the hardware that needs a thread executes a command if it exists with the set of parameters

Parameters:

comm - - name of the command

argument - - argument to the command

run

public void run()

overriden from Thread Each RobotPart is sleeping for a period = endCycle and then checks for the command Queue. If required the command will start a new Thread generating impulses for some cyclic movements

Specified by:

run in interface java.lang.Runnable

Overrides:

run in class java.lang.Thread

stateChanged

public void stateChanged(int currentState)

Parameters:

currentState -