swarm.robot

Class Robot

java.lang.Object

swarm.robot.Robot

All Implemented Interfaces:

java.lang.Runnable, IRobotState

Direct Known Subclasses:

VirtualRobot

public abstract class Robot
extends java.lang.Object
implements java.lang.Runnable, IRobotState

Abstract Class implementation for Robot

Author:

Nuwan Jaliyagoda

Nested Class Summary

Nested classes/interfaces inherited from interface swarm.Interfaces.IRobotState

IRobotState.robotState

Field Summary

Fields

Modifier and Type	Field and Description
ColorSensor	colorSensor
Coordinate	coordinates
DirectedCommunication	directedComm
DistanceSensor	distSensor
protected int	id
MotionController	motion
NeoPixel	neoPixel
ProximitySensor	proximitySensor
protected char	reality
RobotMQTT	robotMQTT
RobotMqttClient	robotMqttClient
SimpleCommunication	simpleComm
protected IRobotState.robotState	state

Constructor Summary

Constructors

Constructor and Description
Robot(int id, double x, double y, double heading, char reality) Abstract Robot class

Method Summary

Modifier and Type	Method and Description
void	delay(int milliseconds) Delay the robot functionality for a given time
int	getId() Get robot Id
void	handleSubscribeQueue() Handle MQTT subscriptions
void	reset() Method which handles RESET command
void	run() Robot's main event loop
void	setup() Setup the modules, emulators and indicators
void	start() Method which handles START command
void	stop() Method which handles STOP command

Methods inherited from class java.lang.Object

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

Methods inherited from interface swarm.Interfaces.IRobotState

communicationInterrupt, loop, sensorInterrupt

Field Detail

distSensor

public DistanceSensor distSensor

proximitySensor

public ProximitySensor proximitySensor

colorSensor

public ColorSensor colorSensor

simpleComm

public SimpleCommunication simpleComm

directedComm

public DirectedCommunication directedComm

neoPixel

public NeoPixel neoPixel

motion

public MotionController motion

robotMQTT

public RobotMQTT robotMQTT

coordinates

public Coordinate coordinates

robotMqttClient

public RobotMqttClient robotMqttClient

id

protected int id

reality

protected char reality

state

protected IRobotState.robotState state

Constructor Detail

Robot

public Robot(int id,
             double x,
             double y,
             double heading,
             char reality)

Abstract Robot class

Parameters:

id - robot Id

x - X coordinate as double

y - Y coordinate as double

heading - Heading direction in degrees, as double

reality - Reality of the robot, currently only support 'V'

Method Detail

setup

public void setup()

Setup the modules, emulators and indicators

getId

public int getId()

Get robot Id

Returns:

robotId as integer

run

public final void run()

Robot's main event loop

Specified by:

run in interface java.lang.Runnable

handleSubscribeQueue

public final void handleSubscribeQueue()
                                throws org.json.simple.parser.ParseException

Handle MQTT subscriptions

Throws:

org.json.simple.parser.ParseException

start

public void start()

Method which handles START command

Specified by:

start in interface IRobotState

stop

public void stop()

Method which handles STOP command

Specified by:

stop in interface IRobotState

reset

public void reset()

Method which handles RESET command

Specified by:

reset in interface IRobotState

delay

public void delay(int milliseconds)

Delay the robot functionality for a given time

Parameters:

delay, - delay in milliseconds