swarm.robot.helpers

Class RobotMQTT

java.lang.Object

swarm.robot.helpers.RobotMQTT

public class RobotMQTT
extends java.lang.Object

The class that handle robot's MQTT interactions

Author:

Nuwan Jaliyagoda

Field Summary

Fields

Modifier and Type	Field and Description
protected char	reality
protected int	robotId
protected RobotMqttClient	robotMqttClient

Constructor Summary

Constructors

Constructor and Description
RobotMQTT(int robotId, RobotMqttClient mqtt, char reality) RobotMQTT class

Method Summary

Modifier and Type	Method and Description
void	handleSubscription(Robot robot, MqttMsg m) Handle localization related MQTT subscriptions
void	robotCreate(double x, double y, double heading) Create robot instance on the simulator

Methods inherited from class java.lang.Object

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

Field Detail

robotMqttClient

protected RobotMqttClient robotMqttClient

robotId

protected int robotId

reality

protected char reality

Constructor Detail

RobotMQTT

public RobotMQTT(int robotId,
                 RobotMqttClient mqtt,
                 char reality)

RobotMQTT class

Parameters:

robotId -

mqtt - MQTT object

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

Method Detail

robotCreate

public void robotCreate(double x,
                        double y,
                        double heading)

Create robot instance on the simulator

Parameters:

robotId -

x - X coordinate as double

y - Y coordinate as double

heading - Heading direction in degrees, as double

handleSubscription

public void handleSubscription(Robot robot,
                               MqttMsg m)

Handle localization related MQTT subscriptions

Parameters:

robot - Robot object

message - Subscription topic value