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java.lang.Objectorg.robokind.api.common.property.PropertyChangeNotifier
org.robokind.api.motion.AbstractRobot<RemoteJoint>
org.robokind.api.motion.messaging.RemoteRobot
public class RemoteRobot
RemoteRobot is a facade for controlling a remotely connected Robot. The RemoteRobot controls the Robot using a RemoteRobotClient.
Nested Class Summary |
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Nested classes/interfaces inherited from interface org.robokind.api.motion.Robot |
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Robot.Id, Robot.JointId, Robot.RobotPositionHashMap, Robot.RobotPositionMap |
Field Summary |
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Fields inherited from class org.robokind.api.motion.AbstractRobot |
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myJointList, myJointMap |
Fields inherited from interface org.robokind.api.motion.Robot |
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PROP_CONNECTED, PROP_ENABLED, PROP_ID |
Constructor Summary | |
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RemoteRobot(RemoteRobotClient client)
Creates a RemoteRobot which uses the given RemoteRobotClient. |
Method Summary | |
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boolean |
connect()
Sends a command for the remote robot to connect. |
void |
disconnect()
Sends a command for the remote robot to disconnect. |
boolean |
isConnected()
Returns the remote robot's connection status. |
boolean |
isEnabled()
Returns true if the Robot is enabled and accepting commands. |
void |
move(Robot.RobotPositionMap positions,
long lenMillisec)
Move the Joints with the given ids to the corresponding positions. |
void |
setEnabled(boolean val)
Sets the enabled status of the Robot. |
boolean |
updateRobot()
Updates all cached values. |
Methods inherited from class org.robokind.api.motion.AbstractRobot |
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addJoint, clearJoints, getCurrentPositions, getDefaultPositions, getGoalPositions, getJoint, getJointIds, getJointList, getJointName, getRobotId, removeJoint |
Methods inherited from class org.robokind.api.common.property.PropertyChangeNotifier |
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addPropertyChangeListener, addPropertyChangeListener, clearAllListeners, clearListeners, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getPropertyChangeListeners, getPropertyChangeListeners, hasListeners, removePropertyChangeListener, removePropertyChangeListener |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Methods inherited from interface org.robokind.api.common.property.PropertyChangeSource |
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addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener |
Constructor Detail |
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public RemoteRobot(RemoteRobotClient client)
client
- client for the remote RobotMethod Detail |
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public boolean updateRobot()
public boolean connect()
public void disconnect()
public boolean isConnected()
public void setEnabled(boolean val)
AbstractRobot
setEnabled
in interface Robot<RemoteJoint>
setEnabled
in class AbstractRobot<RemoteJoint>
val
- enabled valuepublic boolean isEnabled()
AbstractRobot
isEnabled
in interface Robot<RemoteJoint>
isEnabled
in class AbstractRobot<RemoteJoint>
public void move(Robot.RobotPositionMap positions, long lenMillisec)
Robot
positions
- map of Joint logical ids and positionslenMillisec
- duration of the movement in milliseconds
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