org.robokind.impl.motion.openservo.feedback
Class ConcurrentOpenServoCache
java.lang.Object
org.robokind.impl.motion.openservo.feedback.ConcurrentOpenServoCache
public class ConcurrentOpenServoCache
- extends Object
Provides concurrency for reading and updating values used by the
DynamixelControlLoop. This will accept new values, both dynamixel feedback
values and new goal positions, merging them in a thread-safe manner.
- Author:
- Matthew Stevenson
Methods inherited from class java.lang.Object |
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
ConcurrentOpenServoCache
public ConcurrentOpenServoCache()
acquireMoveParams
public Collection<MoveParams<OpenServo.Id>> acquireMoveParams()
- Locks the cache and returns the MoveParams.
releaseMoveParams() must be called when done using the params.
- Returns:
releaseMoveParams
public void releaseMoveParams()
addFeedbackValues
public void addFeedbackValues(Collection<OpenServoFeedbackValues> values)
- Attempts to merge the given values into the MoveParam cache.
If the params are in use and locked, the values are queued to be merged
when unlocked.
setGoalPositions
public void setGoalPositions(Collection<GoalUpdateValues<OpenServo.Id>> goals)
getMoveFlag
public boolean getMoveFlag()
setMoveFlag
public void setMoveFlag(boolean val)
getValueMap
public Map<OpenServo.Id,OpenServoCache> getValueMap()
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