ch.aplu.raspi

Class Robot

java.lang.Object

ch.aplu.raspi.Robot

public class Robot
extends java.lang.Object

Class that represents a Raspi robot brick. Parts (e.g. motors, sensors) may be assembled into the robot to make it doing the desired job.

More than one instance may be created. They are identified by different names (or addresses).

The communication uses a IP socket connection with port 1299, but the port can be modified in raspijlib.properties. RaspiJlib implements the usual Java event handling model using event listeners and adapters. The sensors are polled at a regular interval from a internal thread and the registered callback method is invoked, when the event condition is fullfilled (e.g. sensor value crosses a given trigger level).

Many library options are defined in a property file 'raspijlib.properties' that may be modified as needed. The property file is searched in the following order:
- Application directory (user.dir)
- Home directory (user.home)
- RaspiJLib.jar (distribution)

As soon as the property file is found, the search is cancelled. This allows to use a personalized property file without deleting or modifing the distributed file in RaspiJLib.jar. Consult the distributed file for more information. Be careful to keep the original formatting.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Robot.ClosingMode Modes to determine what happens when the title bar close button is hit.

Constructor Summary

Constructors

Constructor and Description
Robot() Asks for the IP address and creates a RaspiRobot instance.
Robot(java.lang.String ipAddress) Creates a RaspiRobot instance with given IP address.
Robot(java.lang.String ipAddress, boolean immediateConnect) Creates a RaspiRobot instance with given IP address.

Method Summary

Methods

Modifier and Type	Method and Description
void	addButtonListener(ButtonListener listener) Registers a button listener that simulates the events when one of the brick buttons is hit.
void	addConnectionListener(ConnectionListener listener) Registers a connection listener to get notifications when the link is established or broken.
boolean	connect() Connects the host to the robot via an IP socket.
boolean	connect(boolean isConnectPane) Connects the host to the robot via an IP socket.
void	exit() Closes the connection dialog and any open QuitPane, disconnects the communication link and terminates the program.
java.io.OutputStream	getDataOutputStream() Returns the OutputStream reference of the connection link.
int	getHitButtonID() Returns the button ID of the button previously hit.
java.io.InputStream	getInputStream() Returns the InputStream reference of the connection link.
java.lang.String	getIPAddresses() Returns all IP addresses (in dotted format, comma separated).
static RaspiProperties	getProperties() Returns the properties from the RaspiJLib property file.
java.lang.String	getVersion() Returns library version information.
boolean	isButtonHit() Returns true, if any of the buttons was hit.
boolean	isConnected() Returns the connection state.
boolean	isDownHit() (Only in remote mode) Returns true, if the cursor down key was hit since the last call of this method.
boolean	isEnterHit() (Only in remote mode) Returns true, if the ENTER key was hit since the last call of this method.
boolean	isEscapeHit() Returns true, if the ESCAPE key (in remote mode) or the push button (in autonomouse mode) was hit since the last call of this method.
boolean	isLeftHit() (Only in remote mode) Returns true, if the cursor left key was hit since the last call of this method.
boolean	isRightHit() (Only in remote mode) Returns true, if the cursor right key was hit since the last call of this method.
boolean	isRunning() Returns true as long as exit() is not called and the close button of the Connection Pane is not hit.
boolean	isUpHit() (Only in remote mode) Returns true, if the cursor up key hit since the last call of this method.
void	playTone(double frequency, double duration) Plays a tone with given frequency and duration.
void	reset() Resets Raspi to start location/direction.
void	setSoundVolume(int volume) Sets the sound volume.

Methods inherited from class java.lang.Object

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

Constructor Detail

Robot

public Robot(java.lang.String ipAddress,
     boolean immediateConnect)

Creates a RaspiRobot instance with given IP address. If immediateConnect is true, a immediateConnection trial is engaged while an information pane is shown. If immediateConnect is false, no connection trial is engaged at this time and connect() should be used. If ipAddress is null, a input dialog is displayed where the IP address can be entered. If run locally on the Raspi, the ipAddress parameter is ignored and the IP address is set to "localhost" and no connection pane is shown.

Parameters:

ipAddress - the IP address of the brick, e.g. "192.168.0.2"

immediateConnect - if true, a connection trial is engaged

Robot

public Robot(java.lang.String ipAddress)

Creates a RaspiRobot instance with given IP address. A connection trial is engaged while an information pane is shown. If ipAddress = null, a input dialog is displayed where the IP address can be entered. If run locally on the Raspi, the ipAddress parameter is ignored and the IP address is set to "localhost" and no connection pane is shown.

Parameters:

ipAddress - the IP address of the brick, e.g. "192.168.0.2"

Robot

public Robot()

Asks for the IP address and creates a RaspiRobot instance. The initial value for the address is read from the raspijlib.properties file. The selected entry is then stored in RaspiRemote.properties in the user home directory. If run locally on the Raspi, the IP address is set to "localhost" and no input dialog and no connection pane is shown. A connection trial is engaged while an information pane is shown.

Method Detail

addConnectionListener

public void addConnectionListener(ConnectionListener listener)

Registers a connection listener to get notifications when the link is established or broken. Keep in mind that you may get no "connection established" notification before the listener is registered (e.g if the constructor calls connect() immediately).

Parameters:

listener - the ConnectionListener to register

getProperties

public static RaspiProperties getProperties()

Returns the properties from the RaspiJLib property file.

Returns:

the reference to the raspiProperties

connect

public boolean connect()

Connects the host to the robot via an IP socket. Shows a information pane while connecting.

Returns:

true, if successful or already connected; false, if connection fails

connect

public boolean connect(boolean isConnectPane)

Connects the host to the robot via an IP socket. If isConnectPane = true, an information pane is shown while connecting.

Parameters:

isConnectPane - if true, an information pane is shown

Returns:

true, if successful or already connected; false, if connection fails

exit

public void exit()

Closes the connection dialog and any open QuitPane, disconnects the communication link and terminates the program.

isRunning

public boolean isRunning()

Returns true as long as exit() is not called and the close button of the Connection Pane is not hit.

Returns:

the running state of the robot

getInputStream

public java.io.InputStream getInputStream()

Returns the InputStream reference of the connection link.

Returns:

InputStream or null, if not connected

getDataOutputStream

public java.io.OutputStream getDataOutputStream()

Returns the OutputStream reference of the connection link.

Returns:

OutputStream or null, if not connected

isConnected

public boolean isConnected()

Returns the connection state.

Returns:

true, if connected, otherwise false

playTone

public void playTone(double frequency,
            double duration)

Plays a tone with given frequency and duration.

Parameters:

frequency - the frequency of the tone (in Hertz) (double rounded to int)

duration - the duration of the tone (in Millisec) (double rounded to int)

setSoundVolume

public void setSoundVolume(int volume)

Sets the sound volume. Master volume, used also for connect/disconnect melody.

Parameters:

volume - the sound volume (0..100)

getIPAddresses

public java.lang.String getIPAddresses()

Returns all IP addresses (in dotted format, comma separated).

Returns:

IP addresses

getVersion

public java.lang.String getVersion()

Returns library version information.

Returns:

library version

reset

public void reset()

Resets Raspi to start location/direction. Empty method for compatibility with RaspiSim.

addButtonListener

public void addButtonListener(ButtonListener listener)

Registers a button listener that simulates the events when one of the brick buttons is hit. The keyboard simulates the Raspi buttons as follows:
ESCAPE button->escape key
ENTER button->enter key
UP button->cursor up key
DOWN button->cursor down key
LEFT button->cursor left key
RIGHT button->cursor right key

Parameters:

listener - the ButtonListener to register

isButtonHit

public boolean isButtonHit()

Returns true, if any of the buttons was hit. Calls Thread.sleep(10) to be used in narrow loops. A button listener must be started before by calling startButtonListener.

Returns:

true, if a button was hit or the connection in not established

getHitButtonID

public int getHitButtonID()

Returns the button ID of the button previously hit. The button hit buffer is cleared then.

Returns:

the ID of the button; if the hit buffer is empty or the button listener is is not running or the connection in not established, return 0

isUpHit

public boolean isUpHit()

(Only in remote mode) Returns true, if the cursor up key hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in narrow loops.

Returns:

true, if the up button was clicked or the connection in not established

isDownHit

public boolean isDownHit()

(Only in remote mode) Returns true, if the cursor down key was hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in narrow loops.

Returns:

true, if the up button was clicked or the connection in not established

isLeftHit

public boolean isLeftHit()

(Only in remote mode) Returns true, if the cursor left key was hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in narrow loops.

Returns:

true, if the up button was clicked or the connection in not established

isRightHit

public boolean isRightHit()

(Only in remote mode) Returns true, if the cursor right key was hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in narrow loops.

Returns:

true, if the up button was clicked or the connection in not established

isEnterHit

public boolean isEnterHit()

(Only in remote mode) Returns true, if the ENTER key was hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in narrow loops.

Returns:

true, if the up button was clicked or the connection in not established

isEscapeHit

public boolean isEscapeHit()

Returns true, if the ESCAPE key (in remote mode) or the push button (in autonomouse mode) was hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in narrow loops.

Returns:

true, if the up button was clicked or the connection in not established