ch.aplu.raspisim

Class Robot

java.lang.Object

ch.aplu.raspisim.Robot

Direct Known Subclasses:

TurtleRobot

public class Robot
extends java.lang.Object

Class that represents a simulated Raspi brick. Parts (e.g. motors, sensors) may be assembled into the robot to make it doing the desired job. Each instance creates its own square playground (501 x 501 pixels). Some initial conditions may be modified by calling static methods of the class RobotContext in a static block. A typical example is:

import ch.aplu.raspisim.*;

public class Example
{
static
{
RobotContext.setStartPosition(100, 100);
RobotContext.setStartDirection(45);
}

public Example()
{
Robot robot = new Robot();
Gear gear = new Gear();
robot.addPart(gear);
gear.forward(5000);
robot.exit();
}

public static void main(String[] args)
{
new Example();
}
}


In principle you may remove the static header and use the program unmodified for the real robot using the RaspiJLib library.

All sprite images are loaded from subdirectory "sprites" of the application folder or, if not found there, from _sprites of the distribution JAR.

Field Summary

Fields

Modifier and Type	Field and Description
static java.awt.Point	collisionCenter Center of a circle to detect robot-obstacle collisions (pixel coordinates relative to center of robot image, default: (-13, 0)).
static int	collisionRadius Radius of a circle to detect robot-obstacle collisions (in pixels, default: 20).

Constructor Summary

Constructors

Constructor and Description
Robot() Creates a robot with its playground using defaults from RobotContext.

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	addCollisionListener(CollisionListener listener) Registers a robot-obtacle collision listener that fires the collide callback when the circumcircle of the robot overlaps with an obstacle.
void	addObstacle(Obstacle obstacle, int x, int y) Adds the given obstacle in the obstacle list and shows it at the given location.
void	addTarget(Target target, int x, int y) Adds the given target in the target list and shows it at the given location.
static void	debug(java.lang.String msg)
void	exit() Stops any motion and performs a cleanup of all parts.
static GameGrid	getGameGrid() Returns the instance reference of the GameGrid.
int	getHitButtonID() Returns the button ID of the button previously hit.
static Actor	getRobot() Returns the instance reference of the MyRobot actor.
static java.lang.String	getVersion() Returns the current library version.
boolean	isAutonomous() Returns always false.
boolean	isButtonHit() Returns true, if any of the buttons was hit.
boolean	isConnected() Returns the current state of the underlying GameGrid window.
boolean	isDownHit() Returns true, if the DOWN button was the last button hit since the last call of this method.
boolean	isEnterHit() Returns true, if the ENTER button was the last button hit since the last call of this method.
boolean	isEscapeHit() Returns true, if the ESCAPE button was the last button hit since the last call of this method.
boolean	isLeftHit() Returns true, if the LEFT button was the last button hit since the last call of this method.
boolean	isRightHit() Returns true, if the RIGHT button was the last button hit since the last call of this method.
boolean	isUpHit() Returns true, if the UP button was the last button hit since the last call of this method.
void	playTone(double frequency, double duration) Plays a sine tone with given frequency and duration and maximum volume.
void	playTone(double volume, double frequency, double duration, boolean blocking) Plays a sine tone with given frequency and duration.
void	removeObstacle(Obstacle obstacle) Removes the given obstacle from the obstacle list and hides it.
void	removeTarget(Target target) Removes the given target from the target list and hides it.
void	reset() Resets MyRobot to start location/direction.

Methods inherited from class java.lang.Object

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

Field Detail

collisionCenter

public static java.awt.Point collisionCenter

Center of a circle to detect robot-obstacle collisions (pixel coordinates relative to center of robot image, default: (-13, 0)).

collisionRadius

public static int collisionRadius

Radius of a circle to detect robot-obstacle collisions (in pixels, default: 20).

Constructor Detail

Robot

public Robot()

Creates a robot with its playground using defaults from RobotContext.

Method Detail

getGameGrid

public static GameGrid getGameGrid()

Returns the instance reference of the GameGrid.

Returns:

the reference of the GameGrid

isConnected

public boolean isConnected()

Returns the current state of the underlying GameGrid window.

Returns:

true, if the window not disposed; otherwise false

getRobot

public static Actor getRobot()

Returns the instance reference of the MyRobot actor.

Returns:

the reference of the MyRobot

exit

public void exit()

Stops any motion and performs a cleanup of all parts.

getVersion

public static java.lang.String getVersion()

Returns the current library version.

Returns:

a string telling the current version

reset

public void reset()

Resets MyRobot to start location/direction.

addTarget

public void addTarget(Target target,
             int x,
             int y)

Adds the given target in the target list and shows it at the given location. If the target is already in the target list, it is first removed.

Parameters:

target - the target to add

x - the x location of the target center

y - the y location of the target center

removeTarget

public void removeTarget(Target target)

Removes the given target from the target list and hides it. If the target is not part of the target list, nothing happens.

Parameters:

target - the target to remove

addObstacle

public void addObstacle(Obstacle obstacle,
               int x,
               int y)

Adds the given obstacle in the obstacle list and shows it at the given location. If the obstacle is already in the obstacle list, it is first removed.

Parameters:

obstacle - the obstacle to add

x - the x location of the target center

y - the y location of the target center

removeObstacle

public void removeObstacle(Obstacle obstacle)

Removes the given obstacle from the obstacle list and hides it. If the obstacle is not part of the obstacle list, nothing happens.

Parameters:

obstacle - the obstacle to remove

addCollisionListener

public void addCollisionListener(CollisionListener listener)

Registers a robot-obtacle collision listener that fires the collide callback when the circumcircle of the robot overlaps with an obstacle.

Parameters:

listener - the CollisionListener to register

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 NXT/EV3 buttons as follows:
ESCAPE button->escape key
ENTER button->enter key
UP button (only EV3)->cursor up key
DOWN button (only EV3)->cursor down key
LEFT button->cursor left key
RIGHT button->cursor right key
For the Raspi brick, there is only one button that can be used in autonomous mode as ENTER or ESCAPE button.

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 simulation window is closed

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 simulation window is closed, return 0

isUpHit

public boolean isUpHit()

Returns true, if the UP button was the last button 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 simulation window is closed

isDownHit

public boolean isDownHit()

Returns true, if the DOWN button was the last button 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 simulation window is closed

isLeftHit

public boolean isLeftHit()

Returns true, if the LEFT button was the last button 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 simulation window is closed

isRightHit

public boolean isRightHit()

Returns true, if the RIGHT button was the last button 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 simulation window is closed

isEnterHit

public boolean isEnterHit()

Returns true, if the ENTER button was the last button 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 simulation window is closed

isEscapeHit

public boolean isEscapeHit()

Returns true, if the ESCAPE button was the last button 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 simulation window is closed

isAutonomous

public boolean isAutonomous()

Returns always false. For compatiblity with EV3JLib.

Returns:

false

playTone

public void playTone(double frequency,
            double duration)

Plays a sine tone with given frequency and duration and maximum volume. The method blocks until the tone is finished.

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)

playTone

public void playTone(double volume,
            double frequency,
            double duration,
            boolean blocking)

Plays a sine tone with given frequency and duration.

Parameters:

volume - the sound volume (0..100) (double rounded to int)

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

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

blocking - if true, the methods blocks until the tone is finished

debug

public static void debug(java.lang.String msg)