comp329robosim

Class RobotMonitor

java.lang.Object

java.lang.Thread

comp329robosim.RobotMonitor

All Implemented Interfaces:

java.lang.Runnable

public class RobotMonitor
extends java.lang.Thread

This code is based on the RobotMonitor.java that is provided as part of the source for the COMP329 lectures on Threads & Multi-tasking in Robots. It provides blocking variants of the main API methods for the robot, and can also generate diagnostic information which can be used for testing. This is the class that should be used when interacting with the robot.

Author:

Dr Terry R. Payne (trp@liv.ac.uk)

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Thread

java.lang.Thread.State, java.lang.Thread.UncaughtExceptionHandler

Field Summary

Fields

Modifier and Type	Field and Description
comp329robosim.SimulatedRobot	robot

Fields inherited from class java.lang.Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Constructor Summary

Constructors

Constructor and Description
RobotMonitor(comp329robosim.SimulatedRobot r, int d)

Method Summary

Modifier and Type	Method and Description
java.awt.Color	getCSenseColor() Check the colour of the cell beneath the center of the robot.
int	getDirection() Get the current direction (as an offset to the robot heading) of the sensor.
int	getHeading() Obtains the current position of the robot The heading is in the nearest degree, such that 0 is along the y axis, and increasing values rotate in a clockwise direction
int	getUSenseRange() Get the range of the nearest object in the direction of the sensor.
int	getX() Obtains the current position of the robot in the x axis (in mm)
int	getY() Obtains the current position of the robot in the y axis (in mm)
java.lang.Boolean	isBumperPressed() Check if the bumper is pressed.
void	monitorRobotStatus(boolean verbose) Turn on verbose diagnostics to check status of the robot.
void	rotate(int degrees) Travel a defined distance then stop
void	run() The monitor writes various bits of robot state to the screen, then sleeps.
void	setDirection(int degrees) Set the desired direction of the sensor, as an offset of the heading of the robot.
java.lang.Boolean	setTravelSpeed(int travelSpeed) Locomotion: sets the current speed of the robot and (implicitly) the rotation speed.
void	travel(int distance) Travel a defined distance then stop

Methods inherited from class java.lang.Thread

activeCount, checkAccess, countStackFrames, currentThread, destroy, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, resume, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, start, stop, stop, suspend, toString, yield

Methods inherited from class java.lang.Object

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

Field Detail

robot

public comp329robosim.SimulatedRobot robot

Constructor Detail

RobotMonitor

public RobotMonitor(comp329robosim.SimulatedRobot r,
                    int d)

Method Detail

setTravelSpeed

public java.lang.Boolean setTravelSpeed(int travelSpeed)

Locomotion: sets the current speed of the robot and (implicitly) the rotation speed.

Parameters:

travelSpeed - the travelSpeed to set

Returns:

true if the travel speed could be successfully set

travel

public void travel(int distance)

Travel a defined distance then stop

Parameters:

distance - the distance to travel in mm

rotate

public void rotate(int degrees)

Travel a defined distance then stop

Parameters:

distance - the distance to travel in mm

getX

public int getX()

Obtains the current position of the robot in the x axis (in mm)

Returns:

the x location on the map

getY

public int getY()

Obtains the current position of the robot in the y axis (in mm)

Returns:

the y location on the map

getHeading

public int getHeading()

Obtains the current position of the robot The heading is in the nearest degree, such that 0 is along the y axis, and increasing values rotate in a clockwise direction

Returns:

the heading

isBumperPressed

public java.lang.Boolean isBumperPressed()

Check if the bumper is pressed. This will be true if the robot tried to move into an obstacle. If the robot moves away from an obstacle successfully, then the value is false.

Returns:

bumper status

getCSenseColor

public java.awt.Color getCSenseColor()

Check the colour of the cell beneath the center of the robot.

Returns:

a Color object

getUSenseRange

public int getUSenseRange()

Get the range of the nearest object in the direction of the sensor. This senses an object that would result in a collision with the robot if it were to move in the direction of the sensor (i.e. the cone of the sensor is parallel with a width being that of the robot diameter). The maximum range is 2550mm.

Returns:

range to nearest object in the direction of the sensor in mm

setDirection

public void setDirection(int degrees)

Set the desired direction of the sensor, as an offset of the heading of the robot. Valid ranges are -90 (i.e. looking left) to 90 (i.e. looking right). Any angle between these ranges can be selected, and the method will block until the sensor is pointing in this direction.

Parameters:

angle - (in degrees) from the heading of the robot

getDirection

public int getDirection()

Get the current direction (as an offset to the robot heading) of the sensor.

Returns:

the angle of the sensor, where 0 is in the direction of the robot; and any value in the range -90 (i.e. looking left) to 90 (i.e. looking right)

monitorRobotStatus

public void monitorRobotStatus(boolean verbose)

Turn on verbose diagnostics to check status of the robot. Output will appear in stdout.

Parameters:

verbose - is either true (enable diagnostics) or false (disable diagnostics)

run

public void run()

The monitor writes various bits of robot state to the screen, then sleeps.

Specified by:

run in interface java.lang.Runnable

Overrides:

run in class java.lang.Thread