1 package cz.cuni.amis.pogamut.usar2004.agent.module.sensor;
2
3 import cz.cuni.amis.pogamut.usar2004.agent.module.datatypes.SensorType;
4 import java.util.Map;
5 import java.util.Set;
6
7 /**
8 * Sensor message representative for Victim sensor.
9 *
10 * @author vejmanm
11 */
12 public class SensorEncoder extends SuperSensor
13 {
14 //public static final String type="Encoder";
15 public static final SensorType type = SensorType.ENCODER_SENSOR;
16
17 /**
18 * Ctor. Sensor type describes particular subject about which we want to
19 * know about. It is used to distinguish incoming message from the server.
20 */
21 public SensorEncoder()
22 {
23 super(type);
24 }
25
26 /**
27 * String is the sensor name. Integer is the tick count. Example:
28 *
29 * SEN {Type Encoder} {Name ECLeft Tick -61} {Name ECRight Tick -282} {Name
30 * ECTilt Tick 0} {Name ECPan Tick 0}
31 *
32 * @param Name String representation of Tick.
33 * @return Returns Tick value by input <b>Name</b>.
34 */
35 public int getTickByName(String Name)
36 {
37 return lastMessage.getEncoderTicks().get(Name);
38 }
39
40 /**
41 * String is the sensor name. Integer is the tick count. Example:
42 *
43 * SEN {Type Encoder} {Name ECLeft Tick -61} {Name ECRight Tick -282} {Name
44 * ECTilt Tick 0} {Name ECPan Tick 0}
45 *
46 * @return Returns KeySet representing the Encoder Tick names.
47 */
48 public Set<String> getEncoderNames()
49 {
50 return lastMessage.getEncoderTicks().keySet();
51 }
52
53 /**
54 * Returns Encoder tick list size.
55 *
56 * @return Returns Encoder tick list size.
57 */
58 public int getEncodersSize()
59 {
60 return lastMessage.getEncoderTicks().size();
61 }
62
63 /**
64 * String is the sensor name. Integer is the tick count. Example:
65 *
66 * SEN {Type Encoder} {Name ECLeft Tick -61} {Name ECRight Tick -282} {Name
67 * ECTilt Tick 0} {Name ECPan Tick 0}
68 *
69 * @return Returns Map of Encoder couples String-Integers.
70 */
71 private Map<String, Integer> getEncoderTicks()
72 {
73 return lastMessage.getEncoderTicks();
74 }
75 }