1 package cz.cuni.amis.pogamut.usar2004.agent.module.state;
2
3 import cz.cuni.amis.pogamut.usar2004.communication.messages.datatypes.LinkState;
4 import cz.cuni.amis.pogamut.usar2004.communication.messages.usarinfomessages.MissionPackageMessage;
5 import java.util.List;
6
7 /**
8 * State message representative for Mission package.
9 *
10 * @author vejmanm
11 */
12 public class MissionPackageState
13 {
14 protected MissionPackageMessage lastMessage;
15
16 public MissionPackageState()
17 {
18 }
19
20 /**
21 * Method used for updating the message object that provides particular
22 * properties for given type. Note that this object is created by yylex
23 * parser and contains properties for all configuration subject types. But
24 * only relevat to individual Config Subject are filled.
25 *
26 * @param message Mission package message from server.
27 */
28 public void updateMessage(MissionPackageMessage message)
29 {
30 lastMessage = message;
31 }
32
33 /**
34 * Timestamp form the UT since server start in seconds.
35 *
36 * @return Returns seconds elapsed from the start of the server.
37 */
38 public double getTime()
39 {
40 return lastMessage.getTime();
41 }
42
43 /**
44 * Used to make sure the object is filled.
45 *
46 * @return Returns true if the object is filled with State message.
47 */
48 public Boolean isReady()
49 {
50 return (lastMessage != null);
51 }
52
53 /**
54 * Name of the mission package
55 *
56 * @return; Returns the name of the mission package
57 */
58 public String getName()
59 {
60 return lastMessage.getName();
61 }
62
63 /**
64 * This parameter gives the link number that will be described by the next
65 * two parameters (Value and Torque). Please note that you will have as many
66 * as these parameters as you have links.
67 *
68 * VALUE parameter has two possible meanings. If the link being described is
69 * a prismatic joint, double gives the distance (in meters) from the
70 * original position of the link. If the link being described is a revolute
71 * joint, it gives a sector(probably).
72 *
73 * The TORQUE parameter gives the current torque of the link being
74 * described. * All of the above are collected into one data structure below
75 * this text.
76 *
77 * @return Returns collection of Link States.
78 */
79 public List<LinkState> GetLinkStateList()
80 {
81 return lastMessage.getLinkStateSet();
82 }
83 }