1 package cz.cuni.amis.pogamut.usar2004.agent.module.sensor;
2
3 import cz.cuni.amis.pogamut.usar2004.agent.module.datatypes.SensorType;
4 import cz.cuni.amis.pogamut.usar2004.communication.messages.usarinfomessages.SensorMessage;
5
6 /**
7 * It was initially abstract, but ctor with one parameter was inserted and now
8 * this class is used not only as base class for sensor modules, but also as
9 * class carrying elementary info about unknown sensors.
10 *
11 * @author vejmanm
12 */
13 public /*
14 * abstract
15 */ class SuperSensor
16 {
17 protected SensorMessage lastMessage;
18 protected SensorType sensorType;
19
20 /**
21 * Ctor. Sensor type describes particular subject about which we want to
22 * know about. It is used to distinguish incoming message from the server.
23 */
24 public SuperSensor()
25 {
26 this(SensorType.UNKNOWN_SENSOR);
27 }
28
29 /**
30 * Ctor.
31 *
32 * @param type Sensor type describes particular subject about which we want
33 * to know about. It is used to distinguish incoming message from the
34 * server.
35 */
36 protected SuperSensor(SensorType type)
37 {
38 this.sensorType = type;
39 }
40
41 // @Override
42 // protected void cleanUp()
43 // {
44 // super.cleanUp();
45 // bot=null;
46 // lastMessage = null;
47 // sensorType=null;
48 // }
49 /**
50 * Method used for updating the message object that provides particular
51 * properties for given type. Note that this object is created by yylex
52 * parser and contains properties for all configuration subject types. But
53 * only relevat to individual Sensor are filled.
54 *
55 * @param message Sensor message from server.
56 */
57 public void updateMessage(SensorMessage message)
58 {
59 //if(message.getType().equalsIgnoreCase(SensorType))
60 lastMessage = message;
61 }
62
63 /**
64 * Timestamp form the UT since server start in seconds. Note that time is
65 * optional parameter.
66 *
67 * @return Returns seconds elapsed from the start of the server.
68 */
69 public double getTime()
70 {
71 return lastMessage.getTime();
72 }
73
74 /**
75 * Used to make sure the object is filled.
76 *
77 * @return Returns true if the object is filled with sen. message.
78 */
79 public Boolean isReady()
80 {
81 return (lastMessage != null);
82 }
83
84 /**
85 * Type describes the sensor type. It will be one of the following values:
86 * "RFID”, “RangeScanner”, “IR”, "IRScanner", "Tachometer", "Helper",
87 * "Sonar", "Odometry", "GPS", "INS", "INU", "Encoder", "Touch",
88 * "VictSensor","HumanMotion", "Sound" or "GroundTruth".
89 *
90 * @return Type of the sensor.
91 */
92 public String getType()
93 {
94 return lastMessage.getType();
95 }
96
97 /**
98 * SensorType is a descriptor used for creating particular instance and for
99 * getting type information about particular sensor.
100 *
101 * @return Returns SensorType.
102 */
103 public SensorType getSensorType()
104 {
105 return sensorType;
106 }
107
108 /**
109 * Name of the sensor.
110 *
111 * @return Returns name of the sensor
112 */
113 public String getName()
114 {
115 return lastMessage.getName();
116 }
117 }
118 ///*
119 // * To change this template, choose Tools | Templates
120 // * and open the template in the editor.
121 // */
122 //package cz.cuni.amis.pogamut.usar2004.agent.module.sensor;
123 //
124 //import cz.cuni.amis.pogamut.base.agent.module.SensorModule;
125 //import cz.cuni.amis.pogamut.base.communication.worldview.IWorldView;
126 //import cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEventListener;
127 //import cz.cuni.amis.pogamut.usar2004.agent.USAR2004Bot;
128 //import cz.cuni.amis.pogamut.usar2004.communication.messages.usarinfomessages.SensorMessage;
129 //
130 ///**
131 // *
132 // * @author vejmanm
133 // */
134 //public abstract class SuperSensor extends SensorModule<USAR2004Bot>
135 //{
136 //
137 // protected SensorMessageListener sensorListener;
138 //
139 // public SuperSensor(USAR2004Bot bot, String type)
140 // {
141 // super(bot);
142 // this.bot = bot;
143 //
144 // sensorListener = new SensorMessageListener(worldView, type);
145 // }
146 //
147 // private class SensorMessageListener implements IWorldEventListener<SensorMessage>
148 // {
149 //
150 // @Override
151 // public void notify(SensorMessage event)
152 // {
153 // //rfidsensor uses null
154 // if(type == null || event.getType().equalsIgnoreCase(type))
155 // lastMessage = event;
156 // }
157 // private String type = null;
158 //
159 // public SensorMessageListener(IWorldView worldView, String type)
160 // {
161 // this.type = type;
162 // worldView.addEventListener(SensorMessage.class, this);
163 // }
164 // }
165 //}