1 package cz.cuni.amis.pogamut.usar2004.agent.module.configuration;
2
3 import cz.cuni.amis.pogamut.usar2004.agent.module.datatypes.ConfigType;
4 import cz.cuni.amis.pogamut.usar2004.communication.messages.usarinfomessages.ConfigurationMessage;
5 import java.util.Map;
6 import java.util.Set;
7
8 /**
9 * Parent class for all possible configuration subjects. It covers the basic and
10 * common properties for all the configuration subjects.
11 *
12 * @author vejmanm
13 */
14 public abstract class SuperConfiguration
15 {
16 protected ConfigType confType;
17 protected ConfigurationMessage lastMessage;
18
19 /**
20 * Ctor.
21 *
22 * @param type Configuration type describes particular subject about which
23 * we want to know about. It is used to distinguish incoming message from
24 * the server.
25 */
26 public SuperConfiguration(ConfigType type)
27 {
28 this.confType = type;
29 }
30
31 /**
32 * Used to make sure the object is filled.
33 *
34 * @return Returns true if the object is filled with Conf. message.
35 */
36 public Boolean isReady()
37 {
38 return (lastMessage != null);
39 }
40
41 /**
42 * Type describes the vehicle type. It will be one of the following values:
43 * "GroundVehicle”, “LeggedRobot”, “NauticVehicle”, or “AerialVehicle” of
44 * "Camera" or some kind of sensor or effecter or "MisPkg".
45 *
46 * @return Returns type of the geometry message.
47 */
48 public String getType()
49 {
50 return lastMessage.getType();
51 }
52
53 /**
54 * Name of the subject that this geometry message concerns.
55 *
56 * @return Returns the name of the Geometry item.
57 */
58 public String getName()
59 {
60 return lastMessage.getName();
61 }
62
63 /**
64 * ConfigType is a descriptor used for creating particular instance and for
65 * getting type information about particular configuration subject.
66 *
67 * @return Returns ConfigType.
68 */
69 public ConfigType getConfigType()
70 {
71 return this.confType;
72 }
73
74 /**
75 * For a camera, sensor or effecter, a configuration message conatins a pair
76 * ‘{Name Value}’ that describes the feature of this sensor type. Different
77 * sensor types have different name value pairs. For detailed information,
78 * please refer to section 10 of USARSim manual v3.1.3 about how to
79 * configure the sensor.
80 *
81 * Example: CONF {Type Camera} {CameraDefFov 0.8727} {CameraMinFov 0.3491}
82 * {CameraMaxFov 2.0943} {CameraFov 0.8726}
83 *
84 * @return Returns keySet of features.
85 */
86 public Set<String> getFeatureNames()
87 {
88 return lastMessage.getFeatures().keySet();
89 }
90
91 /**
92 * For a camera, sensor or effecter, a configuration message conatins a pair
93 * ‘{Name Value}’ that describes the feature of this sensor type. Different
94 * sensor types have different name value pairs. For detailed information,
95 * please refer to section 10 of USARSim manual v3.1.3 about how to
96 * configure the sensor.
97 *
98 * Example: CONF {Type Camera} {CameraDefFov 0.8727} {CameraMinFov 0.3491}
99 * {CameraMaxFov 2.0943} {CameraFov 0.8726}
100 *
101 * @return Returns feature value by feature name from the feature map.
102 */
103 public String getFeatureValueBy(String Name)
104 {
105 return lastMessage.getFeatures().get(Name);
106 }
107
108 /**
109 * For a camera, sensor or effecter, a configuration message conatins a pair
110 * ‘{Name Value}’ that describes the feature of this sensor type. Different
111 * sensor types have different name value pairs. For detailed information,
112 * please refer to section 10 of USARSim manual v3.1.3 about how to
113 * configure the sensor.
114 *
115 * Example: CONF {Type Camera} {CameraDefFov 0.8727} {CameraMinFov 0.3491}
116 * {CameraMaxFov 2.0943} {CameraFov 0.8726}
117 *
118 * @return Returns the size of the feature map.
119 */
120 public int getFeatureSize()
121 {
122 return lastMessage.getFeatures().size();
123 }
124
125 /**
126 * For a camera, sensor or effecter, a configuration message conatins a pair
127 * ‘{Name Value}’ that describes the feature of this sensor type. Different
128 * sensor types have different name value pairs. For detailed information,
129 * please refer to section 10 of USARSim manual v3.1.3 about how to
130 * configure the sensor.
131 *
132 * Example: CONF {Type Camera} {CameraDefFov 0.8727} {CameraMinFov 0.3491}
133 * {CameraMaxFov 2.0943} {CameraFov 0.8726}
134 *
135 * @return Returns Map of features.
136 */
137 public Map<String, String> getFeatures()
138 {
139 return lastMessage.getFeatures();
140 }
141
142 /**
143 * Method used for updating the message object that provides particular
144 * properties for given type. Note that this object is created by yylex
145 * parser and contains properties for all configuration subject types. But
146 * only relevat to individual Config Subject are filled.
147 *
148 * @param message Configuration message from server.
149 */
150 public void updateMessage(ConfigurationMessage message)
151 {
152 lastMessage = message;
153 }
154 }