javaclient
Class PlayerDevice

java.lang.Object
  extended by javaclient.PlayerDevice
Direct Known Subclasses:
AbstractPositionDevice, AIOInterface, AudioDSPInterface, AudioInterface, AudioMixerInterface, BlinkenlightInterface, BlobfinderInterface, BumperInterface, CameraInterface, DIOInterface, EnergyInterface, FiducialInterface, GPSInterface, GripperInterface, IRInterface, JoystickInterface, LaserInterface, LocalizeInterface, LogInterface, MapInterface, MComInterface, MotorInterface, NomadInterface, PlannerInterface, PowerInterface, PtzInterface, SimulationInterface, SonarInterface, SoundInterface, SpeechInterface, SpeechRecognitionInterface, TruthInterface, WaveformInterface, WiFiInterface

public abstract class PlayerDevice
extends java.lang.Object

Abstract class for all Player interfaces.

Version:
Author:
Maxim A. Batalin, Esben H. Ostergaard & Radu Bogdan Rusu

Field Summary
protected  short device
           
protected  int DIFFERENCE_SYNCH_FACTOR
           
protected  short index
           
protected  java.io.DataInputStream is
           
protected  java.io.DataOutputStream os
           
protected  PlayerClient pc
           
protected  int PLAYER_MAX_REQREP_SIZE
           
protected  short PLAYER_STXX
           
protected  int reserved
           
protected  int size
           
protected  int t_sec
           
protected  int t_usec
           
protected  int ts_sec
           
protected  int ts_usec
           
 
Constructor Summary
PlayerDevice(PlayerClient plc)
          Abstract constructor for each PlayerDevice.
 
Method Summary
 int getTimeForDataSampled_sec()
           
 int getTimeForDataSampled_usec()
           
 long getTimeForDataSampled()
           
 int getTimeForDataSent_sec()
           
 int getTimeForDataSent_usec()
           
 long getTimeForDataSent()
           
 void handleEARMessage()
          Abstract handleEARMessage method.
 void handleNARMessage()
          Abstract handleNARMessage method.
 void handleResponse(int size)
          Abstract handleResponse method (threaded mode).
 void readData()
          Read up to size bytes of data.
protected  void readHeader()
          Read the t_sec, t_usec, ts_sec, ts_usec, reserved and size values from the Player message header.
protected  void sendHeader(short type, int size)
          Sends a Player message header.
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

PLAYER_STXX

protected final short PLAYER_STXX
See Also:
Constant Field Values

PLAYER_MAX_REQREP_SIZE

protected final int PLAYER_MAX_REQREP_SIZE
See Also:
Constant Field Values

DIFFERENCE_SYNCH_FACTOR

protected final int DIFFERENCE_SYNCH_FACTOR
See Also:
Constant Field Values

pc

protected PlayerClient pc

is

protected java.io.DataInputStream is

os

protected java.io.DataOutputStream os

t_sec

protected int t_sec

t_usec

protected int t_usec

ts_sec

protected int ts_sec

ts_usec

protected int ts_usec

reserved

protected int reserved

size

protected int size

device

protected short device

index

protected short index
Constructor Detail

PlayerDevice

public PlayerDevice(PlayerClient plc)
Abstract constructor for each PlayerDevice.

Parameters:
plc - a reference to the PlayerClient object
Method Detail

getTimeForDataSampled_sec

public int getTimeForDataSampled_sec()

getTimeForDataSampled_usec

public int getTimeForDataSampled_usec()

getTimeForDataSent_sec

public int getTimeForDataSent_sec()

getTimeForDataSent_usec

public int getTimeForDataSent_usec()

getTimeForDataSampled

public long getTimeForDataSampled()

getTimeForDataSent

public long getTimeForDataSent()

readHeader

protected void readHeader()
Read the t_sec, t_usec, ts_sec, ts_usec, reserved and size values from the Player message header.


sendHeader

protected void sendHeader(short type,
                          int size)
Sends a Player message header.

Parameters:
type - type of message (DATA, CMD, REQ, RESP_ACK, SYNCH, RESP_NACK, RESP_ERR)
size - size in bytes of the payload to follow

readData

public void readData()
Read up to size bytes of data.


handleNARMessage

public void handleNARMessage()
Abstract handleNARMessage method.


handleEARMessage

public void handleEARMessage()
Abstract handleEARMessage method.


handleResponse

public void handleResponse(int size)
Abstract handleResponse method (threaded mode).

Parameters:
size - size of the payload