Knowledge Science GroupDept of Computer ScienceUniveristy of Calgary
public class CliffCalibratingController extends StateBasedController
| Modifier and Type | Class and Description |
|---|---|
(package private) class |
CliffCalibratingController.SensorCalibration
A structure to save information about the sensors in the
CliffCalibratingController.Sensor structure. |
TransientAgent.NewAgentLispCommandAbstractProcess.SubthreadThread.State, Thread.UncaughtExceptionHandler| Modifier and Type | Field and Description |
|---|---|
(package private) IRobotState |
calibrating
A null state in effect while calibrating
|
(package private) short |
calibrationDefSpeed
The default speed for the robot to travel when calibrating
|
(package private) int |
calibrationInterval_ms |
(package private) int |
calibrationSampleCount |
private static boolean |
flash |
private static long |
flashTime |
(package private) short |
oldDefSpeed
Save the old speed to restore it after calibration
|
(package private) CliffCalibratingController.SensorCalibration |
sensors
The instance containing sensors for this agent
|
defSpeed, demoOn, lightOn, serveragentConstructorComplete, propertiescacheKB, CDInvitedTo, CDinvitee, conversationData, defaultOntologyClassName, DEFER_ACTION, DROP_ACTION, kBase, ListOfArgs, ontologyEngineCreateMethod, ontologyEngineLoadMethod, policies, policiesAlwaysApply, policiesLastResort, primaryUI, proxy, UIs, usingProxyhuntForPort, initParams, ontology, ontologyShared, options, securityFilter, trace, TRACE_MONITOR, TRACE_OFF, TRACE_ON, TRACE_TO_FILE, TRACE_UNDEFINED, uniqueThreadName, waitingForAgentToStartMAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY| Constructor and Description |
|---|
CliffCalibratingController(ParamsMap params,
AgentUI ui)
A
IRobotState-based robot controller that automatically starts out in calibrating state. |
| Modifier and Type | Method and Description |
|---|---|
void |
initializeAfterRegistered(boolean registered)
Overrides
Agent.initializeAfterRegistered(boolean) start the robot moving
straight ahead at Controller.defSpeed mm/s. |
void |
notifyCalibration(iRobotCommands.Sensor sensor) |
protected void |
sendCommand(String cmd) |
void |
setCalibrationSpeed(Integer speed) |
protected void |
setState_afterCalibration() |
String |
showCalibration() |
protected void |
startCalibrate(iRobotCommands.Sensor sensor) |
getCurrentState, getCurrentStateName, onBumpsAndWheelDrops, onButtonPressed_advance, onButtonPressed_play, onButtonPressed_playAndAdvance, onOvercurrent, registerState, setState, setStatedemoOn, demoOnToggle, getServerdestroyDataObject, finalize, getAgentOptions, getBooleanProperty, getCASAFilename, getCreateDate, getDataObject, getDataObjectInputStream, getDataObjectOutputStream, getDoubleProperty, getFloatProperty, getIntegerProperty, getLongProperty, getOptions, getStringProperty, hasProperty, isPersistent, main, makeDefaultGUI, makeDefaultInternalFrame, makeOptions, pendingFinishRun, putDataObject, putDataObject, readPersistent, ready, realizeAgentBehaviourFromOptions, removeProperty, setBooleanProperty, setDoubleProperty, setFloatProperty, setIntegerProperty, setLongProperty, setOptions, setPersistent, setStringProperty, updateOptions, writePersistentabclEval, abclEval, abclEval, accept_deleteCD, accept_exit, accept_forward_message, accept_LAC_closing, accept_new_MenuItem, accept_update, acceptDefault, addConversation, addJoinedCooperationDomain, addMembers, addSubscribeEvents, assembleDefault, assert_, assert_, authorizedByProxy, authorizeMessage, chooseSC, concludeDefault, consider_execute, consider_invite_to_cd, consider_new_MenuItem, consider_ping, consider_query_if, consider_query_ref, considerDefault, createCasaLispOperators, dispatchMsgHandlerMethod, doAddObserver, doAdvertise, doCDGetHistory_sync, doCDGetMembers, doCDPutData, doCDSubscribeMembership, doFindInstances_sync, doGetCooperationDomains, doGetOnology, doInviteToCD, doJoinCD, doPing_sync, doPing, doRegisterAgentInstance, doRegisterAgentInstance, doResolveURL, doSearchYP, doUnadvertise, doUnregisterAgentInstance, doUnregisterAgentType, doWithdrawCD, evaluateDefault, evesdrop, executeCommand, findFileResourcePath, findFileResourcePath, getAgentForThread, getAlwaysApplyPolicies, getBanner, getCachedKnowledgeBase, getChosenCommitment, getCommitmentProcessor, getConversation, getConversations, getConversationsReport, getDefaultBanner, getDefFileSystemLocations, getEventForThread, getField, getInstancesFound, getJoinedCooperationDomain, getJoinedCooperationDomains, getKnowledgeBase, getLACURL, getLastResortPolicies, getMembers, getMsgForThread, getObjectsForThread, getOntology, getOntologyEngine, getOntologyFileSuffix, getPolicies, getPrimaryUI, getProxy, getSCStore, getSerializedOntology, getStrategy, getStrategyGUI, getSubscribeEvents, getSubscribeEvents, getTermsFromContent, getUI, getUIForThread, getUIs, getUnfulfilledSocialCommitments, getUnfulfilledSocialCommitments, handleErrorReplies, handleEvent, handleLACClosing, hasActiveCommitments, hasConversation, hasStrategyGUI, initializePolicies, initializeThread, initJADE, initUI, isEventQueueReady, isRegistered, isRegisteredWithLAC, isStoppable, isTrusted, isTrusted, isUsingProxy, kb_get_value, makeDefaultInterface, makeDefaultTextInterface, monitorDefault, notifySendingMessage, optionsToString, parseJADENode, pendingFinishRun_unregisterAgentInstance, pendingFinishRun_withdrawFromAllCDs, perform_execute, perform_FIPAStyle, perform_get_name, perform_get_ontology, perform_invite_to_cd, perform_method_call, perform_query_if, perform_query_if, perform_query_ref, perform_query_ref, performDefault, processCommitment, processCommitments, processObserverNotification, putExtendedOntology, putPolicy, putPolicyAlwaysApply, putPolicyLastResort, putReplacementOntology, putUI, query_ref, query_toString, query, queryIf, queryRef_toIntegerList, queryRef_toString, queryRef_toStringList, queryRef_toTermList, queryRef, queryRef, queryRefAIDs, queryRefURLs, querywithFilter, recursiveParent, recursivePermutations, release_execute, release_FIPAStyle, release_get_agents_registered, release_get_agents_running, release_get_members, release_get_ontology, release_join_cd, release_ping, release_query_if, release_query_ref, release_resolve_url, release_unregister_agentType, release_unregister_instance, release_withdraw_cd, releaseDefault, removeConversation, removeCooperationDomains, removeJoinedCooperationDomain, removeSubscribeEvents, requestInstances, resolveConnectException, retrieveReturnedData, saveReturnedData, searchOntology, searchOntology1, setBanner, setCommitmentProcessor, setField, setInstancesFound, setOntology, shouldDoExecuteRequest, template_handleNewOntologyInfo, update, updateConversationProtocolType, verifyCD, verifyDefault, verifyMessageaddObserver, addObserver, addObserver, addObserver, addTraceTags, addTransformation, bump, clearAllTraceTags, closePort, compareTo, countObservers, defer, defer, deleteObserver, deleteObserver, deleteObservers, dequeueEvent, equals, eventBufferLoopBody, eventBufferLoopPeriodic, eventQueuePeek, existed, exit, finishRun, fixupMessage, getAgent, getAgentName, getEventQueue, getInitParams, getNewMessage, getNewMessage, getPort, getSocketServer, getTrace, getTraceTags, getTransformationFor, getUniqueRequestID, getURL, getUseAckProtocol, getUsePriority, hasChanged, hasOpenPort, in, initializeConstructor, initializeURL, isA, isA, isA, isA, isAAct, isAAct, isAgentThread, isAPerformative, isAPerformative, isExiting, isInitialized, isLoggingTag, isObserveMessages, isPaused, isThisMyAddress, isTracing, loadClass, makeSubthread, makeSubthread, makeTraceParam, notifyObservers, notifyObservers, notifyObserversWithNoArg, notifyObserversWithTop, out, println, println, println, println, println, queueEvent, queueEventIf, removeTraceTags, resetRuntimeOptionsFromCommandLine, resetSecurityPackage, resetTraceOptions, revTransform, revTransform, run, sendMessage, sendMessage, sendMessageAndWait, sendQueryAndWait, sendRequestAndWait, sendRequestAndWait, setAllTraceTags, setObserveMessages, setPause, setTraceTags, setTracing, setURL, setUseAckProtocol, setUsePriority, startSocketServer, startTraceMonitor, step, transform, transform, unhandledMessageactiveCount, checkAccess, clone, countStackFrames, currentThread, destroy, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, resume, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, start, stop, stop, suspend, toString, yieldgetClass, hashCode, notify, notifyAll, wait, wait, waitdoAdvertise, doCDGetHistory_sync, doCDGetMembers, doCDPutData, doFindInstances_sync, doGetCooperationDomains, doGetOnology, doInviteToCD, doJoinCD, doPing_sync, doPing, doRegisterAgentInstance, doRegisterAgentInstance, doSearchYP, doUnadvertise, doUnregisterAgentInstance, doUnregisterAgentType, doWithdrawCD, executeCommand, getInstancesFound, getJoinedCooperationDomains, getLACURL, getMembers, getOntology, getSerializedOntology, getStrategyGUI, hasStrategyGUI, isAAct, isInitialized, isRegistered, makeDefaultInterface, putExtendedOntology, putReplacementOntology, putUI, release_get_ontology, removeCooperationDomains, requestInstancesaddObserver, addObserver, closePort, deleteObserver, deleteObserver, exit, getAgentName, getName, getNewMessage, getPort, getStrategy, getTrace, getUniqueRequestID, getURL, getUseAckProtocol, hasOpenPort, isA, isAPerformative, isExiting, isLoggingTag, isStoppable, isTracing, println, println, println, sendMessage, setTracing, setUseAckProtocol, startTraceMonitoraddObserver, addObserver, countObservers, deleteObservers, hasChanged, notifyObservers, notifyObservers, notifyObserversWithNoArg, notifyObserversWithTopabclEval, abclEval, abclEval, addTransformation, bump, chooseSC, defer, dequeueEvent, dispatchMsgHandlerMethod, evesdrop, getKnowledgeBase, getName, getSCStore, getSubscribeEvents, getTransformationFor, getUniqueRequestID, getURL, getUseAckProtocol, isA, isA, isA, isA, isAPerformative, isAPerformative, isLoggingTag, notifyObservers, println, println, println, queueEvent, queueEventIf, revTransform, revTransform, sendMessage, transform, transformfinal int calibrationSampleCount
final int calibrationInterval_ms
short calibrationDefSpeed
short oldDefSpeed
CliffCalibratingController.SensorCalibration sensors
private static boolean flash
private static long flashTime
IRobotState calibrating
public CliffCalibratingController(ParamsMap params, AgentUI ui) throws Exception
IRobotState-based robot controller that automatically starts out in calibrating state.params - The standard map of parameters to set up the robot. This is a simple map of (String) keys to values. The
key "CONTROLS" is required and must specify the URL of an iRobotCreate agent to control.ui - Exceptionpublic void setCalibrationSpeed(Integer speed)
public String showCalibration()
public void initializeAfterRegistered(boolean registered)
ControllerAgent.initializeAfterRegistered(boolean) start the robot moving
straight ahead at Controller.defSpeed mm/s. But first, it sets up the
following functions:
Controller.server to report on changes to
the BumpsAndWheelDrops sensor.
This conversation will:
Controller.server to report on changes to
the Overcurrents sensor.
This conversation will:
Controller.server to report on changes to
the Buttons sensor.
This conversation will react to the following button-press combinations:
Controller.onButtonPressed_play().
Controller.onButtonPressed_advance().
Controller.onButtonPressed_playAndAdvance().
RecurringTimeEvent to send Controller.server a request message
every 4 seconds to flash the green-yellow-orange-red in sequence on
its power light.initializeAfterRegistered in class Controllerregistered - Will be set to true if the agent has sucessfully registered with
the LAC; false otherwiseTransientAgent.initializeAfterRegistered(boolean)public void notifyCalibration(iRobotCommands.Sensor sensor)
protected void startCalibrate(iRobotCommands.Sensor sensor)
protected void setState_afterCalibration()
protected void sendCommand(String cmd)