iRobotCreate

java.lang.Object
- java.lang.Thread
- - casa.AbstractProcess
  - - casa.TransientAgent
    - - casa.Agent
      - iRobotCreate.iRobotCreate

All Implemented Interfaces:

CasaObservable, AgentInterface, AgentPrintInterface, MessageSender, PolicyAgentInterface, ProcessInterface, TransientAgentInterface, TraceInterface, Comparable<AbstractProcess>, Runnable, Observer

Direct Known Subclasses:

CreateBounce
```
public class iRobotCreate
extends Agent
```
Agent to control an iRobot Create robot. To control a real Create, the I and O (Input and Output) command line arguments should be the same filename which represents the serial port that controls the Create. You may also pass I and O as two different (not necessarily already existing) filenames, which will cause this class to use the simulator RobotSimulator instead of the real thing.

Author:

Rob Kremer

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

(package private) class iRobotCreate.CommandQMonitor
- Nested classes/interfaces inherited from class casa.TransientAgent
  TransientAgent.NewAgentLispCommand
- Nested classes/interfaces inherited from class casa.AbstractProcess
  AbstractProcess.Subthread
- Nested classes/interfaces inherited from class java.lang.Thread
  Thread.State, Thread.UncaughtExceptionHandler

Nested Classes
Modifier and Type	Class and Description
`(package private) class`	`iRobotCreate.CommandQMonitor`

Field Summary

Fields
Modifier and Type	Field and Description
`protected long`	`angleAcc`
`protected boolean`	`breathing`
`protected boolean`	`buttonAdvance`
`protected int`	`buttonColor`
`protected int`	`buttonIntensity`
`protected boolean`	`buttonPlay`
`protected byte`	`C_ModeOperatingDefault`
`(package private) iRobotCreate.CommandQMonitor`	`commandQMonitor`
`protected long`	`distanceAcc`
`(package private) InputStream`	`inStream` The input stream
`(package private) String`	`inStreamName`
`private static CasaLispOperator`	`IROBOT__BREATHING`
`private static CasaLispOperator`	`IROBOT__DEMO` Lisp operator: (iRobot.demo) Runs the robot's internal demos 0-9.
`private static CasaLispOperator`	`IROBOT__DOCK` Lisp operator: (iRobot.dock) Dock the robot in it's recharger.
`private static CasaLispOperator`	`IROBOT__DRIVE` Lisp operator: (iRobot.drive) Drive the robot at VELOCITY along curve RADIUS.
`private static CasaLispOperator`	`IROBOT__EXECUTE` Lisp operator: (iRobot.execute) Same as execute-raw, but understands prefix 'p' to be a pause in milliseconds.
`private static CasaLispOperator`	`IROBOT__EXECUTE_RAW` Lisp operator: (iRobot.execute-raw) Send bytes to the robot as a command.
`private static CasaLispOperator`	`IROBOT__LED` Lisp operator: (iRobot.LED) Set the LEDs on the robot.
`private static CasaLispOperator`	`IROBOT__MODE` Lisp operator: (iRobot.mode) Change the robot's MODE.
`private static CasaLispOperator`	`IROBOT__MOVEBY` Lisp operator: (iRobot.moveby) move the robot by DISTANCE in mm (-ve is backwards).
`private static CasaLispOperator`	`IROBOT__RESET` Lisp operator: (iRobot.reset) Reset the robot.
`private static CasaLispOperator`	`IROBOT__ROTATE_DEG` Lisp operator: (iRobot.rotate-deg) Rotate the robot by am ANGLE in degrees (-ve is clockwise).
`private static CasaLispOperator`	`IROBOT__ROTATE_MM` Lisp operator: (iRobot.rotate-mm) Rotate the robot by DISTANCE in mm (-ve is clockwise).
`protected long`	`lastBreath`
`private short[]`	`lastReadings`
`(package private) OutputStream`	`outStream` The output stream
`(package private) String`	`outStreamName`
`protected int`	`readFailures`
`protected boolean`	`robotReady` Used to prevent this agent from making status queries to the robot (for example, when the robot is in one of it's WAIT states and can't respond anyway).
`(package private) RobotSimulator`	`robotSim` The simulated robot, if there is one
`protected gnu.io.SerialPort`	`rxtxPort`
`int`	`SENSOR_READ_INTERVAL`
`int`	`SENSOR_READ_WAITTIME`
`protected short[]`	`sensorCache` `updateSensorPackets(byte)` writes the status from the robot into this structure, which can be conveniently accessed later by other methods.
`protected long[]`	`sensorCacheLastUpdate`
`(package private) SerialIO`	`serialInterface` The abstraction of serial I/O
`(package private) boolean`	`shouldStop`
`(package private) boolean`	`sim` True if this is a simulation
`protected long`	`successfullReads`
`(package private) short`	`velocity` The desired velocity from the last 137 (Drive) command.
`protected boolean`	`windows`

Fields inherited from class casa.Agent
agentConstructorComplete, properties

Fields inherited from class casa.TransientAgent
cacheKB, CDInvitedTo, CDinvitee, conversationData, defaultOntologyClassName, DEFER_ACTION, DROP_ACTION, kBase, ListOfArgs, ontologyEngineCreateMethod, ontologyEngineLoadMethod, policies, policiesAlwaysApply, policiesLastResort, primaryUI, proxy, UIs, usingProxy

Fields inherited from class casa.AbstractProcess
huntForPort, initParams, ontology, ontologyShared, options, securityFilter, trace, TRACE_MONITOR, TRACE_OFF, TRACE_ON, TRACE_TO_FILE, TRACE_UNDEFINED, uniqueThreadName, waitingForAgentToStart

Fields inherited from class java.lang.Thread
MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Constructor Summary

Constructors
Constructor and Description

iRobotCreate(ParamsMap params, AgentUI ui)
Typical Agent constructor.

Constructors
Constructor and Description
`iRobotCreate(ParamsMap params, AgentUI ui)` Typical Agent constructor.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`private void`	`assertFormula(String sensorName, long val, long time)`
`protected boolean`	`breathing()`
`protected void`	`checkSensors()` Check to see if bump or overcurrent sensors have been activated and if so, stop the robot (see `stopMotors()`).
`private void`	`closeBTIO()`
`static byte[]`	`concat(byte[] bytes, short[] shorts)`
`static byte[]`	`concat(short[] shorts, byte[] bytes)`
`void`	`dock()`
`void`	`doDemo(byte demoNumber)`
`protected void`	`doRobotStuff()` If `robotReady` is not true, call `updateSensorPackets(byte)` with appropriate codes to refresh `sensorCache` with the real data from the robot and then call `checkSensors()` to let the agent decide on behaviour with the new data.
`protected void`	`drive(short velocity)` Sends the commands to drive the robot straight ahead (see `drive(short, short)`).
`protected void`	`drive(short velocity, short radius)` Drives the robot forward: first changes mode to the SAFE state and then issues a DRIVE command.
`protected void`	`drive(short velocity, short radius, boolean bypassQ)` Calls `drive(velocity, radius, bypassQ, false)`.
`protected void`	`drive(short velocity, short radius, boolean bypassQ, boolean flush)` Drives the robot forward: first changes mode to the SAFE state and then issues a DRIVE command.
`Status`	`executeP(String arg)` Sends commands in arg to the robot.
`void`	`executeRaw(byte... bytes)` Sends argument bytes to the robot.
`void`	`executeRaw(String args)` Sends commands in arg to the robot.
`protected void`	`executeRawBypass(byte... bytes)` Uses `iRobotCreate.CommandQMonitor.bypass(byte...)` to bypass the queued order of commands and send bytes to the robot directly.
`protected void`	`executeRawBypassAndFlush(byte... bytes)` Uses `iRobotCreate.CommandQMonitor.bypass(byte...)` to bypass the queued order of commands and send bytes to the robot directly, flushing the queue of all pending commands.
`protected void`	`finishRun()` Subclasses may override this method to cleanup after the message loop exits and the agent is about to terminate.
`static String`	`formatBytes(byte[] arg)` Format arg appropriately for printing.
`static String`	`formatUnsigned(byte arg)` Format arg appropriately for printing.
`static String`	`formatUnsigned(short arg)` Format arg appropriately for printing.
`Object`	`getExtraSensor(int i)` Return the ith element of the extra sensor data to be displayed in the "iRobot Create" tab (status/sensor table) in the default interface
`int`	`getExtraSensorCount()`
`String`	`getExtraSensorName(int i)` Return the name of the ith element of the extra sensor data to be displayed in the "iRobot Create" tab (status/sensor table) in the default interface
`static byte[]`	`getInterpretedBytes(String arg)` Given a string of the form { ["s"]d* }* (where d is a digit), return the byte array where `d` is interpreted as a byte and `sd` is interpreted as a short to be packed as two sequential bytes (high byte first).
`protected int`	`getMode()`
`protected int`	`getSensorBumps()` Gets the robot's status for it's bump sensors against the (hopefully recently updated cache (`sensorCache`).
`protected int`	`getSensorCliff()` Gets the robot's status for it's 4 cliff sensors against the (hopefully recently updated cache (`sensorCache`).
`protected int`	`getSensorWheelOvercurrent()` Gets the robot's status for it's wheel overcurrent sensors against the (hopefully recently updated cache (`sensorCache`).
`private static String[]`	`getTokens(String arg)` Breaks up arg on the spaces and ensures there are no empty strings in the resulting String array.
`protected void`	`initializeThread(ParamsMap params, AgentUI ui)` This method is called when the agent is initialized, but before it really gets going.
`protected void`	`loadScript2RobotAndPlayIt(String script, long expectedPlayTime)`
`static void`	`main(String[] args)`
`protected TransientAgentInternalFrame`	`makeDefaultInternalFrame(TransientAgent agent, String title, Container aFrame)` Create the default internal Frame (usually) with tabs for this agent type.
`static short`	`makeShort(byte high, byte low)` Makes a short out if two bytes.
`protected long`	`moveBy(short mm)`
`private void`	`openBTIO(ParamsMap params, AgentUI ui)`
`private InputStream`	`openInputStream()`
`private OutputStream`	`openOutputStream()`
`protected void`	`pendingFinishRun()` This method is called when the agent is about to shut down, so we should shut down the robot.
`PerformDescriptor`	`perform_setMode(MLMessage message)`
`protected int`	`readSensor(byte code, byte[] buf)` Send the sensors request to the robot and read back the result.
`protected int`	`readSensorList(byte[] codes, byte[] buf)` Send the QueryList request to the robot and read back the result.
`long`	`resetAngleAcc()`
`long`	`resetDistanceAcc()`
`void`	`resetRobot()`
`protected long`	`rotate(short mm)`
`protected long`	`rotateAngle(short degrees)`
`protected long`	`rotateAngle(short degrees, int velocity)`
`protected void`	`setMode(byte mode)`
`byte[]`	`shortsToBytes(short[] shorts)` Send argumtns shorts to the robot by breaking it up into bytes and sending them.
`protected void`	`startupActions()` Reset (or set up) the Create robot (whether its the real thing or a simulation) by send START, putting it in SAFE mode, playing a song and doing a little light show.
`void`	`stopMotors()` Stops the motors on the robot immediately, and flushes any commands waiting in the command queue
`protected void`	`updateKB()`
`protected void`	`updateSensorPacketList(byte... codes)` Given the argument `codes`, reads the appropriate coded sensor datum from the robot and place the output in `sensorCache` as shorts (even though some of the data is only bytes) in the appropriate place in the `sensorCache` array.
`protected void`	`updateSensorPackets(byte code)` Given the argument `code`, reads the appropriate coded sensor datum or data group from the robot and place the output in `sensorCache` as shorts (even though some of the data is only bytes) in the appropriate place in the `sensorCache` array.
`protected void`	`writeRobotStream(byte... bytes)`

Methods inherited from class casa.TransientAgent
abclEval, 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, 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, verifyMessage

Methods inherited from class casa.AbstractProcess
addObserver, addObserver, addObserver, addObserver, addTraceTags, addTransformation, bump, clearAllTraceTags, closePort, compareTo, countObservers, defer, defer, deleteObserver, deleteObserver, deleteObservers, dequeueEvent, equals, eventBufferLoopBody, eventBufferLoopPeriodic, eventQueuePeek, existed, exit, 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, unhandledMessage

Methods inherited from class java.lang.Thread
activeCount, 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, yield

Methods inherited from class java.lang.Object
getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface casa.interfaces.ProcessInterface
addObserver, 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, startTraceMonitor

Methods inherited from interface java.lang.Runnable
run

Methods inherited from interface casa.CasaObservable
addObserver, addObserver, countObservers, deleteObservers, hasChanged, notifyObservers, notifyObservers, notifyObserversWithNoArg, notifyObserversWithTop

Methods inherited from interface casa.interfaces.PolicyAgentInterface
abclEval, 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, transform

Methods inherited from interface java.util.Observer
update

Field Detail
- SENSOR_READ_INTERVAL
```
public int SENSOR_READ_INTERVAL
```
- SENSOR_READ_WAITTIME
```
public int SENSOR_READ_WAITTIME
```
- C_ModeOperatingDefault
```
protected byte C_ModeOperatingDefault
```
- serialInterface
```
SerialIO serialInterface
```
  The abstraction of serial I/O
- robotSim
```
RobotSimulator robotSim
```
  The simulated robot, if there is one
- outStream
```
OutputStream outStream
```
  The output stream
- outStreamName
```
String outStreamName
```
- inStream
```
InputStream inStream
```
  The input stream
- inStreamName
```
String inStreamName
```
- sim
```
boolean sim
```
  True if this is a simulation
- velocity
```
short velocity
```
  The desired velocity from the last 137 (Drive) command. For use for resuming after recovering from a bump.
- rxtxPort
```
protected gnu.io.SerialPort rxtxPort
```
- windows
```
protected boolean windows
```
- robotReady
```
protected boolean robotReady
```
  Used to prevent this agent from making status queries to the robot (for example, when the robot is in one of it's WAIT states and can't respond anyway).
- shouldStop
```
boolean shouldStop
```
- sensorCache
```
protected short[] sensorCache
```
  updateSensorPackets(byte) writes the status from the robot into this structure, which can be conveniently accessed later by other methods.
- sensorCacheLastUpdate
```
protected long[] sensorCacheLastUpdate
```
- distanceAcc
```
protected long distanceAcc
```
- angleAcc
```
protected long angleAcc
```
- readFailures
```
protected int readFailures
```
- successfullReads
```
protected long successfullReads
```
- lastReadings
```
private short[] lastReadings
```
- IROBOT__EXECUTE_RAW
```
private static final CasaLispOperator IROBOT__EXECUTE_RAW
```
  Lisp operator: (iRobot.execute-raw)
  Send bytes to the robot as a command. The parameter is a string of decimal digits that may be prefixed by an 's' to specify a short packed as two bytes.
- IROBOT__EXECUTE
```
private static final CasaLispOperator IROBOT__EXECUTE
```
  Lisp operator: (iRobot.execute)
  Same as execute-raw, but understands prefix 'p' to be a pause in milliseconds.
- IROBOT__RESET
```
private static final CasaLispOperator IROBOT__RESET
```
  Lisp operator: (iRobot.reset)
  Reset the robot.
- IROBOT__DEMO
```
private static final CasaLispOperator IROBOT__DEMO
```
  Lisp operator: (iRobot.demo)
  Runs the robot's internal demos 0-9.
- IROBOT__DOCK
```
private static final CasaLispOperator IROBOT__DOCK
```
  Lisp operator: (iRobot.dock)
  Dock the robot in it's recharger.
- IROBOT__ROTATE_MM
```
private static final CasaLispOperator IROBOT__ROTATE_MM
```
  Lisp operator: (iRobot.rotate-mm)
  Rotate the robot by DISTANCE in mm (-ve is clockwise).
- IROBOT__ROTATE_DEG
```
private static final CasaLispOperator IROBOT__ROTATE_DEG
```
  Lisp operator: (iRobot.rotate-deg)
  Rotate the robot by am ANGLE in degrees (-ve is clockwise).
- IROBOT__MOVEBY
```
private static final CasaLispOperator IROBOT__MOVEBY
```
  Lisp operator: (iRobot.moveby)
  move the robot by DISTANCE in mm (-ve is backwards).
- IROBOT__DRIVE
```
private static final CasaLispOperator IROBOT__DRIVE
```
  Lisp operator: (iRobot.drive)
  Drive the robot at VELOCITY along curve RADIUS.
- buttonColor
```
protected int buttonColor
```
- buttonIntensity
```
protected int buttonIntensity
```
- buttonPlay
```
protected boolean buttonPlay
```
- buttonAdvance
```
protected boolean buttonAdvance
```
- IROBOT__LED
```
private static final CasaLispOperator IROBOT__LED
```
  Lisp operator: (iRobot.LED)
  Set the LEDs on the robot.
- IROBOT__BREATHING
```
private static final CasaLispOperator IROBOT__BREATHING
```
- lastBreath
```
protected long lastBreath
```
- breathing
```
protected boolean breathing
```
- commandQMonitor
```
iRobotCreate.CommandQMonitor commandQMonitor
```
- IROBOT__MODE
```
private static final CasaLispOperator IROBOT__MODE
```
  Lisp operator: (iRobot.mode)
  Change the robot's MODE.

Constructor Detail

iRobotCreate

public iRobotCreate(ParamsMap params,
                    AgentUI ui)
             throws Exception

Typical Agent constructor. This version of Qualifiers has extensions:

CommandLine2
input	Specifies the input file name (may be a device spec)
output	Specifies the output file name (may be a device spec)
sim	U specifies not to use the simulator; sim may be set to "true" or "false"
x	Specifies the initial x coordinate of the robot (simulation only). If there is some other object at this coordinate, the robot will be randomly placed anyway.
y	Specifies the initial y coordinate of the robot (simulation only). If there is some other object at this coordinate, the robot will be randomly placed anyway.
angle	Specifies the initial angle of the robot (simulation only)

input and output are filename(s) for communication to either a real robot or a simulation of one. If input and output are different (not necessarily already existing) filenames this class will use the simulator RobotSimulator instead of the real thing unless sim is not set to true (sim) has not affect if input and output are the same). If input and output are the same, it should be serial device file description connected to a real robot.

Throws:: IPSocketException - if we can't get an IPSocket; FileNotFoundException - if we can't open the files specified by the I and O command line arguments; InstantiationException; Exception

Method Detail
- openBTIO
```
private void openBTIO(ParamsMap params,
                      AgentUI ui)
               throws Exception
```
  Throws:
  
  Exception
- openInputStream
```
private InputStream openInputStream()
                             throws Exception
```
  Throws:
  
  FileNotFoundException
  
  Exception
- openOutputStream
```
private OutputStream openOutputStream()
                               throws Exception
```
  Throws:
  
  FileNotFoundException
  
  Exception
- initializeThread
```
protected void initializeThread(ParamsMap params,
                                AgentUI ui)
```
  This method is called when the agent is initialized, but before it really gets going. Besides calling the super version of this method, we call startupActions() and set {link robotReady to true.
  
  Overrides:
  
  initializeThread in class TransientAgent
  
  See Also:
  
  casa.Agent#init()
- getExtraSensorCount
```
public int getExtraSensorCount()
```
  Returns:
  
  the number of extra elements to add to the "iRobot Create" tab (status/sensor table) in the default interface
- getExtraSensor
```
public Object getExtraSensor(int i)
```
  Return the ith element of the extra sensor data to be displayed in the "iRobot Create" tab (status/sensor table) in the default interface
  
  Parameters:
  
  i - the index of the sensor information to be displayed
  
  Returns:
  
  the object to be displayed as the ith entry in the sensor information
- getExtraSensorName
```
public String getExtraSensorName(int i)
```
  Return the name of the ith element of the extra sensor data to be displayed in the "iRobot Create" tab (status/sensor table) in the default interface
  
  Parameters:
  
  i - the index of the sensor information name to be displayed
  
  Returns:
  
  the name to be displayed as the ith entry in the sensor information
- startupActions
```
protected void startupActions()
```
  Reset (or set up) the Create robot (whether its the real thing or a simulation) by send START, putting it in SAFE mode, playing a song and doing a little light show.
- pendingFinishRun
```
protected void pendingFinishRun()
```
  This method is called when the agent is about to shut down, so we should shut down the robot. Stop the engines, play a song, do a light show, and put it in passive mode.
  
  Overrides:
  
  pendingFinishRun in class Agent
  
  See Also:
  
  Agent.pendingFinishRun()
- closeBTIO
```
private void closeBTIO()
```
- doRobotStuff
```
protected void doRobotStuff()
```
  If robotReady is not true, call updateSensorPackets(byte) with appropriate codes to refresh sensorCache with the real data from the robot and then call checkSensors() to let the agent decide on behaviour with the new data. Also, always check readFailures: if it's greater than 10, reset the robot (resetRobot()).
- checkSensors
```
protected void checkSensors()
```
  Check to see if bump or overcurrent sensors have been activated and if so, stop the robot (see stopMotors()). Subclasses should override to proved more interesting behaviour.
- getSensorBumps
```
protected int getSensorBumps()
```
  Gets the robot's status for it's bump sensors against the (hopefully recently updated cache (sensorCache). The integer return will be in the range 0-3:
  - 0: no bump sensors activated
  - 1: right bump sensor activated
  - 2: left bump sensor activated
  - 3: both bump sensors activated
  Returns:
  
  returns a status 0-3.
- getSensorWheelOvercurrent
```
protected int getSensorWheelOvercurrent()
```
  Gets the robot's status for it's wheel overcurrent sensors against the (hopefully recently updated cache (sensorCache). The integer return will be in the range 0, 8, 16 or 24 (bits 3 and 4 set):
  - 0: no overcurrent sensors activated
  - 8: right overcurrent sensor activated
  - 16: left overcurrent sensor activated
  - 24: both overcurrent sensors activated
  Returns:
  
  returns a status 0, 8, 16, or 24.
- getSensorCliff
```
protected int getSensorCliff()
```
  Gets the robot's status for it's 4 cliff sensors against the (hopefully recently updated cache (sensorCache). The integer return will be in the range have the lower four bits set or clear (and the rest clear):
  - value 0: no cliff sensors activated
  - bit 0 (value 1) set: left cliff sensor activated
  - bit 1 (value 2) set: left front cliff sensor activated
  - bit 2 (value 4) set: right front cliff sensor activated
  - bit 3 (value 8) set: right cliff sensor activated
  Returns:
  
  returns a status 0 and 15.
- stopMotors
```
public void stopMotors()
```
  Stops the motors on the robot immediately, and flushes any commands waiting in the command queue
- doDemo
```
public void doDemo(byte demoNumber)
```
- dock
```
public void dock()
```
- drive
```
protected void drive(short velocity,
                     short radius)
```
  Drives the robot forward: first changes mode to the SAFE state and then issues a DRIVE command. Negative velocities mean backward. A +ve velocity with a +ve radius means "drive forward while turning toward the left". A +ve velocity with a -ve radius means "drive forward while turning toward the right". Special cases:
  - Straight: radius = 32768 or 32767 (0x8000 or 0x7FFF) (see iRobotCommands.P_Straight and iRobotCommands.P_Straight2)
  - Turn in place clockwise: -1 (0xFFF) (see iRobotCommands.P_TurnInPlaceClockwise)
  - Turn in place counterclockwise: +1 (0x0001) (see iRobotCommands.P_TurnInPlaceCounterClockwise)
  Parameters:
  
  velocity - The velocity to drive forward (-500 to +500) in mm/sec.
  
  radius - The radius to drive in (-2000 to +2000) in mm.
- drive
```
protected void drive(short velocity,
                     short radius,
                     boolean bypassQ)
```
  Calls drive(velocity, radius, bypassQ, false).
  
  Parameters:
  
  velocity - The velocity to drive forward (-500 to +500) in mm/sec.
  
  radius - The radius to drive in (-2000 to +2000) in mm.
  
  bypassQ - bypasses the command queue to execute this command immediately
- drive
```
protected void drive(short velocity,
                     short radius,
                     boolean bypassQ,
                     boolean flush)
```
  Drives the robot forward: first changes mode to the SAFE state and then issues a DRIVE command. Negative velocities mean backward. A +ve velocity with a +ve radius means "drive forward while turning toward the left". A +ve velocity with a -ve radius means "drive forward while turning toward the right". Special cases:
  - Straight: radius = 32768 or 32767 (0x8000 or 0x7FFF) (see iRobotCommands.P_Straight and iRobotCommands.P_Straight2)
  - Turn in place clockwise: -1 (0xFFF) (see iRobotCommands.P_TurnInPlaceClockwise)
  - Turn in place counterclockwise: +1 (0x0001) (see iRobotCommands.P_TurnInPlaceCounterClockwise)
  Parameters:
  
  velocity - The velocity to drive forward (-500 to +500) in mm/sec.
  
  radius - The radius to drive in (-2000 to +2000) in mm.
  
  bypassQ - bypasses the command queue to execute this command immediately
  
  flush - flushes the command queue before executing this command
- drive
```
protected void drive(short velocity)
```
  Sends the commands to drive the robot straight ahead (see drive(short, short)).
  
  Parameters:
  
  velocity - The velocity to drive forward (-500 to +500) in mm/sec.
- updateSensorPackets
```
protected void updateSensorPackets(byte code)
```
  Given the argument code, reads the appropriate coded sensor datum or data group from the robot and place the output in sensorCache as shorts (even though some of the data is only bytes) in the appropriate place in the sensorCache array. (Note that since codes 0-6 are group codes, index 0-6 of sensorCache will always be 0.)
  
  Parameters:
  
  code - The code (single or group code) of the sensor packet to request from the robot.
- updateKB
```
protected void updateKB()
```
- assertFormula
```
private void assertFormula(String sensorName,
                           long val,
                           long time)
```
- updateSensorPacketList
```
protected void updateSensorPacketList(byte... codes)
```
  Given the argument codes, reads the appropriate coded sensor datum from the robot and place the output in sensorCache as shorts (even though some of the data is only bytes) in the appropriate place in the sensorCache array. (Note that since codes 0-6 are group codes, index 0-6 of sensorCache will always be 0.)
  
  Parameters:
  
  codes - The list of the sensor packet codes to request from the robot.
- resetDistanceAcc
```
public long resetDistanceAcc()
```
- resetAngleAcc
```
public long resetAngleAcc()
```
- readSensor
```
protected int readSensor(byte code,
                         byte[] buf)
```
  Send the sensors request to the robot and read back the result. To assure we're not getting old data, read out all the data in the stream before sending the reuest to the robot. Allow some time to timeout, but don't wait forever.
  
  Parameters:
  
  code - The sensor (individual or group) to command to send to the sensor
  
  buf - The byte buffer to read the result back; this buffer should be EXACTLY the length of the reply to code (see iRobotCommands.BytesPerPacket).
  
  Returns:
  
  The number of bytes actually read.
- readSensorList
```
protected int readSensorList(byte[] codes,
                             byte[] buf)
```
  Send the QueryList request to the robot and read back the result. To assure we're not getting old data, read out all the data in the stream before sending the request to the robot. Allow some time to timeout, but don't wait forever.
  
  Parameters:
  
  codes - The list of sensors that we want to read
  
  buf - The byte buffer to read the result back; this buffer should be EXACTLY the length of the reply to code (see iRobotCommands.BytesPerPacket).
  
  Returns:
  
  The number of bytes actually read.
- resetRobot
```
public void resetRobot()
```
- executeP
```
public Status executeP(String arg)
```
  Sends commands in arg to the robot. A command string in arg is a string of decimal bytes, but there are two modifiers 's' interprets the immediately following number as a 16-bit short (two bytes), and 'p' pauses the output fed to the robot for the milliseconds specified by immediately following number. For example, the argument value
  
  137 s-256 s257 p1000 137 s0 s0
  
  sends {137, 1, 0, 1, 1, 137, 0, 0, 0, 0} which drives the robot backwards in an arc for 1 second, and then stops it.
  
  Parameters:
  
  arg - a string to interpret and send
  
  Returns:
  
  a Status indicating the success of the command
- executeRaw
```
public void executeRaw(String args)
```
  Sends commands in arg to the robot. A command string in arg is a string of decimal bytes, but there are two modifiers 's' interprets the immediately following number as a 16-bit short (two bytes)For example, the argument value
  
  137 s-256 s257
  
  sends {137, 1, 0, 1, 1} which drives the robot backwards in an arc.
  
  Parameters:
  
  args - a string to interpret and send
breathing

protected boolean breathing()

writeRobotStream

protected void writeRobotStream(byte... bytes) throws Exception

Throws:

Exception

executeRaw

public void executeRaw(byte... bytes)

Sends argument bytes to the robot.

Parameters:

bytes - the bytes to send to the robot

executeRawBypass

protected void executeRawBypass(byte... bytes)

Uses iRobotCreate.CommandQMonitor.bypass(byte...) to bypass the queued order of commands and send bytes to the robot directly.

Parameters:

bytes -

executeRawBypassAndFlush

protected void executeRawBypassAndFlush(byte... bytes)

Uses iRobotCreate.CommandQMonitor.bypass(byte...) to bypass the queued order of commands and send bytes to the robot directly, flushing the queue of all pending commands.

Parameters:

bytes -

shortsToBytes

public byte[] shortsToBytes(short[] shorts)

Send argumtns shorts to the robot by breaking it up into bytes and sending them.

Parameters:

shorts - the shorts (16 bit) to send to the robot

Returns:

the Status indicating the success or failure of the command

concat

public static byte[] concat(byte[] bytes, short[] shorts)

Parameters:

bytes -

shorts -

Returns:

a byte array that is the concatenation of bytes followed by shorts.

concat

public static byte[] concat(short[] shorts, byte[] bytes)

Parameters:

shorts -

bytes -

Returns:

a byte array that is the concatenation of shorts followed by bytes.

loadScript2RobotAndPlayIt

protected void loadScript2RobotAndPlayIt(String script, long expectedPlayTime) throws ParseException

Parameters:

script - the script to be interpreted according to getInterpretedBytes(String)

expectedPlayTime - The expected play time of the script

Throws:

ParseException - if the script is malformed

See Also:

#loadScript2Robot(String), #playScript(long)

formatBytes

public static String formatBytes(byte[] arg)

Format arg appropriately for printing.

Parameters:

arg - the bytes to print

Returns:

A formated string

formatUnsigned

public static String formatUnsigned(byte arg)

Format arg appropriately for printing.

Parameters:

arg - the byte to print

Returns:

A formated string

formatUnsigned

public static String formatUnsigned(short arg)

Format arg appropriately for printing.

Parameters:

arg - the byte to print

Returns:

A formated string

makeShort

public static short makeShort(byte high, byte low)

Makes a short out if two bytes.

Parameters:

high - the byte to be used as the high byte of the short

low - the byte to be used as the low byte of the short

Returns:

the bytes concatenated to for a short

getInterpretedBytes

public static byte[] getInterpretedBytes(String arg) throws ParseException

Given a string of the form
{ ["s"]d* }*
(where d is a digit), return the byte array where d* is interpreted as a byte and sd* is interpreted as a short to be packed as two sequential bytes (high byte first). For example, "134 s256" would be translated to the byte array {134, 1, 0}

Parameters:

arg - the bytes in text form

Returns:

an array of bytes interpreted from the argument

Throws:

ParseException - if the argument in malformed

rotate

protected long rotate(short mm)

rotateAngle

protected long rotateAngle(short degrees)

rotateAngle

protected long rotateAngle(short degrees, int velocity)

moveBy

protected long moveBy(short mm)

getTokens

private static String[] getTokens(String arg)

Breaks up arg on the spaces and ensures there are no empty strings in the resulting String array.

Parameters:

arg - the String to break up

Returns:

An array of the ordered words (with no blanks) of arg

makeDefaultInternalFrame

protected TransientAgentInternalFrame makeDefaultInternalFrame(TransientAgent agent, String title, Container aFrame)

Create the default internal Frame (usually) with tabs for this agent type.

Overrides:

makeDefaultInternalFrame in class Agent

Parameters:

agent - the owner agent

title - the title of the window

aFrame - the owner frame in which this window is to be embedded

Returns:

the frame

getMode

protected int getMode()

setMode

protected void setMode(byte mode)

perform_setMode

public PerformDescriptor perform_setMode(MLMessage message)

main

public static void main(String[] args)

finishRun

protected void finishRun()

Description copied from class: AbstractProcess

Subclasses may override this method to cleanup after the message loop exits and the agent is about to terminate. Called once, just before the agent terminates. This implementation does nothing but call notifyObservers(state.STATE_EXITED).

Overrides:

finishRun in class AbstractProcess

Class iRobotCreate

Nested Class Summary

Nested classes/interfaces inherited from class casa.TransientAgent

Nested classes/interfaces inherited from class casa.AbstractProcess

Nested classes/interfaces inherited from class java.lang.Thread

Field Summary

Fields inherited from class casa.Agent

Fields inherited from class casa.TransientAgent

Fields inherited from class casa.AbstractProcess

Fields inherited from class java.lang.Thread

Constructor Summary

Method Summary

Methods inherited from class casa.Agent

Methods inherited from class casa.TransientAgent

Methods inherited from class casa.AbstractProcess

Methods inherited from class java.lang.Thread

Methods inherited from class java.lang.Object

Methods inherited from interface casa.interfaces.TransientAgentInterface

Methods inherited from interface casa.interfaces.ProcessInterface

Methods inherited from interface java.lang.Runnable

Methods inherited from interface casa.CasaObservable

Methods inherited from interface casa.interfaces.PolicyAgentInterface

Methods inherited from interface java.util.Observer

Field Detail

SENSOR_READ_INTERVAL

SENSOR_READ_WAITTIME

C_ModeOperatingDefault

serialInterface

robotSim

outStream

outStreamName

inStream

inStreamName

sim

velocity

rxtxPort

windows

robotReady

shouldStop

sensorCache

sensorCacheLastUpdate

distanceAcc

angleAcc

readFailures

successfullReads

lastReadings

IROBOT__EXECUTE_RAW

IROBOT__EXECUTE

IROBOT__RESET

IROBOT__DEMO

IROBOT__DOCK

IROBOT__ROTATE_MM

IROBOT__ROTATE_DEG

IROBOT__MOVEBY

IROBOT__DRIVE

buttonColor

buttonIntensity

buttonPlay

buttonAdvance

IROBOT__LED

IROBOT__BREATHING

lastBreath

breathing

commandQMonitor

IROBOT__MODE

Constructor Detail

iRobotCreate

Method Detail

openBTIO

openInputStream

openOutputStream

initializeThread

getExtraSensorCount

getExtraSensor

getExtraSensorName

startupActions

pendingFinishRun

closeBTIO

doRobotStuff

checkSensors