iRobotCreate.simulator

Class RobotSimulator

java.lang.Object

iRobotCreate.simulator.PhysObject

iRobotCreate.simulator.MovablePhysObject

iRobotCreate.simulator.RobotSimulator

All Implemented Interfaces:

iRobotCommands, Comparable<Object>, Runnable

public class RobotSimulator
extends MovablePhysObject
implements iRobotCommands

This class is the one that actually simulates an iRobot Create robot. It is NOT an agent, and it's only communication with the robot agent ( iRobotCreate or some subclass of it) that runs it is through the two files inStream and outStream which simulates a serial I/O port. It uses real time as simulation time -- it has activation cycles of 15 milliseconds, just like the real robot.
For a complete description of the commands it implements, see "iRobot Create Open Interface Specification", http://irobot.com/filelibrary/create/Create%20Open%20Interface_v2.pdf.

Author:

Rob Kremer

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
private class	RobotSimulator.Sd This is an internal class that is used to store all the information about the various sensors of the robot.

Nested classes/interfaces inherited from interface iRobotCreate.iRobotCommands

iRobotCommands.Sensor

Field Summary

Fields

Modifier and Type	Field and Description
(package private) double	angle The current angle (in radians) that the robot is facing
(package private) double	angleAccumulator the current angle (in radians) the robot as traveled since the last time the angle was read.
(package private) double	distanceAccumulator the current distance (in mm) the robot as traveled since the last time the distance was read.
(package private) boolean	exit Indicated that the robot's thread should exit if set true
(package private) boolean	ffButtonOn whether the advance (fast forward) button light is on or off
FileInputStream	inStream The input stream that this class communicates through with the agent that runs it.
FileOutputStream	outStream The output stream that this class communicates through with the agent that runs it.
(package private) boolean	playButtonOn whether the play button light is on or off
(package private) int	powerButtonColor The current color of the power button.
private byte[]	queueBuf A buffer to "put back" bytes into the input stream.
(package private) short	radius The current radius in which the robot is traveling (-2000mm to +2000mm)
(package private) byte[]	script This holds the last script loaded to the agent via the Script command.
(package private) double	sensorOffset The X,Y offset from the X,Y of the bounding box to the start of the wallSensorScanArea The +1 is to make sure that we don't touch the robot itself
private RobotSimulator.Sd[]	sensors The array of sensors describing each of the robot's 43 sensor codes.
(package private) short	velocity The current velocity of the robot (-500mm to +500mm)
(package private) short	waitAngleDegrees This holds the angle value (in degrees) from the currently active WaitAngle command.
(package private) short	waitDistance This holds the distance value (in mm) from the currently active WaitDistance command.
(package private) boolean	waitMode This is true iff the robot is currently in one of it's WAIT modes (WaitTime, WaitDistance, or WaitAngle).
(package private) Area	wallSensorScanArea The area the wall sensor detects object within.

Fields inherited from class iRobotCreate.simulator.PhysObject

env, twoPI

Fields inherited from interface iRobotCreate.iRobotCommands

BytesPerPacket, C_Baud, C_Demo, C_DemoCover, C_DemoCoverAndDock, C_DemoSpot, C_Drive, C_DriveDirect, C_LEDs, C_ModeFull, C_ModeOff, C_ModeSafe, C_PlayScript, C_PlaySong, C_QueryList, C_Script, C_Sensors, C_ShowScript, C_Song, C_Start, C_WaitAngle, C_WaitDistance, C_WaitTime, chassisDiameter, chassisRadius, MAX_DEMO_NUMBER, MAX_RADIUS, MAX_SONG_LENGTH, MAX_SONG_NUMBER, MAX_VELOCITY, MIN_DEMO_NUMBER, MIN_RADIUS, MIN_SONG_NUMBER, MIN_VELOCITY, P_Straight, P_Straight2, P_TurnInPlaceClockwise, P_TurnInPlaceCounterClockwise, S_Angle, S_BatteryCapacity, S_BatteryCharge, S_BatteryTemperature, S_BumpsAndWheelDrops, S_Buttons, S_ChargingSourcesAvailable, S_ChargingState, S_CliffFrontLeft, S_CliffFrontLeftSignal, S_CliffFrontRight, S_CliffFrontRightSignal, S_CliffLeft, S_CliffLeftSignal, S_CliffRight, S_CliffRightSignal, S_Current, S_Distance, S_Group0, S_Group1, S_Group2, S_Group3, S_Group4, S_Group5, S_Group6, S_IRByte, S_LeftVelocity, S_NumberOfStreamPackets, S_OIMode, S_Overcurrents, S_Radius, S_RightVelocity, S_SongNumber, S_SongPlaying, S_UserAnalogInput, S_UserDigitalInputs, S_Velocity, S_VirtualWall, S_Voltage, S_Wall, S_WallSignal, sensorNames, SONG_bump, SONG_cliff, SONG_init, SONG_overcurrent, SONG_quit, SP_OIMode_Full, SP_OIMode_Off, SP_OIMode_Passive, SP_OIMode_Safe

Constructor Summary

Constructors

Constructor and Description
RobotSimulator(String name, String inFile, String outFile) Constructs and new instance with a name, and an input file and output file for communicating with the controlling agent.
RobotSimulator(String name, String inFile, String outFile, long x, long y, long angle)

Method Summary

Modifier and Type	Method and Description
static String	bytes2String(byte[] bytes) Utility method to convert a byte array to a String representation.
protected void	clearBumpAndOCAndCliff() Utility method to clear the bump, overcurrent, and cliff sensors
protected short	computeCliffSignal(Shape s, PhysObject obj) Calculates the cliff signal, ranging from 0 to 1000.
void	draw(Graphics2D g) Draw the robot, detailing it's state more than just the super's method would.
protected void	encounteredCliff(PhysObject cliff) This method will be called at least once during an update cycle to indicate and encounter with a cliff object: once per encounter, and if there is no encounter, once only with a null parameter.
protected void	encounteredImovableObstical(Area impact) This method is called to let this object know that it cannot move when it encounters an immovable object.
protected void	encounteredVWall(PhysObject vWall) This method will be called at least once during an update cycle to indicate and encounter with a virtual wall: once per encounter, and if there is no encounter, once only with a null parameter.
double	getAngle()
private int	getBytes(byte[] outbuf, int startIndex, byte[] inbuf) Utility method to fetch outbuf.length bytes from inbuf.
(package private) Shape[]	getCliffSensorShapes() Return the 4 cliff sensor shapes.
(package private) static Shape	getInitShape(long x, long y) Finds a shape for this instance.
private int	getShorts(short[] outbuf, int startIndex, byte[] inbuf) Similar to getBytes(byte[], int, byte[]), but interprets the inbuf as short values instead of bytes.
protected void	handleInputData(byte[] buf) This method is called whenever there in input for the robot.
private void	incAngle(Double angle) increment the angle of the robot, keeping it between 0 and 2*PI We actually have to keep the angle with the opposite sign since positive angles turn the actual robot counter-clockwise which is opposite to what happens in this java world.
(package private) static Shape	makeShape(double x, double y) Creates a robot shape a the parameter coordinates.
void	move(long interval) Calculate (and update) the robot's new position since the last move() was called.
private void	pause(long time) Utility method to wait for a certain length of time.
protected void	println(String s) Utility method to print debug data.
protected void	processMouseEvent(MouseEvent e)
(package private) void	resetLocation() Utility method to randomly reset the robot's position in the coordinate system if necessary.
(package private) void	returnSensorData(byte packet) Write the appropriate sensor data out to outStream.
void	run() This is what the thread runs.
protected boolean	safetyCheck(double distance) Call stop() and return true if any of the safety conditions are violated: any cliff sensor is triggered, any wheel drops, or the unit is charging.
protected void	setBumpAndOD(double x, double y) Set the bump and overcurrent sensors assuming we have bumped into a corporeal object at the parameter coordinates.
(package private) void	setCliff(PhysObject obj) Set the cliff sensors according to the parameter PhysObject.
protected void	stop() Utility method to stop the robot

Methods inherited from class iRobotCreate.simulator.MovablePhysObject

move

Methods inherited from class iRobotCreate.simulator.PhysObject

allowMovement, compareTo, equals, exit, getAngleDeg, getColor, getName, getShape, getShowHeader, getWidth, getX, getY, getZOrder, hasExited, isAnimated, isCliff, isCorporeal, isLabeled, isMovable, isPaint, isPersistent, isVWall, moveTo, normalizeAngle, processMouseMoveEvent, replace, replace, setAnimated, setCliff, setColor, setCorporeal, setLabeled, setMovable, setName, setPaint, setPersistent, setShape, setVWall, setZOrder, show, toString

Methods inherited from class java.lang.Object

clone, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

exit

boolean exit

Indicated that the robot's thread should exit if set true

inStream

public FileInputStream inStream

The input stream that this class communicates through with the agent that runs it.

outStream

public FileOutputStream outStream

The output stream that this class communicates through with the agent that runs it.

wallSensorScanArea

Area wallSensorScanArea

The area the wall sensor detects object within.

sensorOffset

double sensorOffset

The X,Y offset from the X,Y of the bounding box to the start of the wallSensorScanArea The +1 is to make sure that we don't touch the robot itself

velocity

short velocity

The current velocity of the robot (-500mm to +500mm)

radius

short radius

The current radius in which the robot is traveling (-2000mm to +2000mm)

angle

double angle

The current angle (in radians) that the robot is facing

distanceAccumulator

double distanceAccumulator

the current distance (in mm) the robot as traveled since the last time the distance was read. This is a double, rather than the short the robot responds with because it needs very high accuracy to be maintained as an accumulator through all the 15ms cycles that the robot constantly calculates it physical position in the envirnment's coordinate system. The distance is incremented as the robot moves forward and decremented as the robot moves backward.

angleAccumulator

double angleAccumulator

the current angle (in radians) the robot as traveled since the last time the angle was read. This is a double, rather than the short the robot responds with because it needs very high accuracy to be maintained as an accumulator through all the 15ms cycles that the robot constantly calculates it physical position in the envirnment's coordinate system. The distance is incremented as the robot rotates counterclockwise and decremented as the robot rotates clockwise.

powerButtonColor

int powerButtonColor

The current color of the power button. This in in RGB form, but the real robot's power light is composed only of a red and a green dimmable LED.

playButtonOn

boolean playButtonOn

whether the play button light is on or off

ffButtonOn

boolean ffButtonOn

whether the advance (fast forward) button light is on or off

waitMode

boolean waitMode

This is true iff the robot is currently in one of it's WAIT modes (WaitTime, WaitDistance, or WaitAngle). The robot does NOT respond to any input from the command Agent during a WAIT mode.

waitAngleDegrees

short waitAngleDegrees

This holds the angle value (in degrees) from the currently active WaitAngle command. It should be Short.MAX_VALUE when there is no WaitAngle command active.

waitDistance

short waitDistance

This holds the distance value (in mm) from the currently active WaitDistance command. It should be Short.MAX_VALUE when there is no WaitDistance command active.

script

byte[] script

This holds the last script loaded to the agent via the Script command. It will be used by the PlayScript command.

sensors

private final RobotSimulator.Sd[] sensors

The array of sensors describing each of the robot's 43 sensor codes.

See Also:

RobotSimulator.Sd

queueBuf

private byte[] queueBuf

A buffer to "put back" bytes into the input stream.

Constructor Detail

RobotSimulator

public RobotSimulator(String name,
                      String inFile,
                      String outFile)
               throws FileNotFoundException,
                      InstantiationException,
                      Exception

Constructs and new instance with a name, and an input file and output file for communicating with the controlling agent.

Parameters:

name - The name of the agent -- will be used to access this instance from the environment, so should be unique. Will also label the shape in the interface.

inFile - The input file written to by the controlling agent.

outFile - The output file to be read by the controlling agent.

Throws:

FileNotFoundException - if either the input file or output file can't be found or instantiated

InstantiationException - if the robot can't be instantiated in the environment (no room?)

Exception

RobotSimulator

public RobotSimulator(String name,
                      String inFile,
                      String outFile,
                      long x,
                      long y,
                      long angle)
               throws FileNotFoundException,
                      InstantiationException,
                      Exception

Throws:

FileNotFoundException

InstantiationException

Exception

Method Detail

getInitShape

static Shape getInitShape(long x,
                          long y)

Finds a shape for this instance. Shapes have location, so an appropriate shape for a robot must be a free space (not currently occupied by a corporeal object or a cliff) in the environment.

Returns:

An initial (randomly placed) shape in the environment.

makeShape

static Shape makeShape(double x,
                       double y)

Creates a robot shape a the parameter coordinates.

Parameters:

x - The x coordinate

y - The y coordinate

Returns:

a new Shape appropriate for a robot

resetLocation

void resetLocation()

Utility method to randomly reset the robot's position in the coordinate system if necessary. "Necessary" here means that the robot isn't in the coordinate bounds or overlaps with another object. This method is called whenever the environment changes it's bounds.

run

public void run()

This is what the thread runs. It loops forever, constantly checking the inStream for new data, and calling handleInputData(byte[]) if there is any. It's cycle time is 15 milliseconds.

Specified by:

run in interface Runnable

See Also:

Runnable.run()

pause

private void pause(long time)

Utility method to wait for a certain length of time.

Parameters:

time - The time (in milliseconds) to wait

move

public void move(long interval)

Calculate (and update) the robot's new position since the last move() was called. This must take into account that the robot can't move into another corporeal object. Also update all the sensor data appropriately.

Parameters:

interval - the time in milliseconds since the last move() was called

encounteredImovableObstical

protected void encounteredImovableObstical(Area impact)

Description copied from class: MovablePhysObject

This method is called to let this object know that it cannot move when it encounters an immovable object. This method may be called 0 or more times during an update cycle.

Specified by:

encounteredImovableObstical in class MovablePhysObject

Parameters:

impact - The area describing the impact with the other object

encounteredCliff

protected void encounteredCliff(PhysObject cliff)

Description copied from class: MovablePhysObject

This method will be called at least once during an update cycle to indicate and encounter with a cliff object: once per encounter, and if there is no encounter, once only with a null parameter.

Specified by:

encounteredCliff in class MovablePhysObject

Parameters:

cliff - Either one of the cliff objects encountered or null if none was encountered during the update cycle.

encounteredVWall

protected void encounteredVWall(PhysObject vWall)

Description copied from class: MovablePhysObject

This method will be called at least once during an update cycle to indicate and encounter with a virtual wall: once per encounter, and if there is no encounter, once only with a null parameter.

Specified by:

encounteredVWall in class MovablePhysObject

Parameters:

vWall - Either one of the cliff objects encountered or null if none was encountered during the update cycle.

safetyCheck

protected boolean safetyCheck(double distance)

Call stop() and return true if any of the safety conditions are violated: any cliff sensor is triggered, any wheel drops, or the unit is charging. stop() is NOT called if we are in FULL state.

Returns:

true iff any of the safety conditions are violated

clearBumpAndOCAndCliff

protected void clearBumpAndOCAndCliff()

Utility method to clear the bump, overcurrent, and cliff sensors

computeCliffSignal

protected short computeCliffSignal(Shape s,
                                   PhysObject obj)

Calculates the cliff signal, ranging from 0 to 1000.

Parameters:

s - the shape of the cliff sensor

obj -

Returns:

the value of the cliff signal

setCliff

void setCliff(PhysObject obj)

Set the cliff sensors according to the parameter PhysObject. Do not clear any current cliff sensors.

Parameters:

obj - an object that is assumed to be a cliff or paint object

getCliffSensorShapes

Shape[] getCliffSensorShapes()

Return the 4 cliff sensor shapes.

setBumpAndOD

protected void setBumpAndOD(double x,
                            double y)

Set the bump and overcurrent sensors assuming we have bumped into a corporeal object at the parameter coordinates.

Parameters:

x - the x coordinate of a bump.

y - the x coordinate of a bump.

stop

protected void stop()

Utility method to stop the robot

draw

public void draw(Graphics2D g)

Draw the robot, detailing it's state more than just the super's method would.

Overrides:

draw in class PhysObject

Parameters:

g - the graphics surface to draw to.

See Also:

PhysObject.draw(java.awt.Graphics2D)

println

protected void println(String s)

Utility method to print debug data. This version prints to System.out.

Parameters:

s - a String to print

handleInputData

protected void handleInputData(byte[] buf)

This method is called whenever there in input for the robot. It interprets the byte stream as commands, and responds accordingly.

Parameters:

buf - the data available for processing from the robot.

bytes2String

public static String bytes2String(byte[] bytes)

Utility method to convert a byte array to a String representation.

Parameters:

bytes - the bytes of format as a String

Returns:

The String representation of the byte array

getBytes

private int getBytes(byte[] outbuf,
                     int startIndex,
                     byte[] inbuf)

Utility method to fetch outbuf.length bytes from inbuf.

Parameters:

outbuf - the buf to place the fetches bytes in

startIndex - the index to start in inbuf

inbuf - the input buffer

Returns:

the new location in inbuf (after the fetched bytes)

getShorts

private int getShorts(short[] outbuf,
                      int startIndex,
                      byte[] inbuf)

Similar to getBytes(byte[], int, byte[]), but interprets the inbuf as short values instead of bytes.

Parameters:

outbuf - the buf to place the fetches shorts in

startIndex - the index to start in inbuf

inbuf - the input buffer

Returns:

the new location in inbuf (after the fetched shorts)

incAngle

private void incAngle(Double angle)

increment the angle of the robot, keeping it between 0 and 2*PI We actually have to keep the angle with the opposite sign since positive angles turn the actual robot counter-clockwise which is opposite to what happens in this java world. If we don't flip the sign of the angle like this, then we are looking at the bottom of the robot which is not intuitive to most.

Parameters:

angle - the angle to set

returnSensorData

void returnSensorData(byte packet)

Write the appropriate sensor data out to outStream.

Parameters:

packet - the code (group or individual) of the packet to write out.

getAngle

public double getAngle()

Overrides:

getAngle in class PhysObject

Returns:

the angle in radians of this object.

processMouseEvent

protected void processMouseEvent(MouseEvent e)

Overrides:

processMouseEvent in class PhysObject