org.commonreality.sensors.motor
Class MotorCommandHandler

java.lang.Object
  org.commonreality.sensors.handlers.AbstractCommandHandlerDelegate
      org.commonreality.sensors.motor.MotorCommandHandler

All Implemented Interfaces:

ICommandHandlerDelegate

Direct Known Subclasses:

KeyboardMotorHandler

public class MotorCommandHandler
extends AbstractCommandHandlerDelegate

Author:

harrison

Constructor Summary

MotorCommandHandler()

Method Summary

void	abort(IEfferentCommand command, IAgentObject agent, EfferentCommandHandler parent)
IActuator	getActuator()
ICommandTimingEquation	getTimingEquation(IEfferentCommand command, IAgentObject agent, EfferentCommandHandler handler) return the timing equation used
void	setActuator(IActuator actuator)
void	setTimingEquation(ICommandTimingEquation equation)
java.lang.Object	shouldAccept(IEfferentCommand command, IAgentObject agent, EfferentCommandHandler handler) only accept motor commands where the source matched the provided efferent
java.lang.Object	shouldStart(IEfferentCommand command, IAgentObject agent, EfferentCommandHandler handler) return Boolean.TRUE if the command should be started.
void	start(IEfferentCommand command, IAgentObject agent, EfferentCommandHandler parent) actually start the processing of the command.

Methods inherited from class org.commonreality.sensors.handlers.AbstractCommandHandlerDelegate

shouldAbort

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

MotorCommandHandler

public MotorCommandHandler()

Method Detail

setTimingEquation

public void setTimingEquation(ICommandTimingEquation equation)

setActuator

public void setActuator(IActuator actuator)

getActuator

public IActuator getActuator()

shouldAccept

public java.lang.Object shouldAccept(IEfferentCommand command,
                                     IAgentObject agent,
                                     EfferentCommandHandler handler)

only accept motor commands where the source matched the provided efferent

Specified by:

shouldAccept in interface ICommandHandlerDelegate

Overrides:

shouldAccept in class AbstractCommandHandlerDelegate

Returns:

shouldStart

public java.lang.Object shouldStart(IEfferentCommand command,
                                    IAgentObject agent,
                                    EfferentCommandHandler handler)

Description copied from interface: ICommandHandlerDelegate

return Boolean.TRUE if the command should be started. Any other value will be returned as the explanation for the rejection of the command start. If this returns Boolean.TRUE, the EfferentCommandHandler will next call ICommandHandlerDelegate.start(IEfferentCommand, IAgentObject, EfferentCommandHandler) and then send a state update for the command noting that the actual state is running.

Specified by:

shouldStart in interface ICommandHandlerDelegate

Overrides:

shouldStart in class AbstractCommandHandlerDelegate

Returns:

start

public void start(IEfferentCommand command,
                  IAgentObject agent,
                  EfferentCommandHandler parent)

Description copied from interface: ICommandHandlerDelegate

actually start the processing of the command. The EfferentCommandHandler is passed along as well so that later EfferentCommandHandler.completed(IEfferentCommand, Object) may be called. However, it should not be called from within here. The reason is simple, after returning from start, EfferentCommandHandler will set the state of the command as RUNNING. If you call EfferentCommandHandler.completed(IEfferentCommand, Object) from within start, the states will be inconsistent

abort

public void abort(IEfferentCommand command,
                  IAgentObject agent,
                  EfferentCommandHandler parent)

getTimingEquation

public ICommandTimingEquation getTimingEquation(IEfferentCommand command,
                                                IAgentObject agent,
                                                EfferentCommandHandler handler)

Description copied from interface: ICommandHandlerDelegate

return the timing equation used

Returns: