dlife.robot.khepera3
Class Khepera3Player

java.lang.Object
  java.util.Observable
      dlife.robot.Robot
          dlife.robot.player.PlayerRobot
              dlife.robot.khepera3.Khepera3Player

public class Khepera3Player
extends PlayerRobot

Class for communicating with a simulated Khepera 3 in the Player/Stage system. A Khepera3Player creates a connection to a Player server with a Khepera3 model simulation running. This class can be used just as a regular Khepera3 robot as long as a valid Player server is running. This class uses a PlayerClient to communicate with the server. The provided playerclient2.jar contains the necessary class files to run.

Version:

Sept. 24, 2009

Author:

Russell Toris, Dickinson College

Field Summary

static PlayerDeviceConfiguration	PLAYER_PROXIMITY_CONFIG The configuration data for player for the proximity sensor.
static PlayerDeviceConfiguration	PLAYER_SONAR_CONFIG The configuration data for player for the Sonar sensor.
static int	PROX_GROUND_CONSTANT Since player cannot use the ground proximity sensors, a default value will be returned each time for that sensor.

Fields inherited from class dlife.robot.player.PlayerRobot

PLAYER_POSITION_CONFIG, TIMEOUT

Constructor Summary

Khepera3Player()
Construct a new Khepera3Player.

Khepera3Player(File dLifePlayerConfig, int port, boolean noise)
Connect to a Khepera3Player with the given DLP configuration file, port to attempt to connect to, and if we should load and use the noise profile for this robot.

Khepera3Player(File dLifePlayerConfig, int port, boolean noise, String playerCmd)
Connect to a Khepera3Player with the given DLP configuration file, port to attempt to connect to, if we should load and use the noise profile for this robot, and absolute player command..

Khepera3Player(PlayerSimulation sim, int port, boolean noise)
Connect to a Khepera3Player using the configuration contained in the PlayerSimuation object.

Khepera3Player(PlayerSimulation sim, String playerCmd, int port, boolean noise)
Connect to a Khepera3Player using the configuration contained in the PlayerSimuation object.

Khepera3Player(String address, int port)
Creates a new Khepera3Player and connects to a Player Server at the supplied address and port number.

Method Summary

static String[]	getPlayerConfigBody() Get the main body definition for player.
static PlayerRobotIconInfo	getPlayerSimulationBuilderIcon() This will return a PlayerRobotIconInfo containing the icon of this robot to be used in a PlayerSimulationBuilder.
protected boolean	isValidDevice(Device newDevice) Checks if the device is valid for a Khepera3Player.
String	sendMessage(String msg) Interprets the message given and sends an appropriate command to the PlayerClient.

Methods inherited from class dlife.robot.player.PlayerRobot

addDevice, getAddress, getAngle, getGripperData, getPlayerClient, getPort, getRotation, getSonarValues, getTranslation, getXPos, getYPos, hasGripper, resetPositionData, setGripper, setPositionData, setPositionUnits, setSonarUnits, setSpeed, shutDown, startUp

Methods inherited from class dlife.robot.Robot

freeze, getDevices, getRunTime, isAlive, removeDevice, setAlive

Methods inherited from class java.util.Observable

addObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChanged

Methods inherited from class java.lang.Object

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

Field Detail

PLAYER_SONAR_CONFIG

public static final PlayerDeviceConfiguration PLAYER_SONAR_CONFIG

The configuration data for player for the Sonar sensor. This should be passed to the addSensorToRobot method of a PlayerSimulation class.

PLAYER_PROXIMITY_CONFIG

public static final PlayerDeviceConfiguration PLAYER_PROXIMITY_CONFIG

The configuration data for player for the proximity sensor. This should be passed to the addSensorToRobot method of a PlayerSimulation class.

PROX_GROUND_CONSTANT

public static final int PROX_GROUND_CONSTANT

Since player cannot use the ground proximity sensors, a default value will be returned each time for that sensor.

See Also:

Constant Field Values

Constructor Detail

Khepera3Player

public Khepera3Player()

Construct a new Khepera3Player. A dialog box appears to ask the user to enter the IP address and port at which the Player server is running or location of a .dlp file.

Throws:

RobotCreationCanceledException - if the user cancels the creation of the robot via the dialog box.

UnknownHostException - thrown if the host name cannot be resolved

Khepera3Player

public Khepera3Player(PlayerSimulation sim,
                      int port,
                      boolean noise)

Connect to a Khepera3Player using the configuration contained in the PlayerSimuation object. This configuration will be saved to a temporary location and used to load player. The PlayerRobot will attempt to connect to the port provided and attempt to load noise if 'noise' is true. This will attempt to find a valid player command on your system.

Parameters:

sim - the PlayerSimulation used to setup player

port - the port to connect to

noise - if noise should be used

Khepera3Player

public Khepera3Player(PlayerSimulation sim,
                      String playerCmd,
                      int port,
                      boolean noise)

Connect to a Khepera3Player using the configuration contained in the PlayerSimuation object. This configuration will be saved to a temporary location and used to load player. The PlayerRobot will attempt to connect to the port provided and attempt to load noise if 'noise' is true. This will use the absolute Player command provided.

Parameters:

sim - the PlayerSimulation used to setup player

playerCmd - the absolute system command to start player

port - the port to connect to

noise - if noise should be used

Khepera3Player

public Khepera3Player(File dLifePlayerConfig,
                      int port,
                      boolean noise)

Connect to a Khepera3Player with the given DLP configuration file, port to attempt to connect to, and if we should load and use the noise profile for this robot. The DLP file is assumed to live in the same directory as all other player configuration files for this simulation. A valid player command will be searched for on the system in three likely locations.

Parameters:

dLifePlayerConfig - the DLP file for this simulation

port - the port of the robot to connect to in Player

noise - if a noise profile should be loaded and used

Khepera3Player

public Khepera3Player(File dLifePlayerConfig,
                      int port,
                      boolean noise,
                      String playerCmd)

Connect to a Khepera3Player with the given DLP configuration file, port to attempt to connect to, if we should load and use the noise profile for this robot, and absolute player command.. The DLP file is assumed to live in the same directory as all other player configuration files for this simulation.

Parameters:

dLifePlayerConfig - the DLP file for this simulation

port - the port of the robot to connect to in Player

noise - if a noise profile should be loaded and used

playerCmd - the absolute system command to start player

Khepera3Player

public Khepera3Player(String address,
                      int port)
               throws UnknownHostException

Creates a new Khepera3Player and connects to a Player Server at the supplied address and port number. By using "testing" as the address name, a MockPlayerClient will be created instead which can be used for testing. This constructor assumes Player is running.

Parameters:

address - the address where the Player Server is running

port - the port number that the Player Server is using

Throws:

UnknownHostException - thrown if the host name cannot be resolved.

Method Detail

isValidDevice

protected boolean isValidDevice(Device newDevice)

Checks if the device is valid for a Khepera3Player. This will also check if that device was found on the Player server. The following are valid for a Khepera3Player: Khepera3DifferentialDrive, Khepera3ProximitySensor, Khepera3SonarSensor

Specified by:

isValidDevice in class PlayerRobot

Parameters:

newDevice - the sensor to check

Returns:

if the sensor is valid

sendMessage

public String sendMessage(String msg)

Interprets the message given and sends an appropriate command to the PlayerClient. When completed, an appropriate message will be returned using the response from the PlayerClient. Will return null if an invalid message is sent. Only messages that are valid to a Khepera 3 running a KheperaServer will be accepted. All invalid messages will be printed out to the terminal and return null. A response will be formated the same way a response from a KheperaServer looks. While this method is not synchronized, it will behave the same as any other synchronized sendMessage method in other robot classes. If the robot is not alive, a RobotCommunicationException is thrown. If the robot looses communication with Player a RobotCommunicationException is thrown.

Specified by:

sendMessage in class Robot

Parameters:

msg - the message interpret for the PlayerClient

Returns:

an appropriate response based on msg or null if invalid

getPlayerConfigBody

public static String[] getPlayerConfigBody()

Get the main body definition for player. This should be the base robot with no sensors. Each line should be a new element in the array.

Returns:

the main body definition for player

getPlayerSimulationBuilderIcon

public static PlayerRobotIconInfo getPlayerSimulationBuilderIcon()

This will return a PlayerRobotIconInfo containing the icon of this robot to be used in a PlayerSimulationBuilder.

Returns:

a PlayerRobotIconInfo containing the icon of this robot to be used in a PlayerSimulationBuilder.

Throws:

PlayerConfigurationDataException - if this method was not overridden