org.lejon
Class DDModel

java.lang.Object
  org.lejon.DriveModel
      org.lejon.DDModel

All Implemented Interfaces:

SteeringEventListener

public class DDModel

extends DriveModel

implements SteeringEventListener

High-level implementation of a dual differential drive architecture for processing odometric navigation actions. The application submits MotionCommands defining actions, i.e. figures TRANSLATE, CURVE or ROTATE with its special parameters. The parameters are evaluated and the low-level layer is set up accordingly. If an action is executed the application can request MotionReports containing information about the state of the running action. Also, if an action is finished the application will be notified from a MotionEventListener if present.

Field Summary

Fields inherited from class org.lejon.DriveModel

IDLE, MOVING, PAUSE, SETUP

Method Summary

void	cancel() Changes to execution state IDLE.
MotionReport	getMotionReport() Returns the up-to-date motion report for the current action.
static DDModel	instance(DriveParameters parameters) Returns the singleton instance of this class instantiated with the drive parameters.
void	move() Executes the latest action that has been set up.
void	pause() Pauses the running action.
void	resume() Restarts the action that is paused.
void	setMotionCommand(MotionCommand motionCommand) Sets up a new action.
void	steeringFinished() Is called from the Steerer thread when the requested action is completely finished.

Methods inherited from class org.lejon.DriveModel

addMotionEventListener, removeMotionEventListener

Methods inherited from class java.lang.Object

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

Method Detail

instance

public static DDModel instance(DriveParameters parameters)

Returns the singleton instance of this class instantiated with the drive parameters.

Parameters:

parameters - the drive parameters

Returns:

the drive object

setMotionCommand

public void setMotionCommand(MotionCommand motionCommand)

Sets up a new action. This is only possible if the drive is in execution state IDLE. If the MotionCommand is not valid or the given parameters are not compatible it will return silently and the action will not be executed by calling move(). If the new action was set up successfully the drive will change in state SETUP.

Specified by:

setMotionCommand in class DriveModel

Parameters:

motionCommand - a motion command defining the new action.

getMotionReport

public MotionReport getMotionReport()

Returns the up-to-date motion report for the current action.

Specified by:

getMotionReport in class DriveModel

Returns:

the current motion report

move

public void move()

Executes the latest action that has been set up. This is only possible if the drive is in execution state SETUP. After starting successfully the drive changes to execution state MOVING. If the action is finished and a MotionEventListener has been set, the motionFinished() will be called.

Specified by:

move in class DriveModel

pause

public void pause()

Pauses the running action. This is only possible if the drive is in execution state MOVING. After pausing successfully the drive changes to execution state PAUSE.

Specified by:

pause in class DriveModel

resume

public void resume()

Restarts the action that is paused. This is only possible if the drive is in execution state PAUSE. After resuming successfully the drive changes to execution state MOVING.

Specified by:

resume in class DriveModel

cancel

public void cancel()

Changes to execution state IDLE. This method can be called in all execution states. If an action is currently running the drive will stop immediately. All status and position information will be kept until an new action is set up by sendMotionCommand().

Specified by:

cancel in class DriveModel

steeringFinished

public void steeringFinished()

Description copied from interface: SteeringEventListener

Is called from the Steerer thread when the requested action is completely finished.

Specified by:

steeringFinished in interface SteeringEventListener