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SUMMARY: INNER | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Object | +--EDU.gatech.cc.is.abstractrobot.Simple | +--EDU.gatech.cc.is.abstractrobot.SimpleN150Hard | +--EDU.gatech.cc.is.abstractrobot.CommN150Hard
CommN150Hard implements SimpleN150 for Nomad 150 hardware using the Ndirect class. You should see the specifications in SimpleN150 and Ndirect class documentation for details.
Copyright (c)1998 Tucker Balch
CommN150
,
Ndirect
Field Summary | |
protected Vec2[] |
last_opponents
|
protected Vec2[] |
last_teammates
|
protected CircularBufferEnumeration |
rec_positions
Channel for recieving other robot positions. |
protected TransceiverHard |
t
The transceiver used to communicate with the rest of the robots. |
Fields inherited from class EDU.gatech.cc.is.abstractrobot.SimpleN150Hard |
base_speed,
cycles,
DEBUG,
desired_heading,
desired_speed,
hard_command,
in_reverse,
keep_running,
last_Obstacles,
last_Position,
last_SteerHeading,
last_TurretHeading,
nomad150_hardware,
num_Obstacles,
obstacle_rangeInch,
old_desired_heading,
old_desired_turret_heading,
old_hard_command,
run_time_sum,
sonar_raw_data,
time_sum |
Fields inherited from class EDU.gatech.cc.is.abstractrobot.Simple |
dictionary,
displayVectors,
unique_id |
Fields inherited from interface EDU.gatech.cc.is.abstractrobot.SimpleN150 |
MAX_STEER,
MAX_TRANSLATION,
MAX_TURRET,
RADIUS,
SONAR_RADIUS |
Constructor Summary | |
CommN150Hard(int serial_port,
int baud,
java.lang.String server,
int id)
Instantiate a CommN150Hard object. |
Method Summary | |
void |
broadcast(Message m)
Broadcast a message to all teammates, except self. |
boolean |
connected()
Check to see if the transceiver is connected to the server. |
java.awt.Color |
getBackgroundColor()
Gets the background color of the robot. |
java.awt.Color |
getForegroundColor()
Gets the foreground color of the robot. |
Vec2[] |
getOpponents(long timestamp)
Get an array of Vec2s that represent the locations of opponents. |
int |
getPlayerNumber(long timestamp)
Get the robot's player number, between 0 and the number of robots on the team. |
CircularBufferEnumeration |
getReceiveChannel()
Get an enumeration of the incoming messages. |
Vec2[] |
getTeammates(long timestamp)
Get an array of Vec2s that represent the locations of teammates (Kin). |
void |
multicast(int[] ids,
Message m)
Transmit a message to specific teammates. |
void |
setCommunicationMaxRange(double r)
Set the maximum range at which communication can occur. |
void |
setKinMaxRange(double r)
NOT IMPLEMENTED Set the maximum range at which kin may be sensed. |
void |
takeStep()
Conduct periodic I/O with the robot. |
void |
unicast(int id,
Message m)
Transmit a message to just one teammate. |
Methods inherited from class EDU.gatech.cc.is.abstractrobot.SimpleN150Hard |
getObstacles,
getPosition,
getSteerHeading,
getTime,
getTurretHeading,
quit,
resetPosition,
resetSteerHeading,
resetTurretHeading,
setBaseSpeed,
setDisplayString,
setObstacleMaxRange,
setSpeed,
setSteerHeading,
setTurretHeading |
Methods inherited from class EDU.gatech.cc.is.abstractrobot.Simple |
getDictionary,
getID,
getID,
setDictionary,
setID |
Methods inherited from class java.lang.Object |
clone,
equals,
finalize,
getClass,
hashCode,
notify,
notifyAll,
toString,
wait,
wait,
wait |
Field Detail |
protected TransceiverHard t
protected CircularBufferEnumeration rec_positions
protected Vec2[] last_teammates
protected Vec2[] last_opponents
Constructor Detail |
public CommN150Hard(int serial_port, int baud, java.lang.String server, int id) throws java.lang.Exception
serial_port
- 1 = ttys0 (COM1), 2 = ttys1 (COM2) ...baud
- baud rate for communication.Method Detail |
public void takeStep()
public Vec2[] getTeammates(long timestamp)
timestamp
- only get new information if
timestamp > than last call or timestamp == -1.Vec2
public Vec2[] getOpponents(long timestamp)
timestamp
- only get new information if
timestamp > than last call or timestamp == -1.Vec2
public int getPlayerNumber(long timestamp)
timestamp
- only get new information if
timestamp > than last call or timestamp == -1.public void setKinMaxRange(double r)
r
- double, the maximum range.public void broadcast(Message m)
m
- Message, the message to be broadcast.public void unicast(int id, Message m) throws CommunicationException
id
- int, the ID of the agent to receive the message.m
- Message, the message to transmit.public void multicast(int[] ids, Message m) throws CommunicationException
ids
- int[], the IDs of the agents to receive the message.m
- Message, the message to transmit.public CircularBufferEnumeration getReceiveChannel()
Transceiver c = new RobotComm(); CircularBufferEnumeration r = c.getReceiveChannel(); while (r.hasMoreElements()) System.out.println(r.nextElement());
public void setCommunicationMaxRange(double r)
r
- double, the maximum range.public boolean connected()
public java.awt.Color getForegroundColor()
public java.awt.Color getBackgroundColor()
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