org.myrobotlab.service

Class InMoovTorso

java.lang.Object

org.myrobotlab.framework.Service

org.myrobotlab.service.InMoovTorso

All Implemented Interfaces:

Serializable, Runnable, Attachable, Broadcaster, Invoker, LoggingSink, MessageSender, MessageSubscriber, NameProvider, NameTypeProvider, ServiceInterface, ServiceQueue, ServiceStatus, StatePublisher, StateSaver, StatusPublisher, TypeProvider, QueueReporter

public class InMoovTorso
extends Service

InMoovTorso - The inmoov torso. This will allow control of the topStom, midStom, and lowStom servos.

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
ServoController	controller
static org.slf4j.Logger	log
ServoControl	lowStom
ServoControl	midStom
ServoControl	topStom

Fields inherited from class org.myrobotlab.framework.Service

authProvider, defaultLocalization, dnaPool, fs, id, inbox, interfaceSet, isVirtual, lastError, lastErrorTs, lastStatus, lastStatusTs, locale, localization, methodSet, outbox, ps, ready, serviceClass, serviceType, serviceVersion, simpleName, statusBroadcastLimitMs, thisThread

Constructor Summary

Constructors

Constructor and Description
InMoovTorso(String n, String id)

Method Summary

Modifier and Type	Method and Description
boolean	attach() Deprecated.
void	broadcastState()
boolean	connect(String port)
void	detach() Deprecated.
void	disable()
boolean	enable()
void	enableAutoDisable(Boolean param) Deprecated.
void	enableAutoEnable(Boolean param) Deprecated.
long	getLastActivityTime()
String	getScript(String inMoovServiceName)
static void	main(String[] args)
void	moveTo(double topStom, double midStom, double lowStom)
void	moveToBlocking(Double topStom, Double midStom, Double lowStom)
void	rest()
boolean	save() method of serializing default will be simple xml to name file
void	setAutoDisable(Boolean param)
void	setController(ServoController controller)
void	setLimits(double topStomMin, double topStomMax, double midStomMin, double midStomMax, double lowStomMin, double lowStomMax) Sets the output min and max limits for all servos in the torso.
void	setpins(Integer topStomPin, Integer midStomPin, Integer lowStomPin)
void	setSpeed(Double topStom, Double midStom, Double lowStom)
void	setVelocity(Double topStom, Double midStom, Double lowStom) Deprecated.
void	startService()
void	test()
void	waitTargetPos()

Methods inherited from class org.myrobotlab.framework.Service

addListener, addListener, addListener, addListener, addTask, addTask, addTask, addTaskOneShot, attach, attach, broadcast, broadcast, broadcastStatus, buildDna, buildDna, buildDnaKeys, buildDnaNames, clearLastError, close, containsTask, copyResource, copyShallowFrom, createPeer, createPeer, createRootReserved, detach, detach, echoHeartbeat, error, error, error, export, export, exportAll, exportAll, getAttached, getCountry, getDataDir, getDataDir, getDataInstanceDir, getDeclaredMethodNames, getDeclaredMethods, getDescription, getDisplayLanguage, getDna, getDnaString, getFile, getFullName, getHomeDir, getHostName, getId, getInbox, getInstanceId, getIntanceName, getInterfaceSet, getLanguage, getLastError, getLocale, getLocaleTag, getMessageSet, getMetaData, getMethodMap, getMethodNames, getMethods, getMethodToolTip, getMsg, getName, getNotifyList, getNotifyListKeySet, getOutbox, getPeer, getPeerKey, getPeerName, getResource, getResource, getResource, getResourceAsString, getResourceAsString, getResourceAsString, getResourceDir, getResourceDir, getResourceDir, getResourceDir, getResourceDirList, getResourceDirList, getResourceImage, getResourceRoot, getRootDataDir, getServiceIcon, getServiceIcon, getServiceIcon, getServiceScript, getServiceScript, getServiceScript, getSimpleName, getSwagger, getTasks, getThisThread, getType, hasError, hasInternet, hasPeers, hasSubscribed, help, in, info, info, invoke, invoke, invoke, invokeOn, invokeOn, invokePeer, invokePeer, isAttached, isAttached, isDev, isHeadless, isLocal, isReady, isRunning, isRuntime, isVirtual, load, load, loadAndStart, loadFromJson, loadFromJson, loadLocalizations, localize, localize, logTimeEnable, mergeDna, mergeDna, mergePeerDna, movePeerDna, out, out, preProcessHook, preRoutingHook, preShutdown, publishError, publishQueueStats, publishState, publishStats, publishStatus, purgeTask, purgeTasks, releasePeer, releasePeers, releaseService, removeAllListeners, removeListener, removeListener, requiresSecurity, reserve, reserve, reserveRoot, reserveRoot, reserveRootAs, run, save, save, send, send, send, sendBlocking, sendBlocking, sendBlocking, sendBlocking, sendPeer, sendToPeer, sendToPeer, setId, setInstanceId, setLocale, setName, setOrder, setPeer, setReady, setSecurityProvider, setState, setThisThread, setVirtual, sleep, sleep, stackToString, startPeer, startPeer, startPeers, stopService, subscribe, subscribe, subscribe, subscribeTo, subscribeToRuntime, toString, unsubscribe, unsubscribe, unsubscribe, unsubscribeTo, unsubscribeToRuntime, updateStats, warn, warn

Methods inherited from class java.lang.Object

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

Field Detail

log

public static final org.slf4j.Logger log

topStom

public transient ServoControl topStom

midStom

public transient ServoControl midStom

lowStom

public transient ServoControl lowStom

controller

public transient ServoController controller

Constructor Detail

InMoovTorso

public InMoovTorso(String n,
                   String id)

Method Detail

main

public static void main(String[] args)

startService

public void startService()

Specified by:

startService in interface ServiceInterface

Overrides:

startService in class Service

attach

@Deprecated
public boolean attach()

Deprecated.

enable

public boolean enable()

enableAutoEnable

@Deprecated
public void enableAutoEnable(Boolean param)

Deprecated.

enableAutoDisable

@Deprecated
public void enableAutoDisable(Boolean param)

Deprecated.

setAutoDisable

public void setAutoDisable(Boolean param)

broadcastState

public void broadcastState()

Specified by:

broadcastState in interface ServiceStatus

Specified by:

broadcastState in interface StatePublisher

Overrides:

broadcastState in class Service

setController

public void setController(ServoController controller)

connect

public boolean connect(String port)
                throws Exception

Throws:

Exception

detach

@Deprecated
public void detach()

Deprecated.

Description copied from class: Service

Detaches ALL listeners/subscribers from this service if services have special requirements, they can override this

Specified by:

detach in interface Attachable

Overrides:

detach in class Service

disable

public void disable()

getLastActivityTime

public long getLastActivityTime()

getScript

public String getScript(String inMoovServiceName)

moveTo

public void moveTo(double topStom,
                   double midStom,
                   double lowStom)

moveToBlocking

public void moveToBlocking(Double topStom,
                           Double midStom,
                           Double lowStom)

waitTargetPos

public void waitTargetPos()

rest

public void rest()

save

public boolean save()

Description copied from class: Service

method of serializing default will be simple xml to name file

Specified by:

save in interface StateSaver

Overrides:

save in class Service

setLimits

public void setLimits(double topStomMin,
                      double topStomMax,
                      double midStomMin,
                      double midStomMax,
                      double lowStomMin,
                      double lowStomMax)

Sets the output min and max limits for all servos in the torso. input limits are not changed.

Parameters:

topStomMin -

topStomMax -

midStomMin -

midStomMax -

lowStomMin -

lowStomMax -

setpins

public void setpins(Integer topStomPin,
                    Integer midStomPin,
                    Integer lowStomPin)

setSpeed

public void setSpeed(Double topStom,
                     Double midStom,
                     Double lowStom)

test

public void test()

setVelocity

@Deprecated
public void setVelocity(Double topStom,
                                    Double midStom,
                                    Double lowStom)

Deprecated.