org.myrobotlab.service

Class UltrasonicSensor

java.lang.Object

org.myrobotlab.framework.MessageService

org.myrobotlab.framework.Service

org.myrobotlab.service.UltrasonicSensor

All Implemented Interfaces:

java.io.Serializable, java.lang.Runnable, Attachable, Invoker, LoggingSink, MessageSender, MessageSubscriber, NameProvider, NameTypeProvider, ServiceInterface, ServiceQueue, StateSaver, TypeProvider, QueueReporter, RangeListener, RangePublisher, RangingControl, UltrasonicSensorControl

public class UltrasonicSensor
extends Service
implements RangeListener, RangePublisher, UltrasonicSensorControl

UltrasonicSensor - This will read data from an ultrasonic sensor module connected to an android. A device which uses the UltrasonicSensor would implement RangeListener. UltrasonicSensor implements RangeListener just for testing purposes

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
static org.slf4j.Logger	log
java.util.Set<java.lang.String>	types

Fields inherited from class org.myrobotlab.framework.Service

cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML

Constructor Summary

Constructors

Constructor and Description
UltrasonicSensor(java.lang.String n)

Method Summary

Modifier and Type	Method and Description
void	addRangeListener(Service service)
void	attach(java.lang.String port, int trigPin, int echoPin)
void	attach(UltrasonicSensorController controller, java.lang.Integer trigPin, java.lang.Integer echoPin)
static int	byteArrayToInt(int[] b)
void	detach(java.lang.String controllerName) Attachable.detach(serviceName) - routes to reference parameter Attachable.detach(Attachable)
java.util.Set<java.lang.String>	getAttached() returns all currently attached services
UltrasonicSensorController	getController()
int	getEchoPin()
static ServiceType	getMetaData() This static method returns all the details of the class without it having to be constructed.
int	getPings()
int	getTriggerPin()
java.lang.String	getType()
boolean	isAttached(java.lang.String name) returns if the Attachable has been set or not - name interface
static void	main(java.lang.String[] args)
void	onRange(java.lang.Double range)
java.lang.Double	onUltrasonicSensorData(java.lang.Double rawMs)
java.lang.Double	ping()
java.lang.Double	publishRange(java.lang.Double range)
java.lang.Double	range()
boolean	setType(java.lang.String type)
void	setUnitCm()
void	setUnitInches()
void	startRanging()
void	stopRanging()

Methods inherited from class org.myrobotlab.framework.Service

addListener, addListener, addTask, addTask, addTask, addTaskOneShot, allowDisplay, allowDisplay, attach, attach, broadcastState, buildDna, buildDna, buildDnaKeys, buildDnaNames, clearLastError, close, containsTask, copyShallowFrom, createPeer, createPeer, createRootReserved, detach, detach, echoHeartbeat, error, error, error, getCfgDir, getComm, getDeclaredMethodNames, getDeclaredMethods, getDescription, getDna, getDnaString, getHostName, getInbox, getInstanceId, getIntanceName, getInterfaceSet, getLastError, getMessageSet, getMetaData, getMethodMap, getMethodNames, getMethods, getMethodToolTip, getMsg, getName, getNotifyList, getNotifyListKeySet, getOutbox, getPeerKey, getPeerName, getServiceResourceFile, getSimpleName, getTasks, getThisThread, hasError, hasPeers, help, help, in, info, info, invoke, invoke, invoke, invokeOn, isAttached, isLocal, isReady, isRunning, isRuntime, isVirtual, load, load, logTimeEnable, mergeDna, mergeDna, mergePeerDna, movePeerDna, out, out, preProcessHook, preRoutingHook, publishError, publishQueueStats, publishState, publishStats, publishStatus, purgeTask, purgeTasks, releasePeers, releaseService, removeAllListeners, removeListener, requiresSecurity, reserve, reserve, reserveRoot, reserveRoot, reserveRootAs, run, save, save, save, send, send, send, send, sendBlocking, sendBlocking, sendBlocking, sendBlocking, sendPeer, setInstanceId, setName, setPeer, setSecurityProvider, setState, setThisThread, setVirtual, sleep, stackToString, startHeartbeat, startPeer, startPeer, startRecording, startService, stopHeartbeat, stopMsgRecording, stopService, subscribe, subscribe, subscribe, toString, unsubscribe, unsubscribe, unsubscribe, updateStats, warn, warn

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.myrobotlab.framework.interfaces.Attachable

attach, attach, detach, detach, isAttached, isLocal

Methods inherited from interface org.myrobotlab.framework.interfaces.NameProvider

getName

Field Detail

log

public static final org.slf4j.Logger log

types

public final java.util.Set<java.lang.String> types

Constructor Detail

UltrasonicSensor

public UltrasonicSensor(java.lang.String n)

Method Detail

addRangeListener

public void addRangeListener(Service service)

attach

public void attach(java.lang.String port,
                   int trigPin,
                   int echoPin)
            throws java.lang.Exception

Throws:

java.lang.Exception

attach

public void attach(UltrasonicSensorController controller,
                   java.lang.Integer trigPin,
                   java.lang.Integer echoPin)
            throws java.lang.Exception

Specified by:

attach in interface UltrasonicSensorControl

Throws:

java.lang.Exception

getController

public UltrasonicSensorController getController()

getEchoPin

public int getEchoPin()

getTriggerPin

public int getTriggerPin()

onRange

public void onRange(java.lang.Double range)

Specified by:

onRange in interface RangeListener

publishRange

public java.lang.Double publishRange(java.lang.Double range)

Specified by:

publishRange in interface RangePublisher

setType

public boolean setType(java.lang.String type)

startRanging

public void startRanging()

Specified by:

startRanging in interface RangingControl

stopRanging

public void stopRanging()

Specified by:

stopRanging in interface RangingControl

range

public java.lang.Double range()

ping

public java.lang.Double ping()

byteArrayToInt

public static int byteArrayToInt(int[] b)

getMetaData

public static ServiceType getMetaData()

This static method returns all the details of the class without it having to be constructed. It has description, categories, dependencies, and peer definitions.

Returns:

ServiceType - returns all the data

getPings

public int getPings()

getType

public java.lang.String getType()

Specified by:

getType in interface ServiceInterface

Overrides:

getType in class Service

detach

public void detach(java.lang.String controllerName)

Description copied from class: Service

Attachable.detach(serviceName) - routes to reference parameter Attachable.detach(Attachable)

Specified by:

detach in interface Attachable

Overrides:

detach in class Service

Parameters:

controllerName - - name of service

onUltrasonicSensorData

public java.lang.Double onUltrasonicSensorData(java.lang.Double rawMs)

Specified by:

onUltrasonicSensorData in interface UltrasonicSensorControl

setUnitCm

public void setUnitCm()

Specified by:

setUnitCm in interface RangingControl

setUnitInches

public void setUnitInches()

Specified by:

setUnitInches in interface RangingControl

isAttached

public boolean isAttached(java.lang.String name)

Description copied from interface: Attachable

returns if the Attachable has been set or not - name interface

Specified by:

isAttached in interface Attachable

Overrides:

isAttached in class Service

Parameters:

name - - name of service

Returns:

True or False depending if service is attached

getAttached

public java.util.Set<java.lang.String> getAttached()

Description copied from class: Service

returns all currently attached services

Specified by:

getAttached in interface Attachable

Overrides:

getAttached in class Service

Returns:

the set of attached service names to this service

main

public static void main(java.lang.String[] args)