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Basic Java-interface for classes which represent a hardware-interface in ART. Instances of RobotInterface can be retrieved from a RobotInterfaceFactory
RobotInterfaceFactory
Method Summary | |
boolean |
conformsTo(RobotInterfaceDefinition definition)
Tells whether the given RobotInterfaceDefinition identifies this RobotInterface. |
ActuatorPort[] |
getActuatorPorts()
Returns a description of all ActuatorPorts this Interface provides. |
ActuatorPort |
getActuatorPorts(int index)
Returns the SensorPort with the specified index. |
RobotInterfaceDefinition |
getInterfaceDefinition()
Returns a RobotInterfaceDefinition describing this instance of a RobotInterface. |
Port |
getPort(Object identifier)
Returns a Port which is identified by the given Object. |
SensorPort[] |
getSensorPorts()
Returns a description of all SensorPorts this Interface provides. |
SensorPort |
getSensorPorts(int index)
Returns the SensorPort with the specified index. |
boolean |
isAlive()
Tells the state of the logical connection to the hardware-interface. |
boolean |
isConnected()
Tells the state of the physical connection to the hardware-interface. |
Method Detail |
public RobotInterfaceDefinition getInterfaceDefinition()
conformsTo(RobotInterfaceDefinition)
with it as a parameter will yield true as a result. There should be no other instances of RobotInterface at a time which conform to this definition. However there may other definitions possible to which more than one RobotInterface conforms to, but they shouldn't be returned by this method. The current implementations use a RobotInterfaceStringDefinition.RobotInterfaceStringDefinition
,
conformsTo(RobotInterfaceDefinition)
,
RobotInterfaceFactory.getInterface(RobotInterfaceDefinition)
public boolean conformsTo(RobotInterfaceDefinition definition)
RobotInterfaceStringDefinition
,
getInterfaceDefinition()
,
RobotInterfaceFactory.getInterface(RobotInterfaceDefinition)
public boolean isConnected()
isAlive()
.isAlive()
,
SensorPeer.isConnected()
,
Sensor.isConnected()
public boolean isAlive()
isConnected()
public ActuatorPort[] getActuatorPorts()
getSensorPorts()
,
ActuatorPort.connectWith(Actuator)
public ActuatorPort getActuatorPorts(int index)
ArrayIndexOutOfBoundsException
- if the specified index is not a legal index into the array of SensorPorts.getActuatorPorts()
public SensorPort[] getSensorPorts()
getActuatorPorts()
,
SensorPort.connectWith(Sensor)
public SensorPort getSensorPorts(int index)
ArrayIndexOutOfBoundsException
- if the specified index is not a legal index into the array of SensorPorts.getActuatorPorts()
public Port getPort(Object identifier)
getSensorPorts()
,
getActuatorPorts()
,
Port.getPortID()
,
Port.conformsTo(Object)
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