roboplayer.core.body
Class Body

java.lang.Object
  |
  +--roboplayer.core.body.Body

All Implemented Interfaces:

RobotCommands, java.lang.Runnable

public class Body

extends java.lang.Object

implements java.lang.Runnable, RobotCommands

This class represents robot body. It is used to communicate with the server. This class is the only thing which should be changed if we want to move the code to real robot.

Version:

1.0

Author:

Krzysztof Langner

Constructor Summary

Body(java.net.InetAddress host, int port)
Standard constructor

Method Summary

void	addHearListener(HearListener l) This function registers HearListener interface
void	addParamsListener(ParamsListener l) This function registers ParamsListener interface
void	addSeeListener(SeeListener l) This function registers SeeListener interface
void	addTickListener(TickListener l) This function registers TickListener interface
void	bye() Disconnect from the server
void	catchBall(double dir) This function sends catch command to the server
void	changeView(java.lang.String angle, java.lang.String quality) This function sends chage_view command to the server
void	dash(double power) This function sends dash command to the server
double	getEfford() Player current efford
double	getHeadAngle() Player head angle
double	getLastTurnAngle() Get information about last turn command which was already send, but which was not included in any visual info yet.
double	getSpeed() Player current speed
double	getStamina() Player current stamina
java.lang.String	getViewAngle() Get information about view angle
boolean	init(java.lang.String teamName, boolean goalie) Connect to server
void	kick(double power, double direction) This function sends kick command to the server
void	move(double x, double y) This function sends move command to the server.
void	reconnect(java.lang.String teamName, int uniformNumber) Reconnect to the server
void	removeHearListener(HearListener l) This function unregisters HearListener interface
void	removeParamsListener(ParamsListener l) This function unregisters ParamsListener interface
void	removeSeeListener(SeeListener l) This function unregisters SeeListener interface
void	removeTickListener(TickListener l) This function unregisters TickListener interface
void	run() Main loop of the robot.
void	say(java.lang.String message) This function sends say command to the server
void	turn(double angle) This function sends turn command to the server
void	turnNeck(double angle) This function sends turn head command to the server

Methods inherited from class java.lang.Object

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

Constructor Detail

Body

public Body(java.net.InetAddress host,
            int port)
     throws java.net.SocketException

Standard constructor

Parameters:

host - Server host

port - server port

Throws:

java.net.SocketException - when we can't connect to the server

Method Detail

init

public boolean init(java.lang.String teamName,
                    boolean goalie)

Connect to server

Parameters:

teamName - name of the team

goalie - true if goalkeeper

Returns:

true we received init message

reconnect

public void reconnect(java.lang.String teamName,
                      int uniformNumber)

Reconnect to the server

Parameters:

teamName - name of the team

uniformNumber - player number

bye

public void bye()

Disconnect from the server

getSpeed

public double getSpeed()

Player current speed

Returns:

current player speed

getStamina

public double getStamina()

Player current stamina

Returns:

player stamina

getEfford

public double getEfford()

Player current efford

Returns:

player efford

getHeadAngle

public double getHeadAngle()

Player head angle

Returns:

head angle

getLastTurnAngle

public double getLastTurnAngle()

Get information about last turn command which was already send, but which was not included in any visual info yet.

Returns:

last turn angle

getViewAngle

public java.lang.String getViewAngle()

Get information about view angle

Returns:

view angle

catchBall

public void catchBall(double dir)

This function sends catch command to the server

Specified by:

catchBall in interface RobotCommands

Parameters:

dir - catch direction

changeView

public void changeView(java.lang.String angle,
                       java.lang.String quality)

This function sends chage_view command to the server

Specified by:

changeView in interface RobotCommands

Parameters:

angle - view angle

quality - view quality

dash

public void dash(double power)

This function sends dash command to the server

Specified by:

dash in interface RobotCommands

Parameters:

power - dash power

kick

public void kick(double power,
                 double direction)

This function sends kick command to the server

Specified by:

kick in interface RobotCommands

Parameters:

power - kick power

direction - kick direction

move

public void move(double x,
                 double y)

This function sends move command to the server. This function can only be used to position player before game.

Specified by:

move in interface RobotCommands

Parameters:

x - move robot to this direction

y - move robot to this direction

say

public void say(java.lang.String message)

This function sends say command to the server

Specified by:

say in interface RobotCommands

Parameters:

message - message

turn

public void turn(double angle)

This function sends turn command to the server

Specified by:

turn in interface RobotCommands

Parameters:

angle - turn angle

turnNeck

public void turnNeck(double angle)

This function sends turn head command to the server

Specified by:

turnNeck in interface RobotCommands

Parameters:

angle - turn angle

removeTickListener

public void removeTickListener(TickListener l)

This function unregisters TickListener interface

Parameters:

l - listener

addTickListener

public void addTickListener(TickListener l)

This function registers TickListener interface

Parameters:

l - listener

removeSeeListener

public void removeSeeListener(SeeListener l)

This function unregisters SeeListener interface

Parameters:

l - listener

addSeeListener

public void addSeeListener(SeeListener l)

This function registers SeeListener interface

Parameters:

l - listener

removeHearListener

public void removeHearListener(HearListener l)

This function unregisters HearListener interface

Parameters:

l - listener

addHearListener

public void addHearListener(HearListener l)

This function registers HearListener interface

Parameters:

l - listener

removeParamsListener

public void removeParamsListener(ParamsListener l)

This function unregisters ParamsListener interface

Parameters:

l - listener

addParamsListener

public void addParamsListener(ParamsListener l)

This function registers ParamsListener interface

Parameters:

l - listener

run

public void run()

Main loop of the robot. Wait for information from SoccerServer and send it to registered listeners. How each information is processed: - sense_body is processed internally - see is send to each registered SeeListener interface - hear is send to each registered HearListener interface

Specified by:

run in interface java.lang.Runnable