org.commonreality.sensors.base

Class BaseSensor

java.lang.Object

org.commonreality.participant.impl.AbstractParticipant

org.commonreality.sensors.AbstractSensor

org.commonreality.sensors.base.BaseSensor

All Implemented Interfaces:

IIdentifiable, IParticipant, ISensor

public abstract class BaseSensor
extends AbstractSensor

skeletal sensor that utilizes a PerceptManager to create and process percepts based on some other listening mechanism. It is up to the implementor to configure the PerceptManager, by adding IObjectCreators and IObjectProcessors. processPercepts() calls PerceptManager.processDirtyObjects().
If you want to use a realtime clock, call setRealtimeClockEnabled(boolean) and the system will ensure that the minimum cycle time is getTimeStep()
If running using the standard clock cycle doesn't make sense for your system (i.e. it is entirely event driven and fires infrequently), use immediate mode (setImmediateModeEnabled(boolean)) and call processImmediately() after your calls to PerceptManager.markAsDirty(Object), etc.

Author:

developer

Nested Class Summary

Nested classes/interfaces inherited from interface org.commonreality.participant.IParticipant

IParticipant.State

Constructor Summary

Constructors

Constructor and Description
BaseSensor()

Method Summary

Modifier and Type	Method and Description
void	add(java.util.Collection<IMutableObject> objects) all percepts must be for the same agent
void	add(IMutableObject object)
protected void	agentAdded(IAgentObject agent) callback when a new agent is added to te simulation (will only receive is AbstractSensor.shouldInterface(IAgentObject) is true).
protected void	agentDataProcessed() called after all the agent processing has been queued (but not necessarily started)
protected void	agentRemoved(IAgentObject agent) callback when an interfaced agent is removed from the simulation This is called on the IO thread, you should not make any blocking calls here
protected PerceptManager	createPerceptManager() call if you want to override the perceptmanager
protected void	endOfCycle()
void	execute(java.lang.Runnable runner) execute some code on the main thread of the sensor
java.lang.String	getName()
PerceptManager	getPerceptManager()
double	getTimeStep()
void	initialize() called in response to a command from Reality to get everything ready to run.
protected boolean	isImmediateModeEnabled()
protected boolean	isRealtimeClockEnabled()
protected void	messagesSent() called after all the pending messages have been sent out to CR
protected void	packageData()
protected void	postClockWait(double currentTime) called after the time synch block
protected void	preClockWait(double waitUntilTime) called before the time synch wait
protected void	processImmediately()
protected abstract double	processMotor() process the available motor information.
protected double	processPercepts() called when the subclasses' percept managers need to be called.
protected double	processSensorData()
void	remove(java.util.Collection<ISensoryObject> objects)
void	remove(ISensoryObject object)
void	removeIdentifiers(java.util.Collection<ISensoryIdentifier> objectIdentifiers)
protected void	sendData()
protected void	setImmediateModeEnabled(boolean immediateMode) if immediateMode is to be used, extenders are responsible for calling
protected void	setRealtimeClockEnabled(boolean useRTClock)
void	setTimeStep(double timeStep) timestep used for a shared clock or the minimum cycle time is using realtime
protected boolean	shouldContinue() if the main processing should continue, return true
void	shutdown() shutdown the participant if it is stopped and disconnect
void	start() called to actually start this participant
protected void	startOfCycle()
protected void	uncaughtException(java.lang.Exception e) called if something isn't caught in the main thread
void	update(java.util.Collection<IObjectDelta> deltas)
void	update(IObjectDelta delta)

Methods inherited from class org.commonreality.sensors.AbstractSensor

agentUpdated, connect, createAfferentObjectManager, createAgentObjectManager, createEfferentObjectManager, createRealObjectManager, createSensor, disconnect, getAddressingInformation, getAfferentObjectManager, getCredentials, getEfferentObjectManager, getInterfacedAgents, getRealObjectManager, isInterfacedAgent, setCredentials, setIdentifier, shouldInterface

Methods inherited from class org.commonreality.participant.impl.AbstractParticipant

addClientService, addServerService, checkState, clearObjectManagers, configure, createEfferentCommandManager, createIOExecutorService, createIOHandler, createNotificationManager, createSensorObjectManager, disconnect, getAgentObjectManager, getCentralThreadFactory, getClock, getCommonRealityIdentifier, getEfferentCommandManager, getIdentifier, getIOExecutor, getIOHandler, getIOThreadFactory, getNotificationManager, getPeriodicExecutor, getSensorObjectManager, getServerAddressInformation, getState, reset, resume, send, setClock, setCommonRealityIdentifier, shutdown, stateMatches, stop, suspend, waitForState, waitForState

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.commonreality.participant.IParticipant

configure, disconnect, getAgentObjectManager, getClock, getEfferentCommandManager, getNotificationManager, getSensorObjectManager, getState, reset, resume, send, shutdown, stateMatches, stop, suspend, waitForState, waitForState

Methods inherited from interface org.commonreality.identifier.IIdentifiable

getIdentifier

Constructor Detail

BaseSensor

public BaseSensor()

Method Detail

setImmediateModeEnabled

protected void setImmediateModeEnabled(boolean immediateMode)

if immediateMode is to be used, extenders are responsible for calling

Parameters:

immediateMode -

isImmediateModeEnabled

protected boolean isImmediateModeEnabled()

processImmediately

protected void processImmediately()

createPerceptManager

protected PerceptManager createPerceptManager()

call if you want to override the perceptmanager

Returns:

getPerceptManager

public PerceptManager getPerceptManager()

setRealtimeClockEnabled

protected void setRealtimeClockEnabled(boolean useRTClock)

isRealtimeClockEnabled

protected boolean isRealtimeClockEnabled()

getName

public java.lang.String getName()

Specified by:

getName in class AbstractParticipant

See Also:

AbstractParticipant.getName()

setTimeStep

public void setTimeStep(double timeStep)

timestep used for a shared clock or the minimum cycle time is using realtime

Parameters:

timeStep -

getTimeStep

public double getTimeStep()

initialize

public void initialize()
                throws java.lang.Exception

Description copied from class: AbstractParticipant

called in response to a command from Reality to get everything ready to run. we must be connected first.

Specified by:

initialize in interface IParticipant

Overrides:

initialize in class AbstractParticipant

Throws:

java.lang.Exception

shutdown

public void shutdown()
              throws java.lang.Exception

Description copied from interface: IParticipant

shutdown the participant if it is stopped and disconnect

Specified by:

shutdown in interface IParticipant

Overrides:

shutdown in class AbstractSensor

Throws:

java.lang.Exception

start

public void start()
           throws java.lang.Exception

Description copied from class: AbstractParticipant

called to actually start this participant

Specified by:

start in interface IParticipant

Overrides:

start in class AbstractParticipant

Throws:

java.lang.Exception

agentAdded

protected void agentAdded(IAgentObject agent)

Description copied from class: AbstractSensor

callback when a new agent is added to te simulation (will only receive is AbstractSensor.shouldInterface(IAgentObject) is true). This is called on the IO thread, you should not make any blocking calls here

Overrides:

agentAdded in class AbstractSensor

agentRemoved

protected void agentRemoved(IAgentObject agent)

Description copied from class: AbstractSensor

callback when an interfaced agent is removed from the simulation This is called on the IO thread, you should not make any blocking calls here

Overrides:

agentRemoved in class AbstractSensor

add

public void add(IMutableObject object)

add

public void add(java.util.Collection<IMutableObject> objects)

all percepts must be for the same agent

Parameters:

objects -

remove

public void remove(ISensoryObject object)

remove

public void remove(java.util.Collection<ISensoryObject> objects)

removeIdentifiers

public void removeIdentifiers(java.util.Collection<ISensoryIdentifier> objectIdentifiers)

update

public void update(IObjectDelta delta)

update

public void update(java.util.Collection<IObjectDelta> deltas)

execute

public void execute(java.lang.Runnable runner)

execute some code on the main thread of the sensor

Parameters:

runner -

shouldContinue

protected boolean shouldContinue()

if the main processing should continue, return true

Returns:

startOfCycle

protected void startOfCycle()

endOfCycle

protected void endOfCycle()

preClockWait

protected void preClockWait(double waitUntilTime)

called before the time synch wait

Parameters:

waitUntilTime -

postClockWait

protected void postClockWait(double currentTime)

called after the time synch block

Parameters:

currentTime -

messagesSent

protected void messagesSent()

called after all the pending messages have been sent out to CR

agentDataProcessed

protected void agentDataProcessed()

called after all the agent processing has been queued (but not necessarily started)

uncaughtException

protected void uncaughtException(java.lang.Exception e)

called if something isn't caught in the main thread

Parameters:

e -

processPercepts

protected double processPercepts()

called when the subclasses' percept managers need to be called. If during the course of the perceptual processing, an estimate can be made as to when new data may be available, it should be returned. this is used in event based models so that time can be controlled more effectively.
If isRealtimeClockEnabled() returns true, the return value is ignored

Returns:

time when new data might be available, or Double.isNaN() if there is no estimate.

processMotor

protected abstract double processMotor()

process the available motor information. If during the course of the perceptual processing, an estimate can be made as to when new data may be available, it should be returned. this is used in event based models so that time can be controlled more effectively.
If isRealtimeClockEnabled() returns true, the return value is ignored

Returns:

time when new data might be available, or Double.isNaN() if there is no estimate.

processSensorData

protected double processSensorData()

Returns:

packageData

protected void packageData()

sendData

protected void sendData()