lejos.robotics.mapping
Class PCNavigationModel

java.lang.Object
  lejos.robotics.mapping.NavigationModel
      lejos.robotics.mapping.PCNavigationModel

public class PCNavigationModel
extends NavigationModel

The PCNavigationModel holds all the navigation data that is transmitted as events, to and from a NXT brick. It has methods to generate events, and a Receiver thread to receive events from the NXT. There is a NavigationPanel associated with the model. Whenever data in the model is updated, the NavigationPanel is repainted with the new data.

Author:

Lawrie Griffiths

Nested Class Summary

Nested classes/interfaces inherited from class lejos.robotics.mapping.NavigationModel

NavigationModel.NavEvent

Field Summary

protected AstarSearchAlgorithm	alg
protected int	clearance
protected int	closest
protected boolean	connected
protected Node	destination
protected java.util.ArrayList<Point>	features
protected int	gridSpace
protected FourWayGridMesh	mesh
protected java.util.ArrayList<Move>	moves
protected java.util.Collection<Node>	nodes
protected NXTCommand	nxtCommand
protected MapApplicationUI	panel
protected RangeReadings	particleReadings
protected PathFinder	pf
protected java.util.ArrayList<Pose>	poses
protected Waypoint	reached
protected Node	start
protected float	voltage
protected java.util.ArrayList<Waypoint>	waypoints
protected float	weight

Fields inherited from class lejos.robotics.mapping.NavigationModel

currentPose, debug, dis, dos, feature, lastMove, lastPlannedMove, map, mcl, numReadings, nxtName, particles, path, readings, target

Constructor Summary

PCNavigationModel(MapApplicationUI panel)
Create the model and associate the navigation panel with it

Method Summary

void	addWaypoint(Waypoint wp) Add a waypoint and send it to the NXT
void	arc(float radius, float angle) Send an ARC event to the NXT
void	calculatePath() Calculate the path with the Node path finder
protected boolean	checkFile(java.io.File f) Check that the file exists on the NXT with the right size
void	clear() Clear all variable data
void	clearPath() Send a CLEAR_PATH event to the NXT
void	connect(java.lang.String nxtName) Connect to the NXT
void	connectAndUpload(java.lang.String nxtName, java.io.File file) Connect to the NXT, upload a program, and run it
void	findClosest(float x, float y) Send a FIND_CLOSEST event to the NXT
void	findPath(Waypoint wp) Send a FIND_PATH event to the NXT
void	followPath() Send a route to the NXT and follow it
void	generateParticles() Generate particles for the MCLPoseProvider and send them to the NXT
void	getEstimatedPose() Send a GET_ESTIMATED_POSE event to the NXT
java.util.ArrayList<Point>	getFeatures() Get the list of features
Move	getLastMove() Get the last move made by the robot
MCLPoseProvider	getMCL() Get the MCLPoseProvider associated with this model
java.util.ArrayList<Move>	getMoves() Get the moves made since the last setPose
java.util.Collection<Node>	getNodes() Get the generated node
void	getPose() Send a GET_POSE event to the NXT
java.util.ArrayList<Pose>	getPoses() Get the sequence of poses of the robot from moves sent from the NXT, since the last call of setPose
void	getRemoteBattery() Get the remote battery voltage
void	getRemoteParticles() Send a GET_PARTICLES event to the NXT
void	getRemoteReadings() Send a GET_READINGS event to the NXT
protected java.util.ArrayList<Waypoint>	getWaypoints() Get the list of waypoints
void	goTo(Waypoint wp) Send a GOTO event to the NXT
boolean	isConnected() Test if a NXT brick is currently connected
void	lcpClose() Close the LCP connection to the NXT
boolean	lcpConnect(java.lang.String nxtName) Make an LCP connection to the NXT
LineMap	loadMap(java.lang.String mapFileName)
LineMap	loadMap(java.lang.String mapFileName, int finder) Load a line map and send it to the PC
void	localize() Tell the NXT to keep making random moves until the robot is localized
void	randomMove() Send a RANDOM_MOVE event to the NXT
void	rotate(float angle) Send a ROTATE event to the NXT
void	rotateTo(float angle) Send a ROTATE_TO event to the NXT
void	sendExit() Send an EXITevent to the NXT
void	sendMap() Send the map to the NXT
void	sendRandomMoveParams(float maxDistance, float clearance) Send Random Move parameters to the NXT
void	sendSound(int code) Send a system sound
void	setDifferentialPilotParams(float wheelDiameter, float trackWidth, int leftMotor, int rightMotor, boolean reverse) Set the parameters for a DifferentialPilot, send them to the NXT, and write them to the pilot.props file.
void	setMCL(MCLPoseProvider mcl) Set an MCLPOseProvider for this model
void	setMeshParams(int gridSpace, int clearance) Set the parameter for the 4-way mesh
void	setPathFinder(int finder)
void	setPose(Pose p) Send a SET_POSE event to the NXT
void	setRangeFeatureParams(float maxDistance, int delay) Set the parameter for a Range Feature Detector
void	setRotateSpeed(float speed) Set the rotate speed for a pilot
void	setRotatingRangeScannerParams(int gearRatio, int headMotor) Set the patameters for a Rotating Range Scanner
void	setTarget(Waypoint target) Set the target for a path finder
void	setTravelSpeed(float speed) Set the travel speed for the pilot.
void	shutDown() Shut down the receiver thread
void	startNavigator() Start the navigator following a path
void	stop() Send a STOP event to the NXT
void	takeReadings() Send a TAKE_READINGS event to the NXT
void	travel(float distance) Send a travel event to the NXT

Methods inherited from class lejos.robotics.mapping.NavigationModel

getMap, getParticles, getPath, getReadings, getRobotPose, getTarget, hasMap, setDebug, setNumReadings, setParticleSet, setRobotPose

Methods inherited from class java.lang.Object

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

Field Detail

panel

protected MapApplicationUI panel

closest

protected int closest

connected

protected boolean connected

particleReadings

protected RangeReadings particleReadings

weight

protected float weight

mesh

protected FourWayGridMesh mesh

gridSpace

protected int gridSpace

clearance

protected int clearance

alg

protected AstarSearchAlgorithm alg

nodes

protected java.util.Collection<Node> nodes

start

protected Node start

destination

protected Node destination

pf

protected PathFinder pf

moves

protected java.util.ArrayList<Move> moves

poses

protected java.util.ArrayList<Pose> poses

features

protected java.util.ArrayList<Point> features

waypoints

protected java.util.ArrayList<Waypoint> waypoints

reached

protected Waypoint reached

nxtCommand

protected NXTCommand nxtCommand

voltage

protected float voltage

Constructor Detail

PCNavigationModel

public PCNavigationModel(MapApplicationUI panel)

Create the model and associate the navigation panel with it

Parameters:

panel - the NavigationPanel

Method Detail

setMeshParams

public void setMeshParams(int gridSpace,
                          int clearance)

Set the parameter for the 4-way mesh

Parameters:

gridSpace - the spacing of the mesh

clearance - the clearance from the walls

getMCL

public MCLPoseProvider getMCL()

Get the MCLPoseProvider associated with this model

Returns:

the MCLPoseProvider

setMCL

public void setMCL(MCLPoseProvider mcl)

Set an MCLPOseProvider for this model

Parameters:

mcl - the MCLPoseProvider

getLastMove

public Move getLastMove()

Get the last move made by the robot

Returns:

the Move object

getMoves

public java.util.ArrayList<Move> getMoves()

Get the moves made since the last setPose

Returns:

an ArrayList of Move objects

getFeatures

public java.util.ArrayList<Point> getFeatures()

Get the list of features

Returns:

the features as an array of points

getWaypoints

protected java.util.ArrayList<Waypoint> getWaypoints()

Get the list of waypoints

Returns:

the list of waypoints

getPoses

public java.util.ArrayList<Pose> getPoses()

Get the sequence of poses of the robot from moves sent from the NXT, since the last call of setPose

Returns:

an ArrayList of Pose objects

lcpConnect

public boolean lcpConnect(java.lang.String nxtName)

Make an LCP connection to the NXT

Parameters:

nxtName - the name of the NXT

Returns:

true iff the connection was successful

lcpClose

public void lcpClose()

Close the LCP connection to the NXT

connectAndUpload

public void connectAndUpload(java.lang.String nxtName,
                             java.io.File file)
                      throws java.io.FileNotFoundException

Connect to the NXT, upload a program, and run it

Parameters:

nxtName - the name of the NXT

file - the name of the program file

Throws:

java.io.FileNotFoundException

checkFile

protected boolean checkFile(java.io.File f)

Check that the file exists on the NXT with the right size

setDifferentialPilotParams

public void setDifferentialPilotParams(float wheelDiameter,
                                       float trackWidth,
                                       int leftMotor,
                                       int rightMotor,
                                       boolean reverse)

Set the parameters for a DifferentialPilot, send them to the NXT, and write them to the pilot.props file.

Parameters:

wheelDiameter - the wheel diameter

trackWidth - the track width

leftMotor - the left motor

rightMotor - the right motor

reverse - true iff the driving the motors in reverse drives the pilot forward

setRangeFeatureParams

public void setRangeFeatureParams(float maxDistance,
                                  int delay)

Set the parameter for a Range Feature Detector

Parameters:

maxDistance - the distance from a feature that trifggers detection

delay - the delay between readings in microseconds

setRotatingRangeScannerParams

public void setRotatingRangeScannerParams(int gearRatio,
                                          int headMotor)

Set the patameters for a Rotating Range Scanner

Parameters:

gearRatio - the ratio between motor rotation and head rotation

headMotor - the motor that drives the read (0 = A, 1 =B, 2 = C)

setTravelSpeed

public void setTravelSpeed(float speed)

Set the travel speed for the pilot.

Parameters:

speed - the travel speed

setRotateSpeed

public void setRotateSpeed(float speed)

Set the rotate speed for a pilot

Parameters:

speed - the rotate speed

getRemoteParticles

public void getRemoteParticles()

Send a GET_PARTICLES event to the NXT

findClosest

public void findClosest(float x,
                        float y)

Send a FIND_CLOSEST event to the NXT

addWaypoint

public void addWaypoint(Waypoint wp)

Add a waypoint and send it to the NXT

Parameters:

wp - the waypoint

generateParticles

public void generateParticles()

Generate particles for the MCLPoseProvider and send them to the NXT

connect

public void connect(java.lang.String nxtName)

Connect to the NXT

getNodes

public java.util.Collection<Node> getNodes()

Get the generated node

Returns:

the collection of nodes

isConnected

public boolean isConnected()

Test if a NXT brick is currently connected

Returns:

true iff a NXT brick is connected

loadMap

public LineMap loadMap(java.lang.String mapFileName)

loadMap

public LineMap loadMap(java.lang.String mapFileName,
                       int finder)

Load a line map and send it to the PC

Parameters:

mapFileName - the SVG map file

Returns:

the LineMap

sendMap

public void sendMap()

Send the map to the NXT

setPathFinder

public void setPathFinder(int finder)

goTo

public void goTo(Waypoint wp)

Send a GOTO event to the NXT

Parameters:

wp - the Waypoint to go to

travel

public void travel(float distance)

Send a travel event to the NXT

Parameters:

distance - the distance to travel

rotate

public void rotate(float angle)

Send a ROTATE event to the NXT

Parameters:

angle - the angle to rotate

arc

public void arc(float radius,
                float angle)

Send an ARC event to the NXT

Parameters:

radius - the radius of the arc

angle - the angle to rotate

rotateTo

public void rotateTo(float angle)

Send a ROTATE_TO event to the NXT

Parameters:

angle - the angle to rotate

getPose

public void getPose()

Send a GET_POSE event to the NXT

getEstimatedPose

public void getEstimatedPose()

Send a GET_ESTIMATED_POSE event to the NXT

getRemoteReadings

public void getRemoteReadings()

Send a GET_READINGS event to the NXT

setPose

public void setPose(Pose p)

Send a SET_POSE event to the NXT

Parameters:

p - the robot pose

setTarget

public void setTarget(Waypoint target)

Set the target for a path finder

Overrides:

setTarget in class NavigationModel

Parameters:

target - the target waypoint

stop

public void stop()

Send a STOP event to the NXT

randomMove

public void randomMove()

Send a RANDOM_MOVE event to the NXT

localize

public void localize()

Tell the NXT to keep making random moves until the robot is localized

takeReadings

public void takeReadings()

Send a TAKE_READINGS event to the NXT

sendRandomMoveParams

public void sendRandomMoveParams(float maxDistance,
                                 float clearance)

Send Random Move parameters to the NXT

followPath

public void followPath()

Send a route to the NXT and follow it

startNavigator

public void startNavigator()

Start the navigator following a path

findPath

public void findPath(Waypoint wp)

Send a FIND_PATH event to the NXT

clearPath

public void clearPath()

Send a CLEAR_PATH event to the NXT

sendExit

public void sendExit()

Send an EXITevent to the NXT

calculatePath

public void calculatePath()

Calculate the path with the Node path finder

sendSound

public void sendSound(int code)

Send a system sound

getRemoteBattery

public void getRemoteBattery()

Get the remote battery voltage

shutDown

public void shutDown()

Shut down the receiver thread

clear

public void clear()

Clear all variable data