Package edu.tufts.hrilab.mtracs

Class MockCR800Component

java.lang.Object

edu.tufts.hrilab.diarc.DiarcComponent

edu.tufts.hrilab.mtracs.MockCR800Component

All Implemented Interfaces:

CR800ComponentInterface

public class MockCR800Component
extends DiarcComponent
implements CR800ComponentInterface

Field Summary

Fields

Modifier and Type	Field	Description
protected List<String>	additionalHeader
protected final javax.vecmath.Point3d	COGNEX
protected CognexConsultant	cognexConsultant
protected javax.vecmath.Point3d	cognexOffset
protected String	configFilePath
protected final Symbol	DEFAULT_GRIPPER
protected String	defaultCognexJob
protected final javax.vecmath.Point3d	DOWN
protected Map<Symbol,MPose>	dropoffs
protected final int	GRIPPER_CLOSED
protected final int	GRIPPER_FINISH_SLEEP
protected final int	GRIPPER_OPEN
protected final int	GRIPPER_POLL_SLEEP
protected String	modelCode
protected MPoseConsultant	mxtPoseConsultant
protected String	myAgentName
protected int	SIM_SLEEP_T
protected Map<Symbol,MPose>	tcps

Fields inherited from class edu.tufts.hrilab.diarc.DiarcComponent

executionLoopCycleTime, log, shouldRunExecutionLoop

Constructor Summary

Constructors

Constructor	Description
MockCR800Component()

Method Summary

Modifier and Type	Method	Description
boolean	acceptEE()
protected List<org.apache.commons.cli.Option>	additionalUsageInfo()	Command line options available in sub-class.
protected Symbol	addPose(String poseName, MPose pose)	Helper method used to create a new entry in our pose consultant for the given pose name and pose data.
MPose	adjustPoseToCameraHeight(MPose goal, Symbol cameraHeight)
boolean	alternateEE(MPose newTCP)
void	bindCognexResult(CognexReference ref, CognexResult result, int indexIntoCognexResult)
void	bindToSurface(MPose goal, Symbol surfaceHeight)
boolean	closeGripper()
void	connectToController()
CognexReference	createCogRefWithProps(CognexJob j, List<Term> additionalProperties)
boolean	delay(double seconds)
boolean	doCognexOffset()
boolean	eeOrientTo(javax.vecmath.Point3d g)
boolean	ejectEE()
List<CognexResult>	getCameraData(String jobName)
CognexJob	getCognexJobForCognexReference(CognexReference ref)
CognexJob	getCognexJobForDescriptor(Symbol descriptor)
CognexReference	getCognexReferenceForID(Symbol refId)
Map<String,String>	getConstantMappings()
MPose	getCurrentPose()
Symbol	getDescriptorForID(Symbol refId)
List<Term>	getEmptyProps()
MPose	getGripDropoff(Symbol s)
CognexResult	getMatchingResult(CognexReference toReBind, List<CognexResult> results)
List<String>	getMHeader()
String	getModelType()
MPose	getPoseFromSymbol(Symbol poseName)
MPose	getTCPForEE(Symbol eeType)
boolean	goToPose(MPose goal)
boolean	goToPoseLong(MPose goal)
protected void	init()	Perform any component initialization.
boolean	moveAbove(Symbol s)
boolean	moveAndOrientToCognexTarget(Symbol refID)
boolean	moveAwayFromJointLimit()
boolean	moveInPlane(Symbol x, Symbol y)
boolean	moveToCognexTarget(Symbol refID)
boolean	moveToCognexTarget(List<CognexResult> results, int jobIndex)
boolean	moveToRelative(MPose g)
boolean	moveXRelative(double dist)
boolean	moveZRelative(double dist)
boolean	openGripper()
protected void	parseArgs(org.apache.commons.cli.CommandLine cmdLine)	Called directly after construction to pass runtime values that will override default values.
boolean	pickupScrew()
boolean	reconnect()
Symbol	recordPose(Symbol poseName, Symbol surfaceHeight)
Symbol	recordPose(Symbol poseName, MPose pose, Symbol surfaceHeight)
boolean	removeCognexReferenceWithID(Symbol refID)
boolean	rotateForToolRack()
boolean	shankIn()
boolean	shankOut()
boolean	tightenScrew(Symbol screwType)
boolean	undoCognexOffset()

Methods inherited from class edu.tufts.hrilab.diarc.DiarcComponent

createInstance, createInstance, createInstance, createInstance, executionLoop, getMyGroupConstraints, getMyGroups, getMyService, getMyServices, main, shutdown, shutdownComponent

Methods inherited from class java.lang.Object

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

Field Details

configFilePath

protected String configFilePath

dropoffs

protected Map<Symbol,MPose> dropoffs

additionalHeader

protected List<String> additionalHeader

modelCode

protected String modelCode

defaultCognexJob

protected String defaultCognexJob

cognexOffset

protected javax.vecmath.Point3d cognexOffset

tcps

protected Map<Symbol,MPose> tcps

mxtPoseConsultant

protected MPoseConsultant mxtPoseConsultant

cognexConsultant

protected CognexConsultant cognexConsultant

DEFAULT_GRIPPER

protected final Symbol DEFAULT_GRIPPER

GRIPPER_POLL_SLEEP

protected final int GRIPPER_POLL_SLEEP

See Also:

• Constant Field Values

GRIPPER_FINISH_SLEEP

protected final int GRIPPER_FINISH_SLEEP

See Also:

• Constant Field Values

GRIPPER_CLOSED

protected final int GRIPPER_CLOSED

See Also:

• Constant Field Values

GRIPPER_OPEN

protected final int GRIPPER_OPEN

See Also:

• Constant Field Values

COGNEX

protected final javax.vecmath.Point3d COGNEX

DOWN

protected final javax.vecmath.Point3d DOWN

myAgentName

protected String myAgentName

SIM_SLEEP_T

protected int SIM_SLEEP_T

Constructor Details

MockCR800Component

public MockCR800Component()

Method Details

additionalUsageInfo

protected List<org.apache.commons.cli.Option> additionalUsageInfo()

Description copied from class: DiarcComponent

Command line options available in sub-class. This should be paired with a parseArgs implementation.

Overrides:

additionalUsageInfo in class DiarcComponent

Returns:

parseArgs

protected void parseArgs(org.apache.commons.cli.CommandLine cmdLine)

Description copied from class: DiarcComponent

Called directly after construction to pass runtime values that will override default values. This should parse all the options that additionalUsageInfo provides.zs

Overrides:

parseArgs in class DiarcComponent

init

protected void init()

Description copied from class: DiarcComponent

Perform any component initialization. This should not be used for setting local fields to default values as was the case in DIARC. This method is called after the constructor, and after parseArgs. Setting default values should be done in field declaration or in the constructor.

Overrides:

init in class DiarcComponent

getCameraData

public List<CognexResult> getCameraData(String jobName)

Specified by:

getCameraData in interface CR800ComponentInterface

moveToCognexTarget

public boolean moveToCognexTarget(List<CognexResult> results,
 int jobIndex)

Specified by:

moveToCognexTarget in interface CR800ComponentInterface

moveToCognexTarget

public boolean moveToCognexTarget(Symbol refID)

Specified by:

moveToCognexTarget in interface CR800ComponentInterface

getCurrentPose

public MPose getCurrentPose()

Specified by:

getCurrentPose in interface CR800ComponentInterface

connectToController

public void connectToController()

recordPose

public Symbol recordPose(Symbol poseName,
 Symbol surfaceHeight)

Specified by:

recordPose in interface CR800ComponentInterface

recordPose

public Symbol recordPose(Symbol poseName,
 MPose pose,
 Symbol surfaceHeight)

Specified by:

recordPose in interface CR800ComponentInterface

addPose

protected Symbol addPose(String poseName,
 MPose pose)

Helper method used to create a new entry in our pose consultant for the given pose name and pose data.

Parameters:

poseName - The string representation of the human understandable pose name.

pose - The MPose representing the pose to save to our pose consultant.

getPoseFromSymbol

public MPose getPoseFromSymbol(Symbol poseName)

Specified by:

getPoseFromSymbol in interface CR800ComponentInterface

reconnect

public boolean reconnect()

Specified by:

reconnect in interface CR800ComponentInterface

moveInPlane

public boolean moveInPlane(Symbol x,
 Symbol y)

Specified by:

moveInPlane in interface CR800ComponentInterface

moveAbove

public boolean moveAbove(Symbol s)

Specified by:

moveAbove in interface CR800ComponentInterface

moveAwayFromJointLimit

public boolean moveAwayFromJointLimit()

Specified by:

moveAwayFromJointLimit in interface CR800ComponentInterface

undoCognexOffset

public boolean undoCognexOffset()

Specified by:

undoCognexOffset in interface CR800ComponentInterface

doCognexOffset

public boolean doCognexOffset()

Specified by:

doCognexOffset in interface CR800ComponentInterface

moveAndOrientToCognexTarget

public boolean moveAndOrientToCognexTarget(Symbol refID)

Specified by:

moveAndOrientToCognexTarget in interface CR800ComponentInterface

bindCognexResult

public void bindCognexResult(CognexReference ref,
 CognexResult result,
 int indexIntoCognexResult)

Specified by:

bindCognexResult in interface CR800ComponentInterface

getMatchingResult

public CognexResult getMatchingResult(CognexReference toReBind,
 List<CognexResult> results)

Specified by:

getMatchingResult in interface CR800ComponentInterface

getEmptyProps

public List<Term> getEmptyProps()

Specified by:

getEmptyProps in interface CR800ComponentInterface

createCogRefWithProps

public CognexReference createCogRefWithProps(CognexJob j,
 List<Term> additionalProperties)

Specified by:

createCogRefWithProps in interface CR800ComponentInterface

getCognexJobForCognexReference

public CognexJob getCognexJobForCognexReference(CognexReference ref)

Specified by:

getCognexJobForCognexReference in interface CR800ComponentInterface

getCognexReferenceForID

public CognexReference getCognexReferenceForID(Symbol refId)

Specified by:

getCognexReferenceForID in interface CR800ComponentInterface

getDescriptorForID

public Symbol getDescriptorForID(Symbol refId)

Specified by:

getDescriptorForID in interface CR800ComponentInterface

getCognexJobForDescriptor

public CognexJob getCognexJobForDescriptor(Symbol descriptor)

Specified by:

getCognexJobForDescriptor in interface CR800ComponentInterface

eeOrientTo

public boolean eeOrientTo(javax.vecmath.Point3d g)

Specified by:

eeOrientTo in interface CR800ComponentInterface

getMHeader

public List<String> getMHeader()

Specified by:

getMHeader in interface CR800ComponentInterface

getConstantMappings

public Map<String,String> getConstantMappings()

Specified by:

getConstantMappings in interface CR800ComponentInterface

getModelType

public String getModelType()

Specified by:

getModelType in interface CR800ComponentInterface

delay

public boolean delay(double seconds)

Specified by:

delay in interface CR800ComponentInterface

openGripper

public boolean openGripper()

Specified by:

openGripper in interface CR800ComponentInterface

closeGripper

public boolean closeGripper()

Specified by:

closeGripper in interface CR800ComponentInterface

pickupScrew

public boolean pickupScrew()

Specified by:

pickupScrew in interface CR800ComponentInterface

tightenScrew

public boolean tightenScrew(Symbol screwType)

Specified by:

tightenScrew in interface CR800ComponentInterface

shankOut

public boolean shankOut()

Specified by:

shankOut in interface CR800ComponentInterface

shankIn

public boolean shankIn()

Specified by:

shankIn in interface CR800ComponentInterface

goToPose

public boolean goToPose(MPose goal)

Specified by:

goToPose in interface CR800ComponentInterface

goToPoseLong

public boolean goToPoseLong(MPose goal)

Specified by:

goToPoseLong in interface CR800ComponentInterface

adjustPoseToCameraHeight

public MPose adjustPoseToCameraHeight(MPose goal,
 Symbol cameraHeight)

Specified by:

adjustPoseToCameraHeight in interface CR800ComponentInterface

bindToSurface

public void bindToSurface(MPose goal,
 Symbol surfaceHeight)

Specified by:

bindToSurface in interface CR800ComponentInterface

getTCPForEE

public MPose getTCPForEE(Symbol eeType)

Specified by:

getTCPForEE in interface CR800ComponentInterface

alternateEE

public boolean alternateEE(MPose newTCP)

Specified by:

alternateEE in interface CR800ComponentInterface

acceptEE

public boolean acceptEE()

Specified by:

acceptEE in interface CR800ComponentInterface

ejectEE

public boolean ejectEE()

Specified by:

ejectEE in interface CR800ComponentInterface

getGripDropoff

public MPose getGripDropoff(Symbol s)

Specified by:

getGripDropoff in interface CR800ComponentInterface

rotateForToolRack

public boolean rotateForToolRack()

Specified by:

rotateForToolRack in interface CR800ComponentInterface

moveZRelative

public boolean moveZRelative(double dist)

Specified by:

moveZRelative in interface CR800ComponentInterface

moveXRelative

public boolean moveXRelative(double dist)

Specified by:

moveXRelative in interface CR800ComponentInterface

moveToRelative

public boolean moveToRelative(MPose g)

Specified by:

moveToRelative in interface CR800ComponentInterface

removeCognexReferenceWithID

public boolean removeCognexReferenceWithID(Symbol refID)

Specified by:

removeCognexReferenceWithID in interface CR800ComponentInterface