Package edu.tufts.hrilab.mtracs

Class MockKolverComponent

java.lang.Object

edu.tufts.hrilab.diarc.DiarcComponent

edu.tufts.hrilab.mtracs.MockKolverComponent

All Implemented Interfaces:

KolverComponentInterface

public class MockKolverComponent
extends DiarcComponent
implements KolverComponentInterface

Field Summary

Fields

Modifier and Type	Field	Description
protected Integer	idCounter
protected Map<Symbol,Integer>	symbolIdMap

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

executionLoopCycleTime, log, shouldRunExecutionLoop

Constructor Summary

Constructors

Constructor	Description
MockKolverComponent()

Method Summary

Modifier and Type	Method	Description
boolean	configureScrewdriverParam(Term screwType, Symbol val)	Sends the given information about one param in a screwdriving rundown program, and writes it to the Kolver controller over MODBUS.
boolean	configureScrewdriverProgram(Symbol screwType, Symbol torqueTarget, Symbol torqueMax, Symbol angleMax)	Sends the given information about a screwdriving rundown program, and writes it to the Kolver controller over MODBUS.
int	getScrewdriverProgramIdFromSymbol(Symbol s)
int	incrementId()
protected void	init()	Perform any component initialization.
boolean	resetScrewdriver()	Clears the current screwing status of the Kolver controller.
boolean	runScrewdriverProgram(int programID)	Starts a program on the Kolver screwdriver controller over MODBUS.
boolean	switchProgram(int id)	Switches the currently queued program on the Kolver controller over MODBUS

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

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

Methods inherited from class java.lang.Object

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

Field Details

symbolIdMap

protected Map<Symbol,Integer> symbolIdMap

idCounter

protected Integer idCounter

Constructor Details

MockKolverComponent

public MockKolverComponent()

Method Details

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

incrementId

public int incrementId()

Specified by:

incrementId in interface KolverComponentInterface

configureScrewdriverParam

public boolean configureScrewdriverParam(Term screwType,
 Symbol val)

Sends the given information about one param in a screwdriving rundown program, and writes it to the Kolver controller over MODBUS.

Specified by:

configureScrewdriverParam in interface KolverComponentInterface

Returns:

True if the screwdriver program was successfully configured, false if otherwise.

getScrewdriverProgramIdFromSymbol

public int getScrewdriverProgramIdFromSymbol(Symbol s)

Specified by:

getScrewdriverProgramIdFromSymbol in interface KolverComponentInterface

configureScrewdriverProgram

public boolean configureScrewdriverProgram(Symbol screwType,
 Symbol torqueTarget,
 Symbol torqueMax,
 Symbol angleMax)

Sends the given information about a screwdriving rundown program, and writes it to the Kolver controller over MODBUS.

Specified by:

configureScrewdriverProgram in interface KolverComponentInterface

Returns:

True if the screwdriver program was successfully configured, false if otherwise.

runScrewdriverProgram

public boolean runScrewdriverProgram(int programID)

Starts a program on the Kolver screwdriver controller over MODBUS.

Specified by:

runScrewdriverProgram in interface KolverComponentInterface

Returns:

True if the screwdriver program succeeded, false if otherwise.

switchProgram

public boolean switchProgram(int id)

Switches the currently queued program on the Kolver controller over MODBUS

Specified by:

switchProgram in interface KolverComponentInterface

Parameters:

id - The program id to switch to as an int.

Returns:

True if the program switch succeeded, false if otherwise.

resetScrewdriver

public boolean resetScrewdriver()

Clears the current screwing status of the Kolver controller. Used to ensure results don't bleed over between rundowns.

Specified by:

resetScrewdriver in interface KolverComponentInterface

Returns:

True if the reset succeeded, false if otherwise.