Package cmion.addOns.samgar

Class SamgarCompetency

java.lang.Object

ion.Meta.Element

cmion.architecture.CmionComponent

cmion.level2.Competency

cmion.addOns.samgar.SamgarCompetency

All Implemented Interfaces:

java.lang.Runnable

Direct Known Subclasses:

LocalizeSamgarCompetency, NavigationSamgarCompetency, TestSamgarCompetency, TestSamgarCompetency2

public abstract class SamgarCompetency
extends cmion.level2.Competency

The abstract super class for cmion competencies that can communicate with a Samgar module. Every competency that is listed in the competency library file as SamgarCompetency should inherit from this class

Field Summary

Fields inherited from class cmion.architecture.CmionComponent

architecture

Fields inherited from class cmion.level2.Competency

available, competencyName, competencyType, plan, running

Constructor Summary

Constructors

Constructor	Description
SamgarCompetency(cmion.architecture.IArchitecture architecture)

Method Summary

Modifier and Type	Method	Description
void	initialize()	in here we initialize the yarp port
abstract void	onRead(yarp.Bottle bottle_in)	every samgar competency has to implement this function in which it will receive bottles that the connected samgar module sends
protected yarp.Bottle	prepareBottle()	every Samgar competency can use this function to acquire a bottle that the module can subsequently fill with data and that will be sent to the connected Samgar module upon calling sendBottle()
protected void	sendBottle()	every Samgar competency can use this function to send a bottle (that has been retrieved previously through a call of prepareBottle() to the connected Samgar module
void	setAdditionalData(java.lang.Object data)

Methods inherited from class cmion.architecture.CmionComponent

getArchitecture, isConnected, onDestroy, raise

Methods inherited from class cmion.level2.Competency

cancel, competencyCode, getCompetencyName, getCompetencyType, isAvailable, isRunning, registerHandlers, requestStartCompetency, run, runsInBackground

Methods inherited from class ion.Meta.Element

destroy, getEventFilters, getEventHandlers, getRequestFilters, getRequestHandlers, getSimulation, getUID, schedule, wasDestroyed

Methods inherited from class java.lang.Object

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

Constructor Detail

SamgarCompetency

public SamgarCompetency(cmion.architecture.IArchitecture architecture)

Method Detail

setAdditionalData

public void setAdditionalData(java.lang.Object data)

Overrides:

setAdditionalData in class cmion.level2.Competency

initialize

public final void initialize()

in here we initialize the yarp port

Specified by:

initialize in class cmion.level2.Competency

prepareBottle

protected final yarp.Bottle prepareBottle()

every Samgar competency can use this function to acquire a bottle that the module can subsequently fill with data and that will be sent to the connected Samgar module upon calling sendBottle()

sendBottle

protected final void sendBottle()

every Samgar competency can use this function to send a bottle (that has been retrieved previously through a call of prepareBottle() to the connected Samgar module

onRead

public abstract void onRead(yarp.Bottle bottle_in)

every samgar competency has to implement this function in which it will receive bottles that the connected samgar module sends