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java.lang.ObjectPER.rover.control.RoverController
PER.rover.Rover
High-level control of the Rover.
| Field Summary | |
static java.lang.String |
defaultIP
Default IP address |
static java.lang.String |
topLevelDir
Directory for saved files, logs etc. |
static boolean |
USING_MARS_ROVER
Tells my code whether we are using the mars rover or the prototype |
| Fields inherited from class PER.rover.control.RoverController |
highLevelState, READ_TIMEOUT, receive, reliagram, state |
| Constructor Summary | |
Rover()
Creates a new Rover |
|
| Method Summary | |
java.util.Timer |
executeFunctionAtTime(java.util.TimerTask task,
java.util.Date time)
Schedules the specified task for execution at the specified time. |
java.util.Timer |
executeFunctionDelay(java.util.TimerTask task,
long delay)
Schedules the specified task for execution after the specified delay. |
java.util.Timer |
executeFunctionTimerAtTime(java.util.TimerTask task,
java.util.Date firstTime,
long period,
boolean fixedRate)
Schedules the specified task for repeated fixed-delay execution, beginning at the specified time. |
java.util.Timer |
executeFunctionTimerDelay(java.util.TimerTask task,
long delay,
long period,
boolean fixedRate)
Schedules the specified task for repeated fixed-delay execution, beginning after the specified delay. |
java.lang.String |
getCurrentIP()
Returns the IP address currently being used. |
static java.lang.String |
getDefaultIP()
Loads the last used IP address from a saved file. |
long |
getTime()
Returns the current system time in milliseconds. |
static java.lang.String |
getTopLevelDir()
Returns a String that is the path for top level directory. |
boolean |
saveImageToDisk(java.io.File f,
java.awt.image.BufferedImage picture)
Saves a given BufferedImage to a file as a jpg. |
boolean |
saveImageToDisk(java.lang.String filename,
java.awt.image.BufferedImage picture)
Saves a given BufferedImage to disk as a jpg at filename. |
static void |
saveIP(java.lang.String IP)
Saves the given IP address to a file so that it can be loaded the next time the program is executed. |
void |
setCurrentIP(java.lang.String ip)
Sets the current IP address being used. |
static void |
setTopLevelDir(java.lang.String s)
Sets the top level directory and makes sure the new directory exists. |
boolean |
sleep(long duration)
Sleeps for duration milliseconds. |
void |
stopExecuteFunction(java.util.Timer timer)
Finishes executing a timer function. |
java.util.TimerTask |
timeLapse(int pan,
int tilt,
int width,
int height,
boolean UV,
javax.swing.JLabel displayLabel)
Returns a TimerTask that takes pictures and displays them to a specified JLabel. |
java.util.TimerTask |
timeLapse(int pan,
int tilt,
int width,
int height,
boolean UV,
java.lang.String pathPrefix)
Returns a TimerTask that takes pictures and saves them. |
java.util.TimerTask |
timeLapse(int pan,
int tilt,
int width,
int height,
boolean UV,
java.lang.String pathPrefix,
javax.swing.JLabel displayLabel)
Returns a TimerTask that takes pictures, saves them to file, and displays them to a specified JLabel. |
| Methods inherited from class PER.rover.control.RoverController |
closeComm, compareVersion, crab, getCalibration, getCameraProperties, getDriveCalibration, getMean, getScanList, getTurnCalibration, getVersion, goTo, goTo, headMove, initComm, initRobot, isConnected, killHighLevel, killRobot, look, quadTurn, refresh, scan, setAll, setCalibration, setLight, setPan, setScanList, setTilt, spin, startMotionDetection, startTrack, startTrack, stopStreaming, takePicture, takePicture, takeRawPicture, takeRecentPicture, turnTo, turnTo, updateHighLevel |
| Methods inherited from class java.lang.Object |
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
| Field Detail |
public static final boolean USING_MARS_ROVER
public static java.lang.String topLevelDir
public static java.lang.String defaultIP
| Constructor Detail |
public Rover()
| Method Detail |
public static void setTopLevelDir(java.lang.String s)
public static java.lang.String getTopLevelDir()
public java.lang.String getCurrentIP()
public void setCurrentIP(java.lang.String ip)
public static java.lang.String getDefaultIP()
defaultIP.
defaultIPpublic static void saveIP(java.lang.String IP)
getDefaultIP()public long getTime()
public boolean saveImageToDisk(java.lang.String filename,
java.awt.image.BufferedImage picture)
filename.
The filename string should be a complete path, for example:
"c:/PERFilesystem/SavedRoverFiles/name.jpg"Rover.getTopLevelDir()+"/name.jpg"
filename - Path at which to save the imagepicture - Image to save
public boolean saveImageToDisk(java.io.File f,
java.awt.image.BufferedImage picture)
f - The file where the image should be savedpicture - Image to save
public boolean sleep(long duration)
duration milliseconds.
duration - Time to sleep, in milliseconds.
public java.util.Timer executeFunctionAtTime(java.util.TimerTask task,
java.util.Date time)
task - TimerTask function to executetime - Time at which to execute the function
TimerTask,
Timer,
Date
public java.util.Timer executeFunctionTimerAtTime(java.util.TimerTask task,
java.util.Date firstTime,
long period,
boolean fixedRate)
task - TimerTask function to executefirstTime - The time to begin executionperiod - Rate at which to execute the function, in milliseconds.fixedRate - True if task should be executed relative to the initial start time,
false if it should be executed relative to when the last task ended.
TimerTask,
Timer,
Date
public java.util.Timer executeFunctionDelay(java.util.TimerTask task,
long delay)
task - TimerTask function to executedelay - Time to wait before executing the function, in milliseconds.
TimerTask,
Timer
public java.util.Timer executeFunctionTimerDelay(java.util.TimerTask task,
long delay,
long period,
boolean fixedRate)
task - TimerTask function to executedelay - Time to wait before executing the function, in milliseconds.period - Rate at which to execute the function, in milliseconds.fixedRate - True if task should be executed relative to the initial start time,
false if it should be executed relative to when the last task ended.
TimerTask,
Timerpublic void stopExecuteFunction(java.util.Timer timer)
timer - The timer to kill.Timer
public java.util.TimerTask timeLapse(int pan,
int tilt,
int width,
int height,
boolean UV,
java.lang.String pathPrefix)
pan - The pan value in degrees at which to take the picturetilt - The tilt vale in degrees at which to take the picturewidth - The width of the image in pixelsheight - The height of the image in pixelsUV - True if the UV light should be on for the picture, false otherwisepathPrefix - The path where time-lapse pictures should be saved. They
will get a suffix of a sequence number plus ".jpg"
TimerTask,
executeFunctionTimerAtTime(java.util.TimerTask, java.util.Date, long, boolean),
executeFunctionTimerDelay(java.util.TimerTask, long, long, boolean)
public java.util.TimerTask timeLapse(int pan,
int tilt,
int width,
int height,
boolean UV,
javax.swing.JLabel displayLabel)
pan - The pan value in degrees at which to take the picturetilt - The tilt vale in degrees at which to take the picturewidth - The width of the image in pixelsheight - The height of the image in pixelsUV - True if the UV light should be on for the picture, false otherwisedisplayLabel - An optional JLabel to display the images to as they
are taken.
TimerTask,
executeFunctionTimerAtTime(java.util.TimerTask, java.util.Date, long, boolean),
executeFunctionTimerDelay(java.util.TimerTask, long, long, boolean)
public java.util.TimerTask timeLapse(int pan,
int tilt,
int width,
int height,
boolean UV,
java.lang.String pathPrefix,
javax.swing.JLabel displayLabel)
pan - The pan value in degrees at which to take the picturetilt - The tilt vale in degrees at which to take the picturewidth - The width of the image in pixelsheight - The height of the image in pixelsUV - True if the UV light should be on for the picture, false otherwisepathPrefix - An optional path where time-lapse pictures should be saved.
If pathPrefix is null, pictures will not be saved.
If pathPrefix is not null, pictures will be saved
with a suffix of a sequence number plus ".jpg"displayLabel - An optional JLabel to display the images to as they
are taken. displayLabel can be null if images are not
to be displayed.
TimerTask,
executeFunctionTimerAtTime(java.util.TimerTask, java.util.Date, long, boolean),
executeFunctionTimerDelay(java.util.TimerTask, long, long, boolean)
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