com.vsegouin.mowitnow.mower.core.detection

Class Detector

java.lang.Object

com.vsegouin.mowitnow.mower.core.detection.Detector

All Implemented Interfaces:

Observer

public class Detector
extends Object
implements Observer

Created by v.segouin on 07/09/2016. This class reads the map which represents the area to mow, and updates the map according to the movements of the mower it can also check if a movement is safe before starting any mowing, if the mower's state is set on SAFE

Constructor Summary

Constructors

Constructor and Description
Detector(int abscissa, int ordinate, Direction initialDirection, MapArea map) Initializes the detector with the current state of the mower.

Method Summary

Modifier and Type	Method and Description
int[]	getCurrentState() Get the current abscissa, ordinate and direction of the detector.
String	getCurrentStateString() Get the current abscissa, ordinate and direction of the detector.
MapArea	getMap()
PositionState	getNextPositionState(WheelState wheelState) Simulate the mower move and get the next.
boolean	isAskedPositionSafe(WheelState wheelState) Check if the next move done by the mower is safe (ie : the asked position isn't outbound and there is no mower already on it).
void	update(Observable observable, Object o) Intercepts signal from wheels and servomotor and updates the class depending on the action Servomotor : Updates the current direction Wheel : update the map depending on the movement.

Methods inherited from class java.lang.Object

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

Constructor Detail

Detector

public Detector(int abscissa,
                int ordinate,
                Direction initialDirection,
                MapArea map)

Initializes the detector with the current state of the mower.

Parameters:

abscissa - initial abscissa of the mower on the area to mow

ordinate - initial ordinate of the mower on the area to mow

initialDirection - initial direction of the mower

map - the area to mow

Method Detail

update

public void update(Observable observable,
                   Object o)

Intercepts signal from wheels and servomotor and updates the class depending on the action Servomotor : Updates the current direction Wheel : update the map depending on the movement.

Specified by:

update in interface Observer

Parameters:

observable - a Servomotor or a wheel

o - same as observable

isAskedPositionSafe

public boolean isAskedPositionSafe(WheelState wheelState)
                            throws UnsafeMoveException

Check if the next move done by the mower is safe (ie : the asked position isn't outbound and there is no mower already on it).

Parameters:

wheelState - the state of the wheel (backward, forward or still)

Returns:

check if there is a mower on the path or if the path is outbound

Throws:

UnsafeMoveException - if the asked box contains something different than grass.

getNextPositionState

public PositionState getNextPositionState(WheelState wheelState)
                                   throws UnsafeMoveException

Simulate the mower move and get the next.

Parameters:

wheelState - the movement to simulate

Returns:

the position state of the next step

Throws:

UnsafeMoveException - if the asked move make the mower going outside of the area.

getCurrentState

public int[] getCurrentState()

Get the current abscissa, ordinate and direction of the detector.

Returns:

an array of int which represents the state of the detector [0] : abscissa [1] : ordinate [2] : direction angle

getCurrentStateString

public String getCurrentStateString()

Get the current abscissa, ordinate and direction of the detector.

Returns:

a human readable string of the current mower's state

getMap

public MapArea getMap()