pt.lsts.neptus.plugins.controllers

Class ControllerManager

java.lang.Object

pt.lsts.neptus.plugins.controllers.ControllerManager

public class ControllerManager
extends java.lang.Object

This class is used to associate external controllers with existing vehicles and manage their control loops

Author:

zp

Field Summary

Fields

Modifier and Type	Field and Description
protected java.util.LinkedHashMap<java.lang.String,IController>	activeControllers
protected java.util.Vector<java.lang.Class<? extends IController>>	controllers
protected boolean	debug
protected java.util.LinkedHashMap<java.lang.String,java.util.Timer>	timers
protected boolean	useAcousticComms

Constructor Summary

Constructors

Constructor and Description
ControllerManager()

Method Summary

Modifier and Type	Method and Description
void	addController(java.lang.Class<? extends IController> cClass) Add a new controller class
void	associateControl(IController controller, VehicleType vehicle, int controlLatencySeconds, int timeoutSeconds) Create a control loop
void	dissociateControl(VehicleType vehicle)
void	setUseAcousticComms(boolean useAcousticComms)
protected void	startTimers()
void	stop()

Methods inherited from class java.lang.Object

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

Field Detail

activeControllers

protected java.util.LinkedHashMap<java.lang.String,IController> activeControllers

timers

protected java.util.LinkedHashMap<java.lang.String,java.util.Timer> timers

controllers

protected java.util.Vector<java.lang.Class<? extends IController>> controllers

useAcousticComms

protected boolean useAcousticComms

debug

protected boolean debug

Constructor Detail

ControllerManager

public ControllerManager()

Method Detail

addController

public void addController(java.lang.Class<? extends IController> cClass)

Add a new controller class

Parameters:

cClass - The class of the controller

startTimers

protected void startTimers()

stop

public void stop()

associateControl

public void associateControl(IController controller,
                             VehicleType vehicle,
                             int controlLatencySeconds,
                             int timeoutSeconds)
                      throws java.lang.Exception

Create a control loop

Parameters:

controller - The controller in charge

vehicle - The vehicle being controlled

controlLatencySeconds -

Throws:

java.lang.Exception

dissociateControl

public void dissociateControl(VehicleType vehicle)

setUseAcousticComms

public void setUseAcousticComms(boolean useAcousticComms)