execution.uuv.control

Class UuvDriver

java.lang.Object

java.awt.Component

java.awt.Container

java.awt.Window

java.awt.Frame

javax.swing.JFrame

execution.uuv.control.UuvDriver

All Implemented Interfaces:

DriverInterface, ImageObserver, MenuContainer, Serializable, Accessible, RootPaneContainer, WindowConstants

public class UuvDriver
extends JFrame
implements DriverInterface

Author:

suleyman

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class javax.swing.JFrame

JFrame.AccessibleJFrame

Nested classes/interfaces inherited from class java.awt.Frame

Frame.AccessibleAWTFrame

Nested classes/interfaces inherited from class java.awt.Window

Window.AccessibleAWTWindow, Window.Type

Nested classes/interfaces inherited from class java.awt.Container

Container.AccessibleAWTContainer

Nested classes/interfaces inherited from class java.awt.Component

Component.AccessibleAWTComponent, Component.BaselineResizeBehavior, Component.BltBufferStrategy, Component.FlipBufferStrategy

Field Summary

Fields

Modifier and Type	Field and Description
Thread	auvExecutionThread

Fields inherited from class javax.swing.JFrame

accessibleContext, EXIT_ON_CLOSE, rootPane, rootPaneCheckingEnabled

Fields inherited from class java.awt.Frame

CROSSHAIR_CURSOR, DEFAULT_CURSOR, E_RESIZE_CURSOR, HAND_CURSOR, ICONIFIED, MAXIMIZED_BOTH, MAXIMIZED_HORIZ, MAXIMIZED_VERT, MOVE_CURSOR, N_RESIZE_CURSOR, NE_RESIZE_CURSOR, NORMAL, NW_RESIZE_CURSOR, S_RESIZE_CURSOR, SE_RESIZE_CURSOR, SW_RESIZE_CURSOR, TEXT_CURSOR, W_RESIZE_CURSOR, WAIT_CURSOR

Fields inherited from class java.awt.Component

BOTTOM_ALIGNMENT, CENTER_ALIGNMENT, LEFT_ALIGNMENT, RIGHT_ALIGNMENT, TOP_ALIGNMENT

Fields inherited from interface javax.swing.WindowConstants

DISPOSE_ON_CLOSE, DO_NOTHING_ON_CLOSE, HIDE_ON_CLOSE

Fields inherited from interface java.awt.image.ImageObserver

ABORT, ALLBITS, ERROR, FRAMEBITS, HEIGHT, PROPERTIES, SOMEBITS, WIDTH

Constructor Summary

Constructors

Constructor and Description
UuvDriver(UuvExecution e) Creates new form Driver

Method Summary

Methods

Modifier and Type	Method and Description
protected double	getBowPlane()
protected double	getBowThruster()
protected double	getBowVerticalThruster()
StateVector	getControlSettings() The implementer should return control settings.
protected double	getPortProp()
protected double	getPsi()
protected double	getRudder()
protected double	getSpeed()
protected double	getStarboardProp()
protected double	getSternPlane()
protected double	getSternThruster()
protected double	getSternVerticalThruster()
protected double	getTheta()
protected double	getx()
protected double	gety()
protected double	getz()
boolean	isManualControl() The implementer tells the Execution code if it intends to control vehicle.
static void	main(String[] args)
void	setAuvExecution(UuvExecution auvExecution)
void	setVisible(boolean b) The implementer may turn itself visible/invisible as appropriate.
protected Thread	startSim(String[] args) Instantiate UuvExecution.
void	update(StateVector newStateVector) Update the data displayed.

Methods inherited from class javax.swing.JFrame

addImpl, createRootPane, frameInit, getAccessibleContext, getContentPane, getDefaultCloseOperation, getGlassPane, getGraphics, getJMenuBar, getLayeredPane, getRootPane, getTransferHandler, isDefaultLookAndFeelDecorated, isRootPaneCheckingEnabled, paramString, processWindowEvent, remove, repaint, setContentPane, setDefaultCloseOperation, setDefaultLookAndFeelDecorated, setGlassPane, setIconImage, setJMenuBar, setLayeredPane, setLayout, setRootPane, setRootPaneCheckingEnabled, setTransferHandler, update

Methods inherited from class java.awt.Frame

addNotify, getCursorType, getExtendedState, getFrames, getIconImage, getMaximizedBounds, getMenuBar, getState, getTitle, isResizable, isUndecorated, remove, removeNotify, setBackground, setCursor, setExtendedState, setMaximizedBounds, setMenuBar, setOpacity, setResizable, setShape, setState, setTitle, setUndecorated

Methods inherited from class java.awt.Window

addPropertyChangeListener, addPropertyChangeListener, addWindowFocusListener, addWindowListener, addWindowStateListener, applyResourceBundle, applyResourceBundle, createBufferStrategy, createBufferStrategy, dispose, getBackground, getBufferStrategy, getFocusableWindowState, getFocusCycleRootAncestor, getFocusOwner, getFocusTraversalKeys, getIconImages, getInputContext, getListeners, getLocale, getModalExclusionType, getMostRecentFocusOwner, getOpacity, getOwnedWindows, getOwner, getOwnerlessWindows, getShape, getToolkit, getType, getWarningString, getWindowFocusListeners, getWindowListeners, getWindows, getWindowStateListeners, hide, isActive, isAlwaysOnTop, isAlwaysOnTopSupported, isAutoRequestFocus, isFocusableWindow, isFocusCycleRoot, isFocused, isLocationByPlatform, isOpaque, isShowing, isValidateRoot, pack, paint, postEvent, processEvent, processWindowFocusEvent, processWindowStateEvent, removeWindowFocusListener, removeWindowListener, removeWindowStateListener, reshape, setAlwaysOnTop, setAutoRequestFocus, setBounds, setBounds, setCursor, setFocusableWindowState, setFocusCycleRoot, setIconImages, setLocation, setLocation, setLocationByPlatform, setLocationRelativeTo, setMinimumSize, setModalExclusionType, setSize, setSize, setType, show, toBack, toFront

Methods inherited from class java.awt.Container

add, add, add, add, add, addContainerListener, applyComponentOrientation, areFocusTraversalKeysSet, countComponents, deliverEvent, doLayout, findComponentAt, findComponentAt, getAlignmentX, getAlignmentY, getComponent, getComponentAt, getComponentAt, getComponentCount, getComponents, getComponentZOrder, getContainerListeners, getFocusTraversalPolicy, getInsets, getLayout, getMaximumSize, getMinimumSize, getMousePosition, getPreferredSize, insets, invalidate, isAncestorOf, isFocusCycleRoot, isFocusTraversalPolicyProvider, isFocusTraversalPolicySet, layout, list, list, locate, minimumSize, paintComponents, preferredSize, print, printComponents, processContainerEvent, remove, removeAll, removeContainerListener, setComponentZOrder, setFocusTraversalKeys, setFocusTraversalPolicy, setFocusTraversalPolicyProvider, setFont, transferFocusDownCycle, validate, validateTree

Methods inherited from class java.awt.Component

action, add, addComponentListener, addFocusListener, addHierarchyBoundsListener, addHierarchyListener, addInputMethodListener, addKeyListener, addMouseListener, addMouseMotionListener, addMouseWheelListener, bounds, checkImage, checkImage, coalesceEvents, contains, contains, createImage, createImage, createVolatileImage, createVolatileImage, disable, disableEvents, dispatchEvent, enable, enable, enableEvents, enableInputMethods, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getBaseline, getBaselineResizeBehavior, getBounds, getBounds, getColorModel, getComponentListeners, getComponentOrientation, getCursor, getDropTarget, getFocusListeners, getFocusTraversalKeysEnabled, getFont, getFontMetrics, getForeground, getGraphicsConfiguration, getHeight, getHierarchyBoundsListeners, getHierarchyListeners, getIgnoreRepaint, getInputMethodListeners, getInputMethodRequests, getKeyListeners, getLocation, getLocation, getLocationOnScreen, getMouseListeners, getMouseMotionListeners, getMousePosition, getMouseWheelListeners, getName, getParent, getPeer, getPropertyChangeListeners, getPropertyChangeListeners, getSize, getSize, getTreeLock, getWidth, getX, getY, gotFocus, handleEvent, hasFocus, imageUpdate, inside, isBackgroundSet, isCursorSet, isDisplayable, isDoubleBuffered, isEnabled, isFocusable, isFocusOwner, isFocusTraversable, isFontSet, isForegroundSet, isLightweight, isMaximumSizeSet, isMinimumSizeSet, isPreferredSizeSet, isValid, isVisible, keyDown, keyUp, list, list, list, location, lostFocus, mouseDown, mouseDrag, mouseEnter, mouseExit, mouseMove, mouseUp, move, nextFocus, paintAll, prepareImage, prepareImage, printAll, processComponentEvent, processFocusEvent, processHierarchyBoundsEvent, processHierarchyEvent, processInputMethodEvent, processKeyEvent, processMouseEvent, processMouseMotionEvent, processMouseWheelEvent, removeComponentListener, removeFocusListener, removeHierarchyBoundsListener, removeHierarchyListener, removeInputMethodListener, removeKeyListener, removeMouseListener, removeMouseMotionListener, removeMouseWheelListener, removePropertyChangeListener, removePropertyChangeListener, repaint, repaint, repaint, requestFocus, requestFocus, requestFocusInWindow, requestFocusInWindow, resize, resize, revalidate, setComponentOrientation, setDropTarget, setEnabled, setFocusable, setFocusTraversalKeysEnabled, setForeground, setIgnoreRepaint, setLocale, setMaximumSize, setName, setPreferredSize, show, size, toString, transferFocus, transferFocusBackward, transferFocusUpCycle

Methods inherited from class java.lang.Object

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

Methods inherited from interface java.awt.MenuContainer

getFont, postEvent

Field Detail

auvExecutionThread

public Thread auvExecutionThread

Constructor Detail

UuvDriver

public UuvDriver(UuvExecution e)

Creates new form Driver

Parameters:

e -

Method Detail

getControlSettings

public StateVector getControlSettings()

Description copied from interface: DriverInterface

The implementer should return control settings.

Specified by:

getControlSettings in interface DriverInterface

Returns:

settings for control surfaces and others

main

public static void main(String[] args)

Parameters:

args - the command line arguments

startSim

protected Thread startSim(String[] args)

Instantiate UuvExecution.

Parameters:

args - Command line arguments the UuvExecution class expects

Returns:

thread

setVisible

public void setVisible(boolean b)

Description copied from interface: DriverInterface

The implementer may turn itself visible/invisible as appropriate.

Specified by:

setVisible in interface DriverInterface

Overrides:

setVisible in class Window

Parameters:

b - true or false

getRudder

protected double getRudder()
                    throws NumberFormatException

Throws:

NumberFormatException

getBowThruster

protected double getBowThruster()
                         throws NumberFormatException

Throws:

NumberFormatException

getSternThruster

protected double getSternThruster()
                           throws NumberFormatException

Throws:

NumberFormatException

getPortProp

protected double getPortProp()
                      throws NumberFormatException

Throws:

NumberFormatException

getStarboardProp

protected double getStarboardProp()
                           throws NumberFormatException

Throws:

NumberFormatException

getPsi

protected double getPsi()
                 throws NumberFormatException

Throws:

NumberFormatException

getTheta

protected double getTheta()
                   throws NumberFormatException

Throws:

NumberFormatException

getBowPlane

protected double getBowPlane()
                      throws NumberFormatException

Throws:

NumberFormatException

getSternPlane

protected double getSternPlane()
                        throws NumberFormatException

Throws:

NumberFormatException

getBowVerticalThruster

protected double getBowVerticalThruster()
                                 throws NumberFormatException

Throws:

NumberFormatException

getSternVerticalThruster

protected double getSternVerticalThruster()
                                   throws NumberFormatException

Throws:

NumberFormatException

getSpeed

protected double getSpeed()
                   throws NumberFormatException

Throws:

NumberFormatException

getx

protected double getx()
               throws NumberFormatException

Throws:

NumberFormatException

gety

protected double gety()
               throws NumberFormatException

Throws:

NumberFormatException

getz

protected double getz()
               throws NumberFormatException

Throws:

NumberFormatException

isManualControl

public boolean isManualControl()

Description copied from interface: DriverInterface

The implementer tells the Execution code if it intends to control vehicle.

Specified by:

isManualControl in interface DriverInterface

Returns:

true means "yes, I'll drive the vehicle"

setAuvExecution

public void setAuvExecution(UuvExecution auvExecution)

Parameters:

auvExecution - The auvExecution to set.

update

public void update(StateVector newStateVector)

Update the data displayed.

Specified by:

update in interface DriverInterface

Parameters:

newStateVector -