/** initial creation of the class EnergyData and associated elements in the robot */
public static void update(ClassPool pool, CtClass robot)
throws CannotCompileException, RuntimeException, NotFoundException {
CtClass pgui = pool.get("fr.upmc.dtgui.gui.PersonalizedGUI");
// method createBoard
CtMethod cb = pool.getMethod("fr.upmc.dtgui.gui.PersonalizedGUI", "createBoard");
cb.setBody(
"{\n"
+ "fr.upmc.dtgui.gui.RobotTeleoperationBoard board;\n"
+ "board = new "
+ robot.getName()
+ "TeleoperationBoard($0, $0.sizeX - 50);\n"
+ "return board ;\n"
+ "}\n");
// method createSensorDataReceptor
CtMethod csdr = pool.getMethod("fr.upmc.dtgui.gui.PersonalizedGUI", "createSensorDataReceptor");
csdr.setBody(
"{\n"
+ "fr.upmc.dtgui.gui.SensorDataReceptorInterface sdr = null ;\n"
+ "sdr = $2.makeSensorDataReceptor("
+ "$0.positionDisplay, $1.getSensorDataQueue(),"
+ "$0.absoluteX, $0.absoluteY, $0.controlRadius"
+ ") ;\n"
+ "return sdr ;\n"
+ "}\n");
// method detectRobot
CtMethod dr =
new CtMethod(
CtClass.voidType,
"detectRobot",
new CtClass[] {pool.get("fr.upmc.dtgui.robot.InstrumentedRobot")},
pgui);
dr.setBody(
"{\n"
+ "fr.upmc.dtgui.gui.RobotTeleoperationBoard board = null ;\n"
+ "fr.upmc.dtgui.gui.SensorDataReceptorInterface sdr = null ;\n"
+ "if (!this.detected($1)) {\n"
+ "board = $0.createBoard($1) ;\n"
+ "sdr = $0.createSensorDataReceptor($1, board) ;\n"
+ "$0.sensors.put($1, sdr) ;\n"
+ "$0.boards.put($1, board) ;\n"
+ "sdr.start() ;\n"
+ "this.validate() ;\n"
+ "}\n"
+ "}\n");
pgui.addMethod(dr);
}
