@Override
public void agentCreated() {
hs = new HelloService(getExternalAccess());
ps = new SendPositionService(getExternalAccess());
addDirectService(hs);
addDirectService(ps);
String host = (String) getArgument("host");
Integer port = (Integer) getArgument("port");
Integer robotIdx = (Integer) getArgument("robId");
Integer devIdx = (Integer) getArgument("devIndex");
Boolean hasLaser = (Boolean) getArgument("laser");
Boolean hasLocalize = (Boolean) getArgument("localize");
/** Device list */
CopyOnWriteArrayList<Device> devList = new CopyOnWriteArrayList<Device>();
devList.add(new Device(IDevice.DEVICE_POSITION2D_CODE, host, port, devIdx));
devList.add(new Device(IDevice.DEVICE_RANGER_CODE, host, port, devIdx));
devList.add(new Device(IDevice.DEVICE_SONAR_CODE, host, port, devIdx));
devList.add(new Device(IDevice.DEVICE_SIMULATION_CODE, host, port, -1));
if (hasLocalize == true) {
devList.add(new Device(IDevice.DEVICE_PLANNER_CODE, host, port + 1, devIdx));
devList.add(new Device(IDevice.DEVICE_LOCALIZE_CODE, host, port + 1, devIdx));
}
/** Optional laser ranger */
if (hasLaser == true)
devList.add(new Device(IDevice.DEVICE_RANGER_CODE, host, port, devIdx + 1));
/** Host list */
CopyOnWriteArrayList<Host> hostList = new CopyOnWriteArrayList<Host>();
hostList.add(new Host(host, port));
/** Optional planner device */
if (hasLocalize == true) hostList.add(new Host(host, port + 1));
/** Get the device node */
setDeviceNode(
new DeviceNode(
hostList.toArray(new Host[hostList.size()]),
devList.toArray(new Device[devList.size()])));
getDeviceNode().runThreaded();
setRobot(new Pioneer(getDeviceNode().getDeviceListArray()));
getRobot().setRobotId("r" + robotIdx);
/** Check if a particular position is set */
Position setPose =
new Position(
(Double) getArgument("X"), (Double) getArgument("Y"), (Double) getArgument("Angle"));
if (setPose.equals(new Position(0, 0, 0)) == false) getRobot().setPosition(setPose);
sendHello();
}
public void finishVerification(
ActionListener<VerifyResponse> listener,
List<DiscoveryNode> nodes,
CopyOnWriteArrayList<VerificationFailure> errors) {
listener.onResponse(
new RepositoriesService.VerifyResponse(
nodes.toArray(new DiscoveryNode[nodes.size()]),
errors.toArray(new VerificationFailure[errors.size()])));
}
@Override
public synchronized Object[] toArray(final Object[] a) {
return copyOnWriteArrayList.toArray(a);
}
@Override
public Object[] toArray() {
return copyOnWriteArrayList.toArray();
}
