com.ridgesoft.robotics.behaviors
Class AbstractBehavior2

java.lang.Object
  com.ridgesoft.robotics.behaviors.AbstractBehavior2

All Implemented Interfaces:

Behavior, Behavior2

Direct Known Subclasses:

AvoidBehavior, GoToBehavior, StopBehavior

public abstract class AbstractBehavior2
extends Object
implements Behavior2

Implements an abstract class providing the functionality of the Behavior2 inteface.

See Also:

BehaviorArbiter, Behavior, Behavior2, BehaviorEvent, BehaviorListener, com.ridgesoft.robotics.behaviors

Field Summary

protected boolean	mEnabled Current enabled state.
protected boolean	mIsActive Current activation state.
protected BehaviorListener	mListener Reference to the BehaviorListener or null if none is registered.

Constructor Summary

protected

AbstractBehavior2(boolean enabled) Initializes this class when a subclass is constructed.

Method Summary

abstract boolean	poll() This method is invoked at regular intervals to determine if the behavior desires to control the robot.
void	setActive(boolean isActive) Activates or deactivates the behavior.
void	setEnabled(boolean enabled) Enables or disables the behavior.
void	setListener(BehaviorListener listener) Sets or clears the listener for the behavior.

Methods inherited from class java.lang.Object

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

Field Detail

mEnabled

protected boolean mEnabled

Current enabled state.

mIsActive

protected boolean mIsActive

Current activation state.

mListener

protected BehaviorListener mListener

Reference to the BehaviorListener or null if none is registered.

Constructor Detail

AbstractBehavior2

protected AbstractBehavior2(boolean enabled)

Initializes this class when a subclass is constructed.

Parameters:

enabled - true if the behavior is to be initially enabled, otherwise false

Method Detail

poll

public abstract boolean poll()

This method is invoked at regular intervals to determine if the behavior desires to control the robot.

If the behavior is active, it may use this method as a means to update its control of the robot. However, this is not required. The behavior may also use a separate thread or a timer to accomplish its control functions.

Specified by:

poll in interface Behavior

Returns:

true if the behavior wants control of the robot, otherwise false

setActive

public void setActive(boolean isActive)

Activates or deactivates the behavior.

When a behavior is active, it must take control of the robot. When a behavior is inactive, it must not attempt to control the robot.

Specified by:

setActive in interface Behavior

Parameters:

isActive - true if the behavior is being activated, otherwise false

setEnabled

public void setEnabled(boolean enabled)

Enables or disables the behavior.

When a behavior is disabled, its polling method is still called, but it must always return false from the poll method, indicating it is not interested in controlling the robot.

Specified by:

setEnabled in interface Behavior2

Parameters:

enabled - true if the behavior is being enabled, otherwise false

setListener

public void setListener(BehaviorListener listener)

Sets or clears the listener for the behavior.

Specified by:

setListener in interface Behavior2

Parameters:

listener - the BehaviorListener, or null to clear the listener