JointConfigCache Class Reference

Inheritance diagram for JointConfigCache:

Collaboration diagram for JointConfigCache:

List of all members.

Classes
class	JointConfigHolder
Public Member Functions
void	addConfigImpl (JointConfig config)
void	rapidEventReceived (Agent agent, MessageType type, IRapidMessage msg)
Static Public Member Functions
static JointConfigHolder	getSubscribedConfig (final Agent agent, final MessageType configType, JointSample data)
	Matches the serial number in JointSample to the latest JointConfig and returns it if true.
static JointConfigHolder	getConfig (final Agent agent, final MessageType configType)
static synchronized void	createCache (final Agent agent, final MessageType configType)
static void	addConfig (Agent agent, MessageType configType, JointConfig config)
	Manually add Config to cache.
Protected Member Functions
JointConfigHolder	getLatestConfig ()
JointConfigHolder	getLatestMatchingConfig (Header hdr)
Map< String, DataTypeIndex >	getFrameMap (JointConfig config)
	The key will be the name of the frame.
Package Attributes
ArrayList< JointConfigHolder >	history = new ArrayList<JointConfigHolder>()

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Member Function Documentation

static void addConfig	(	Agent	agent,
		MessageType	configType,
		JointConfig	config
	)		[static]

Used for client Configs.

Parameters:

agent
configType
config

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void addConfigImpl

(

JointConfig

config

)

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static synchronized void createCache	(	final Agent	agent,
		final MessageType	configType
	)		[static]

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static JointConfigHolder getConfig	(	final Agent	agent,
		final MessageType	configType
	)		[static]

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Map<String, DataTypeIndex> getFrameMap

(

JointConfig

config

)

[protected]

An ATHLETE example would be: For Leg 1, Hip Yaw motor the frame name would be: Leg1/HipYaw Leg 2,

Parameters:

config

Returns:

Map<String,DataTypeIndex>

JointConfigHolder getLatestConfig

(

)

[protected]

JointConfigHolder getLatestMatchingConfig

(

Header

hdr

)

[protected]

static JointConfigHolder getSubscribedConfig	(	final Agent	agent,
		final MessageType	configType,
		JointSample	data
	)		[static]

If false, null is returned

TODO: match against history of JointConfig messages

If the client would like to subscribe to the Config message to receive the initial JointSample, the following should be done at the calling class:

JointConfig.getConfig(agent, new JointSample());

This will return null, but the JointConfig has been registered to listen for events.

Parameters:

agent
configType
data	should never be null

Returns:

JointConfigHolder

Exceptions:

RapidEventCollectorException

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void rapidEventReceived	(	Agent	agent,
		MessageType	type,
		IRapidMessage	msg
	)

Implements IRapidEventListener.

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Member Data Documentation

ArrayList<JointConfigHolder> history = new ArrayList<JointConfigHolder>() [package]

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The documentation for this class was generated from the following file:

• JointConfigCache.java