ctu.nengoros.comm.nodeFactory

Class NodeGroup

java.lang.Object

ctu.nengoros.comm.nodeFactory.NodeGroup

public class NodeGroup
extends java.lang.Object

Group of nodes typically corresponds to one smart neuron. Communication in the group can be shielded by own, automatically generated, namespace, so that all complete node names are unique. This is handled by NameProvider and it should block the communication over the ROS network across the ROS nodes. If you want to specify absolute path, set the variable independent to false. The NameProvider then will change the names of nodes in a way that they will be unique in the ROS network, namespace if the nodes will remain unchanged. Each group has min. 0, max. 1 modem, encoders and decoders (terminations and origins on Nengo side) can be added to each modem.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	NodeGroup.MyNodeConfig

Field Summary

Fields

Modifier and Type	Field and Description
java.lang.String	groupName
boolean	independent
java.lang.String	namespace
java.util.ArrayList<NodeGroup.MyNodeConfig>	nodeConfigs
ExternalNodeContainer[]	nodes

Constructor Summary

Constructors

Constructor and Description
NodeGroup(java.lang.String groupName, boolean independent) Group of nodes can be either independent, non-nedependent (namespace is generated automatically) or with predefined namespace, therefore not independent.
NodeGroup(java.lang.String groupName, java.lang.String namespace) Setup of non-independent group with predefned namespace.

Method Summary

Methods

Modifier and Type	Method and Description
void	addNode(java.lang.String[] command, java.lang.String name, boolean isNative, boolean modem)
void	addNode(java.lang.String[] command, java.lang.String name, java.lang.String what)
void	addNode(java.lang.String command, java.lang.String name, boolean isNative, boolean modem)
void	addNode(java.lang.String command, java.lang.String name, java.lang.String what)
ModemContainer	getModem()
NodeGroup.MyNodeConfig	getModemConfig()
java.lang.String[]	getNames()
boolean	isRunning()
boolean	modemSet()
void	reset()
void	setModem(ModemContainer mc)
void	setNames(java.lang.String[] newNames)
void	setUniqueNames() store the uniquenames, that is: if namespace not set, just copy the old names (these are most likely modified by the nameprovider), if namespace is set, use the complete name unique names are composed of: group__i + / + name
void	startGroup()
void	stopGroup()

Methods inherited from class java.lang.Object

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

Field Detail

nodes

public ExternalNodeContainer[] nodes

nodeConfigs

public final java.util.ArrayList<NodeGroup.MyNodeConfig> nodeConfigs

independent

public final boolean independent

groupName

public final java.lang.String groupName

namespace

public java.lang.String namespace

Constructor Detail

NodeGroup

public NodeGroup(java.lang.String groupName,
         java.lang.String namespace)

Setup of non-independent group with predefned namespace. If namespace is not important, use another constructor.

Parameters:

groupName - name of a group

namespace - namespace of the group (provider changes only node names)

NodeGroup

public NodeGroup(java.lang.String groupName,
         boolean independent)

Group of nodes can be either independent, non-nedependent (namespace is generated automatically) or with predefined namespace, therefore not independent.

Parameters:

groupName - name of the group

independent - whether group is independent

Method Detail

getNames

public java.lang.String[] getNames()

setNames

public void setNames(java.lang.String[] newNames)

setUniqueNames

public void setUniqueNames()

store the uniquenames, that is: if namespace not set, just copy the old names (these are most likely modified by the nameprovider), if namespace is set, use the complete name unique names are composed of: group__i + / + name

isRunning

public boolean isRunning()

stopGroup

public void stopGroup()

startGroup

public void startGroup()

reset

public void reset()

addNode

public void addNode(java.lang.String command,
           java.lang.String name,
           java.lang.String what)

addNode

public void addNode(java.lang.String[] command,
           java.lang.String name,
           java.lang.String what)

modemSet

public boolean modemSet()

addNode

public void addNode(java.lang.String command,
           java.lang.String name,
           boolean isNative,
           boolean modem)

addNode

public void addNode(java.lang.String[] command,
           java.lang.String name,
           boolean isNative,
           boolean modem)

getModemConfig

public NodeGroup.MyNodeConfig getModemConfig()

setModem

public void setModem(ModemContainer mc)

getModem

public ModemContainer getModem()