: Class Bird

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SUMMARY: INNER | FIELD | CONSTR | METHOD

Class Bird

java.lang.Object
  |
  +--SerialConnection
        |
        +--Bird

All Implemented Interfaces:: java.util.EventListener, javax.comm.SerialPortEventListener

public class Bird
extends SerialConnection

A class to handle state information for each bird. Birds can either have their own serial lines to the host, or they may send all their data through master.

Some assumptions about use:
We assume that the flock is being controlled by the master, and that all serial communications come through the master. Each bird may manage it's own data, but when in flock mode, all of the communication goes through the master bird.

Data rates: We calculated the size of the data using the following assumptions.

Flock baud rate: 11520
Records/sec/bird: 75
Recording time: 15 seconds
No. of birds: 6
Record size: 8 (for the quaternion) + 1 (for the bird address)

Field Summary

private boolean active
          Field indicates that the bird is actively part of the flock.

private int addr
          This is the bird's address within the flock and follows the addreses set on the dipswitches on the back of the flock of birds hardware.

private boolean angleAlign2Changed
          Indicates that the ANGLE ALIGN2 parameters have been set

private float[] angles
          This stores the last reported ANGLES measurement

static int ANGLES_NUM_BYTES
          The number of bytes in an angles record

static java.lang.String anglesData
          Type of data that may be coming from the bird.

static java.lang.String axisAngleData
          Type of data that may be coming from the bird.

private java.lang.String currentDataType
          Indicates the type of data that the bird is currently processing

static java.lang.String examineData
          Type of data that may be coming from the bird.

private Flock flock
          A reference to the flock this bird belongs to.

private boolean isMaster
          Field indicates if this bird is a flock master.

static java.lang.String matrixData
          Type of data that may be coming from the bird.

private int measurementRate
          The measurement rate in cyles/sec

private java.lang.String portName
          The port where the bird serial connection is.

static java.lang.String positionData
          Type of data that may be coming from the bird.

static java.lang.String positionMatrixData
          Type of data that may be coming from the bird.

private static int QUATERNION_NUM_BYTES
          The number of bytes in a quaternion record

static java.lang.String quaternionData
          Type of data that may be coming from the bird.

private boolean streaming
          Indicates that the bird is in the streaming mode

Fields inherited from class SerialConnection

appName, baudRate, inStream, listener, open, outStream, portId, portList, serialPort, timeout

Constructor Summary

Bird(Flock fl, boolean master, int addr, java.lang.String port, boolean active)
          Create a bird at the specified address and the specified port name.

Method Summary

void connect()
          Open the serial connection.

float[] getAngles()
          Get the last set orientation of the Bird in ANGLES mode.

java.lang.String getDataType()
          Get the current data type

boolean isAngleAlign2Changed()
          Find out if Angle Align2 was set.

boolean isConnected()
          Says whether or not this bird is connected.

static int recordSizeOfDataType(java.lang.String type)
          Returns the record size of the given dataType.

void setActive(boolean fl)
          Sets the active flag.

void setAngleAlign2Changed()
          Set the angle align2 change to true.

void setAngles(float[] a)
          Set the orientation of the Bird in ANGLES mode.

void setDataType(java.lang.String type)
          Sets the data type

void setMeasurementRate(int r)
          This should correspond to the measurement rate that the bird has been set to.

void setStreaming(boolean b)
          Used by the flock to tell the bird that it is in streaming mode.

Methods inherited from class SerialConnection

closeConnection, getSerialConectionListener, isOpen, openConnection, serialEvent, setSerialConnectionListener, writeByte, writeByte

Methods inherited from class java.lang.Object

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

Field Detail

portName

private java.lang.String portName

The port where the bird serial connection is.

addr

private int addr

This is the bird's address within the flock and follows the addreses set on the dipswitches on the back of the flock of birds hardware. Note: addresses start at 1 (not 0). The master bird has address 1 and all others have sequential contiguous addresses

angles

private float[] angles

This stores the last reported ANGLES measurement

flock

private Flock flock

A reference to the flock this bird belongs to.

isMaster

private boolean isMaster

Field indicates if this bird is a flock master. true if this is a master; false if this is a slave

active

private boolean active

Field indicates that the bird is actively part of the flock. If it is active, then when the bird is asked to fly its serial connection will be opened. Otherwise, no serial connection set up

streaming

private boolean streaming

Indicates that the bird is in the streaming mode

currentDataType

private java.lang.String currentDataType

Indicates the type of data that the bird is currently processing

angleAlign2Changed

private boolean angleAlign2Changed

Indicates that the ANGLE ALIGN2 parameters have been set

measurementRate

private int measurementRate

The measurement rate in cyles/sec