PER.rover
Class FindRockAction

java.lang.Object
  extended byPER.rover.FindRockAction
All Implemented Interfaces:
Action, java.io.Serializable

public class FindRockAction
extends java.lang.Object
implements Action

An action to search for a rock intelligently. If the rover had to stop early because it detected an obstacle, the scan will cover a smaller range. If the first scan, which only looks short

See Also:
Serialized Form

Constructor Summary
FindRockAction(boolean obstacleDetected)
          FindRockAction constructor
 
Method Summary
 int closestReading()
          Gives you the minimum rock distance in cm.
 boolean doAction(Rover r)
          Tries to start the action.
 long getImageUpdateTime()
          Lets you know when the last image was taken by this action.
 int getMaxRockAngle()
          Gives you the maximum angle at which the rock was found
 int getMinRockAngle()
          Gives you the minimum angle at which the rock was found
 java.awt.image.BufferedImage getRecentImage()
          Returns the most recent image taken by this Action.
 int getReturnValue()
          The return value of the Action.
 int getRockAngle()
          Getter for property rockAngle.
 int getRockDist()
          Getter for property rockDist.
 java.lang.String getShortSummary()
          Provides a shortened version of the summary returned by getSummary.
 java.lang.String getSummary()
          Provides a textual explanation of the Action, such as "turn 90 degrees"
 int getTime()
          How long the action will take, in milliseconds.
 int getTimeRemaining()
          How much time until the action finishes (in milliseconds), if it has already started.
 boolean hasFoundRock()
          Tells you whether the FindRockAction found a rock
 boolean isCompleted()
          Whether the action has completed.
 boolean isSuccess()
          Tells you whether the Action completed successfully.
 void kill()
          this action can't currently be killed
 int moveFromRock(Rover rov, int turnAngle)
          If the rover is near a rock and will turn into it, this function should make it so that the rover won't hit the rock
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

FindRockAction

public FindRockAction(boolean obstacleDetected)
FindRockAction constructor

Parameters:
obstacleDetected - should be set to true if the rover stopped early because of a detected obstacle.
Method Detail

doAction

public boolean doAction(Rover r)
Description copied from interface: Action
Tries to start the action. Returns whether the action started.

Specified by:
doAction in interface Action

getReturnValue

public int getReturnValue()
Description copied from interface: Action
The return value of the Action. Zero is a success. Negative implies one of this class's constants. Other values should be interpreted as appropriate.

Specified by:
getReturnValue in interface Action
See Also:
RoverState, ActionConstants

getShortSummary

public java.lang.String getShortSummary()
Description copied from interface: Action
Provides a shortened version of the summary returned by getSummary. For example, getSummary may return something like "Turn left and drive about 39 inches toward the red landmark," whereas getShortSummary might just return "Drive toward a landmark."

Specified by:
getShortSummary in interface Action

getSummary

public java.lang.String getSummary()
Description copied from interface: Action
Provides a textual explanation of the Action, such as "turn 90 degrees"

Specified by:
getSummary in interface Action

getTime

public int getTime()
Description copied from interface: Action
How long the action will take, in milliseconds.

Specified by:
getTime in interface Action

getTimeRemaining

public int getTimeRemaining()
Description copied from interface: Action
How much time until the action finishes (in milliseconds), if it has already started. Undefined behavior if the action has not yet begun, or has finished.

Specified by:
getTimeRemaining in interface Action

isCompleted

public boolean isCompleted()
Description copied from interface: Action
Whether the action has completed. Undefined until doAction has been called.

Specified by:
isCompleted in interface Action

isSuccess

public boolean isSuccess()
Tells you whether the Action completed successfully. To find out if a rock was found call hasFoundRock();

Specified by:
isSuccess in interface Action
Returns:
true if the action completed successfully

kill

public void kill()
this action can't currently be killed

Specified by:
kill in interface Action

hasFoundRock

public boolean hasFoundRock()
Tells you whether the FindRockAction found a rock

Returns:
true if rover found a rock, only valid once action is complete.

getRockAngle

public int getRockAngle()
Getter for property rockAngle.

Returns:
The angle to the nearest rock in degrees, but only if hasFoundRock() == true.

getRockDist

public int getRockDist()
Getter for property rockDist.

Returns:
The distance to the nearest rock in cm, but only if hasFoundRock() == true.

getMinRockAngle

public int getMinRockAngle()
Gives you the minimum angle at which the rock was found

Returns:
the minimum rock angle, but only if hasFoundRock() == true.

getMaxRockAngle

public int getMaxRockAngle()
Gives you the maximum angle at which the rock was found

Returns:
the maximum rock angle, but only if hasFoundRock() == true.

closestReading

public int closestReading()
Gives you the minimum rock distance in cm.

Returns:
the minimum rock distance, but only if hasFoundRock() == true.

moveFromRock

public int moveFromRock(Rover rov,
                        int turnAngle)
If the rover is near a rock and will turn into it, this function should make it so that the rover won't hit the rock

Parameters:
rov - An active instantion of a Rover
turnAngle - the angle that the rover is about to turn

getImageUpdateTime

public long getImageUpdateTime()
Description copied from interface: Action
Lets you know when the last image was taken by this action. If the Action does not take pictures or the first picture has not yet been taken, will return 0.

Specified by:
getImageUpdateTime in interface Action
Returns:
the system time in milliseconds when the last image was taken or 0 if no images have been taken

getRecentImage

public java.awt.image.BufferedImage getRecentImage()
Description copied from interface: Action
Returns the most recent image taken by this Action. The image will be null if the Action does not take pictures or the first picture has not yet been taken.

Specified by:
getRecentImage in interface Action
Returns:
the most recent picture taken by the Action.