agentfollower.java

一款机器人仿真软件,功能上与microsoft robotics studio有些相似,但基于Java平台.突出特点是给出了传感器仿真,如声纳,激光等.

/*
 *  Simbad - Robot Simulator
 *  Copyright (C) 2004 Louis Hugues
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful, 
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 -----------------------------------------------------------------------------
 * $Author: sioulseuguh $ 
 * $Date: 2005/02/05 11:05:27 $
 * $Revision: 1.7 $
 * $Source: /cvsroot/simbad/src/simbad/gui/AgentFollower.java,v $
 */
package simbad.gui;

import simbad.sim.*;

/**
 * The AgentFollower class is a helper class for the AgentInspector. It updates cyclically the world view point.
 * in order to follow agent movements.  
 *  
 */
class AgentFollower implements Runnable {

    World world;
    SimpleAgent agent;
    Thread thread;
    boolean stopped;
    boolean changed;
    int viewPointType;

    AgentFollower(World world, SimpleAgent agent) {
        this.agent = agent;
        this.world = world;
        viewPointType = World.VIEW_ABOVE_AGENT;
        stopped = true;
        thread = new Thread(this);
        thread.start();
    }

    public void run() {
        while (true) {
            changed= false;
            if (!stopped)
            			world.changeViewPoint(viewPointType, agent);
            try {
                // don't need precise time tick
                // do multiple sleep to diminish ui latency
                for (int i=0;i<30;i++){
                    Thread.sleep(100);
                    if (changed) break;
                }

            } catch (InterruptedException e) {
                e.printStackTrace();
            }
        }
    }

    protected void setViewPointType(int type){
        viewPointType = type;
    }
    protected void suspend() {
        stopped = true;
        changed= true;
    }

    protected void resume() {
        stopped = false;
        changed= true;
    }
}