public byte toByte() { return (byte) ordinal(); }
public static HighLevelStateChangeStatusMessage createHighLevelStateChangeStatusMessage(HighLevelControllerName initialState, HighLevelControllerName endState) { HighLevelStateChangeStatusMessage message = new HighLevelStateChangeStatusMessage(); message.setInitialHighLevelControllerName(initialState == null ? -1 : initialState.toByte()); message.setEndHighLevelControllerName(endState == null ? -1 : endState.toByte()); return message; }
comboBoxValues[comboBoxIndex] = valueToDisplay.name(); comboBoxValues[comboBoxIndex] = comboBoxValues[comboBoxIndex].replaceAll("_", " _"); comboBoxValues[comboBoxIndex] = FormattingTools.underscoredToCamelCase(comboBoxValues[comboBoxIndex], true); fromComboBoxIndexToEnumOrdinalMap.put(comboBoxIndex, valueToDisplay.ordinal()); fromEnumOrdinalToComboBoxIndexMap.put(valueToDisplay.ordinal(), comboBoxIndex); comboBoxIndex++;
@Override public void setFromMessage(HighLevelStateMessage message) { highLevelControllerName = HighLevelControllerName.fromByte(message.getHighLevelControllerName()); }
private void testState(HighLevelControllerName desiredState) throws SimulationExceededMaximumTimeException { boolean success = drcBehaviorTestHelper.simulateAndBlockAndCatchExceptions(1.0); assertTrue(success); double trajectoryTime = 2.0; final HighLevelStateBehavior highLevelStateBehavior = new HighLevelStateBehavior(drcBehaviorTestHelper.getRobotName(), drcBehaviorTestHelper.getRos2Node()); highLevelStateBehavior.initialize(); highLevelStateBehavior.setInput(HumanoidMessageTools.createHighLevelStateMessage(desiredState)); assertTrue(highLevelStateBehavior.hasInputBeenSet()); success = drcBehaviorTestHelper.executeBehaviorSimulateAndBlockAndCatchExceptions(highLevelStateBehavior, trajectoryTime); assertTrue(success); HighLevelControllerName actualState = getCurrentHighLevelState(); assertTrue(highLevelStateBehavior.isDone()); assertTrue("Actual high level state: " + actualState + ", does not match desired high level state: " + desiredState + ".", desiredState.equals(actualState)); }
public static HighLevelStateMessage createHighLevelStateMessage(HighLevelControllerName highLevelControllerName) { HighLevelStateMessage message = new HighLevelStateMessage(); message.setHighLevelControllerName(highLevelControllerName.toByte()); return message; }
@Override public void receivedNewMessageStatus(HighLevelStateChangeStatusMessage statusMessage) { if (HighLevelControllerName.fromByte(statusMessage.getEndHighLevelControllerName()) == HighLevelControllerName.CALIBRATION) startFingerCalibration.set(true); } });
@Override public void receivedNewMessageStatus(HighLevelStateChangeStatusMessage statusMessage) { if (statusMessage != null) { currentHighLevelControllerState.set(HighLevelControllerName.fromByte(statusMessage.getEndHighLevelControllerName())); if (statusMessage.getInitialHighLevelControllerName() == HighLevelControllerName.CALIBRATION.toByte()) writeTorqueOffsets(); if (ValkyrieRosControlController.ENABLE_FINGER_JOINTS) { if (statusMessage.getEndHighLevelControllerName() == HighLevelControllerName.CALIBRATION.toByte()) fingerController.goToInitialConfiguration(); } } } };
public static HighLevelStateChangeStatusMessage nextHighLevelStateChangeStatusMessage(Random random) { HighLevelStateChangeStatusMessage next = new HighLevelStateChangeStatusMessage(); next.setInitialHighLevelControllerName(RandomNumbers.nextEnum(random, HighLevelControllerName.class).toByte()); next.setEndHighLevelControllerName(RandomNumbers.nextEnum(random, HighLevelControllerName.class).toByte()); return next; }
public static HighLevelStateMessage nextHighLevelStateMessage(Random random) { HighLevelStateMessage next = new HighLevelStateMessage(); next.setHighLevelControllerName(RandomNumbers.nextEnum(random, HighLevelControllerName.class).toByte()); return next; }
@Override public void sendStandRequest() { HighLevelStateMessage message = new HighLevelStateMessage(); message.setHighLevelControllerName(HighLevelControllerName.STAND_TRANSITION_STATE.toByte()); highLevelStatePublisher.publish(message); } }
@Override public void sendFreezeRequest() { HighLevelStateMessage message = new HighLevelStateMessage(); message.setHighLevelControllerName(HighLevelControllerName.EXIT_WALKING.toByte()); highLevelStatePublisher.publish(message); }