shady.common.op
Class CloseGripper

java.lang.Object
  extended by shady.common.op.Operation
      extended by shady.common.op.BoundOperation
          extended by shady.common.op.BarrelOperation
              extended by shady.common.op.GripperOperation
                  extended by shady.common.op.CloseGripper

public class CloseGripper
extends GripperOperation

A Shady ShadyCommonAPI.closeGripper(int, Point.OnSegment) Operation.

Copyright (C) 2006 Marsette A. Vona, III

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:
Marsette (Marty) A. Vona, III

Field Summary
private static java.lang.String cvsid
          CVS id.
 Point.OnSegment gripPoint
          See ShadyCommonAPI.closeGripper(int, Point.OnSegment).
 
Fields inherited from class shady.common.op.BarrelOperation
barrel
 
Fields inherited from class shady.common.op.BoundOperation
shady
 
Constructor Summary
CloseGripper(ShadyCommonAPI shady, int barrel)
          Covers CloseGripper(ShadyCommonAPI, int, Point.OnSegment), always uses null gripPoint.
CloseGripper(ShadyCommonAPI shady, int barrel, Point.OnSegment gripPoint)
          Make a new CloseGripper Operation.
 
Method Summary
 int exec()
          Execute the operation.
 double getTargetState()
          Get the target gripper state for this operation.
 java.lang.String toString()
          Get a human-readable description of this Operation.
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Field Detail

cvsid

private static final java.lang.String cvsid

CVS id.

See Also:
Constant Field Values

gripPoint

public Point.OnSegment gripPoint

See ShadyCommonAPI.closeGripper(int, Point.OnSegment).

Constructor Detail

CloseGripper

public CloseGripper(ShadyCommonAPI shady,
                    int barrel,
                    Point.OnSegment gripPoint)

Make a new CloseGripper Operation.

Parameters:
shady - The Shady instance on which to operate
barrel - the barrel containing the gripper to close
gripPoint - see ShadyCommonAPI.closeGripper(int, Point.OnSegment)

CloseGripper

public CloseGripper(ShadyCommonAPI shady,
                    int barrel)

Covers CloseGripper(ShadyCommonAPI, int, Point.OnSegment), always uses null gripPoint.

Method Detail

exec

public int exec()

Execute the operation.

Has no effect if the system is already in the target state of the operation.

Fails fast if the system is currently in fault.

Blocks until the operation is complete.

This impl executes on BoundOperation.shady.

Specified by:
exec in class BoundOperation
Returns:
0 if the operation was successful, otherwise the fault that occurred

getTargetState

public double getTargetState()

Get the target gripper state for this operation.

This impl returns ShadyCommonAPI.CLOSED_STATE.

Specified by:
getTargetState in class GripperOperation

toString

public java.lang.String toString()

Get a human-readable description of this Operation.

Overrides:
toString in class java.lang.Object
Returns:
a human-readable description of this Operation