Class OpenGripper

  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.OpenGripper

public class OpenGripper
extends GripperOperation

A Shady ShadyCommonAPI.openGripper(int) 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.

Marsette (Marty) A. Vona, III

Field Summary
private static java.lang.String cvsid
          CVS id.
Fields inherited from class shady.common.op.BarrelOperation
Fields inherited from class shady.common.op.BoundOperation
Constructor Summary
OpenGripper(ShadyCommonAPI shady, int barrel)
          Make a new OpenGripper 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


private static final java.lang.String cvsid

CVS id.

See Also:
Constant Field Values
Constructor Detail


public OpenGripper(ShadyCommonAPI shady,
                   int barrel)

Make a new OpenGripper Operation.

shady - The Shady instance on which to operate
barrel - the barrel containing the gripper to open
Method Detail


public double getTargetState()

Get the target gripper state for this operation.

This impl returns ShadyCommonAPI.OPEN_STATE.

Specified by:
getTargetState in class GripperOperation


public java.lang.String toString()

Get a human-readable description of this Operation.

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


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
0 if the operation was successful, otherwise the fault that occurred