bundles/examples/org.eclipse.apogy.examples.robotic_arm/src-gen-custom/org/eclipse/apogy/examples/robotic_arm/impl/RoboticArmStubCustomImpl.java

/*******************************************************************************
 * Copyright (c) 2018 Agence spatiale canadienne / Canadian Space Agency 
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v1.0
 * which accompanies this distribution, and is available at
 * http://www.eclipse.org/legal/epl-v10.html
 *
 * Contributors:  
 *     Pierre Allard,
 *     Regent L'Archeveque  - initial API and implementation
 *
 * SPDX-License-Identifier: EPL-1.0
 *******************************************************************************/
package org.eclipse.apogy.examples.robotic_arm.impl;

import org.eclipse.apogy.examples.robotic_arm.ApogyExamplesRoboticArmFacade;
import org.eclipse.apogy.examples.robotic_arm.MoveSpeedLevel;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;

public class RoboticArmStubCustomImpl extends RoboticArmStubImpl {

	private static final Logger Logger = LoggerFactory.getLogger(RoboticArmStubImpl.class);

	/**
	 * This is the degree symbol, as expressed in unicode
	 */
	private static final String DEGREE_SYM = "\u00b0";

	/**
<<<<<<< HEAD
	 * Performs the required operations required in order to initialize the robotic
	 * arm.
=======
	 * Performs the required operations required in order to initialize the
	 * robotic arm.
>>>>>>> refs/heads/eclipse_pa
	 * 
	 * @return Whether or not the robotic arm was successfully initialized.
	 */
	@Override
	public boolean init() {
		// As this is a stub, just indicate that the robotic arm would have been
		// initialized
		Logger.info("Just a stub: The necessary initialization for the arm would have taken place.");

		// Set the active Robotic Arm to be this one.
		ApogyExamplesRoboticArmFacade.INSTANCE.setActiveRoboticArm(this);

		// Indicate that it was successful
		return true;
	}

	/**
	 * Changes the level of speed at which the robotic arm should move; this is
<<<<<<< HEAD
	 * likely to be used by both moveTo() and stow() as they both involve moving the
	 * arm.
	 * 
	 * @param speedLevel The new move speed level, indicating how fast the arm
	 *                   should move.
=======
	 * likely to be used by both moveTo() and stow() as they both involve moving
	 * the arm.
	 * 
	 * @param speedLevel
	 *            The new move speed level, indicating how fast the arm should
	 *            move.
>>>>>>> refs/heads/eclipse_pa
	 */
	@Override
	public void cmdMoveSpeedLevel(MoveSpeedLevel speedLevel) {
		// Indicate that the move speed level would have been changed
		Logger.info("Set speed level to <" + speedLevel.getLiteral() + ">.");
	}

	/**
	 * Initiates the motion of the arm and move the arm to the specified
	 * configuration.
	 * 
<<<<<<< HEAD
	 * @param turretAngle   The expected angle (in radians) of the turret joint
	 *                      (joint 1) after moving
	 * @param shoulderAngle The expected angle (in radians) of the shoulder joint
	 *                      (joint 2) after moving.
	 * @param elbowAngle    The expected angle (in radians) of the elbow joint
	 *                      (joint 3) after moving.
	 * @param wristAngle    The expected angle (in radians) of the wrist joint
	 *                      (joint 4) after moving.
=======
	 * @param turretAngle
	 *            The expected angle (in radians) of the turret joint (joint 1)
	 *            after moving
	 * @param shoulderAngle
	 *            The expected angle (in radians) of the shoulder joint (joint
	 *            2) after moving.
	 * @param elbowAngle
	 *            The expected angle (in radians) of the elbow joint (joint 3)
	 *            after moving.
	 * @param wristAngle
	 *            The expected angle (in radians) of the wrist joint (joint 4)
	 *            after moving.
>>>>>>> refs/heads/eclipse_pa
	 */
	@Override
	public void moveTo(double turretAngle, double shoulderAngle, double elbowAngle, double wristAngle) {
		// Indicate that the robotic arm would have moved to the given joint
		// configuration
		Logger.info("moveTo(" + Math.toDegrees(turretAngle) + DEGREE_SYM + ", " + Math.toDegrees(shoulderAngle)
				+ DEGREE_SYM + ", " + Math.toDegrees(elbowAngle) + DEGREE_SYM + ", " + Math.toDegrees(wristAngle)
				+ DEGREE_SYM + ").");
	}

	@Override
	/**
	 * Initiates the motion of the arm and moves the arm to the stow
	 * configuration.
	 */
	public void stow() {
		// The robotic arm would have moved to its stow joint configuration
		Logger.info("The robotic arm would have moved to the stow joint configuration.");
	}
} // RoboticArmStubImpl