bml_realizer: bml_realizer/src/edu/wpi/hri/bml/exec/LipsExecutor.java Source File

00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2010, Worcester Polytechnic Institute
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Worcester Polytechnic Institute. nor the names
00018  *     of its contributors may be used to endorse or promote products
00019  *     derived from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  */
00034 package edu.wpi.hri.bml.exec;
00035 
00036 import edu.wpi.hri.bml.behavior.LipsBehavior;
00037 import edu.wpi.hri.bml.behavior.SyncRef.SyncPoint;
00038 import edu.wpi.hri.bml.realizer.BMLComm;
00039 import edu.wpi.hri.bml.realizer.ControlComm;
00040 import edu.wpi.hri.log.Logger;
00041 import edu.wpi.hri.log.Logger.LoggerLevel;
00042 
00049 public class LipsExecutor extends Executor {
00050 
00051         private final LipsBehavior behavior;
00052         private final ControlComm control;
00053 
00067         public LipsExecutor(Logger logger, BMLComm comm, ControlComm control,
00068                         LipsBehavior behav) {
00069                 super(logger, comm, behav, true);
00070                 this.behavior = behav;
00071                 this.control = control;
00072         }
00073 
00074         @Override
00075         protected byte doPoint(SyncPoint point) {
00076                 this.logger.debug(LoggerLevel.IO, "Sending " + point);
00077                 return this.control.sendLips(this.behavior, point);
00078         }
00079 }