55 lines
2.1 KiB
Java
55 lines
2.1 KiB
Java
package lejos.robotics.subsumption;
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/**
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* The Behavior interface represents an object embodying a specific
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* behavior belonging to a robot. Each behavior must define three things: <BR>
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* 1) The circumstances to make this behavior seize control of the robot.
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* e.g. When the touch sensor determines the robot has collided with an object.<BR>
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* 2) The action to perform when this behavior takes control.
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* e.g. Back up and turn.<BR>
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* 3) A way to quickly exit from the action when the Arbitrator selects a higher
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* priority behavior to take control.
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* These are represented by defining the methods takeControl(), action(),
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* and suppress() respectively. <BR>
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* A behavior control system has one or more Behavior objects. When you have defined
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* these objects, create an array of them and use that array to initialize an
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* Arbitrator object.
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*
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* @see Arbitrator
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* @version 0.9 May 2011
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*/
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public interface Behavior {
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/**
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* The boolean return indicates if this behavior should seize control of the robot.
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* For example, a robot that reacts if a touch sensor is pressed: <BR>
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* public boolean takeControl() { <BR>
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* return touch.isPressed(); <BR>
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* } <BR>
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* @return boolean Indicates if this Behavior should seize control.
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*/
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public boolean takeControl();
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/**
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* The code in action() represents the tasks the robot performs when this
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* behavior becomes active. It can be as complex as navigating around a
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* room, or as simple as playing a tune.<BR>
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* <B>The contract for implementing this method is:</B><BR>
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* If its task is is complete, the method returns.
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* It also <B> must </B> return promptly when the suppress() method
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* is called, for example by testing the boolean suppress flag. <br>
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* When this method exits, the robot is in a safe state for another behavior
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* to run its action() method
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*/
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public void action();
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/**
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* The code in suppress() should cause the current behavior to exit. <BR>
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* <B>The contract for implementing this method is:</B><BR>
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* Exit quickly, for example, just set boolean flag.
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*/
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public void suppress();
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} |