import Javaclient.src.*;

import java.util.Vector;

/** This is the bootstrapping device for the Rover implementation.  It
    does the socket connect, holds all the devices, and does all the
    boring stuff so that Rover can do all the fun stuff. */
public abstract class Robot implements Runnable {    
    public PlayerClient         pc;
    public PositionPlayerDevice ppd;
    public LaserPlayerDevice    lpd;
    public PtzPlayerDevice      ptz;
    public BlobfinderInterface  bfi;
    public FiducialInterface    fi;
    public String               host;
    public int                  port;

  /** creates a robot and activates the PlayerClient devices (for
      issuing odometry-related ans sensor-related commands) */
  Robot (String host, int port) {
      super();
    this.host = host;
    this.port = port;  
    pc  = new PlayerClient(host, port);
    ppd = pc.requestPosition('a');
    ptz = pc.requestPtz('a');
    lpd = pc.requestLaser('r');
    bfi = pc.requestBlobfinder('r');
    fi = pc.requestFiducial('a');
  }
  
  /** Delegates the lifeCycle method downward to the subclasses to
      provide encapsulation. */
  public void run () {
    lifeCycle();
  }

  /** Implemented by concrete subclasses */
  public abstract void lifeCycle();
}