88 lines
4.0 KiB
Markdown
88 lines
4.0 KiB
Markdown
## Pepper Abstraction Design
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---
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### Introduction
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The Pepper robot is a complex system that can be controlled by a variety of different actions. To make the system more
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manageable, we've decided implement abstraction and encapsulation in the classes related to Pepper controls.
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This way, we can easily add new action events in the future.
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All these classes inherit from the `AbstractPepperActionEvent` class.
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### Problems
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1. The Pepper robot functions with a system that only allows one action to be executed at a time, per action category.
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This means that, for example, when two speech actions are executed at the same time, the application will crash due
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to a `RuntimeException` being thrown. Due to this fact, whenever the execution of multiple processes overlap,
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the application will crash.
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2. Besides the first problem, for the Pepper robot to be able to execute any actions, it is required to have a
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QiContext available. This context is only provided in a class that extends the `RobotLifecycleCallbacks` class.
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This means, that whenever the class does not extend this class, the robot will be unable to execute any actions.
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### Solution
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To prevent the application from crashing, we've decided to implement a queue system in the `Pepper` class.
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This system allows us to queue any new actions that need to be executed whenever another action is already
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being executed. This way, we can prevent the application throwing a `RuntimeException` and thus crashing.
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To tackle the second problem, we've decided to implement a system where the Pepper class has a global variable, which
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holds the current QiContext. This means, that whenever a user decides to execute an action, and no current QiContext
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is available, the action will be queued until a QiContext is available. This means that we can queue several actions
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at once without any exceptions being thrown.
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### Diagrams
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#### Class Diagram
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```mermaid
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classDiagram
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class Pepper {
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-pepperActionEventQueue : ConcurrentLinkedQueue<AbstractPepperActionEvent>
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-isAnimating : AtomicBoolean
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-isSpeaking : AtomicBoolean
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+latestContext : QiContext
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+addToEventQueue(AbstractPepperActionEvent event)
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+provideQiContext(QiContext context)
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-processEventQueue()
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}
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class AbstractPepperActionEvent {
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+getAction() EPepperAction
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}
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class PepperSpeechEvent {
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+phrase : String
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+locale : Locale
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+PepperSpeechEvent(String phrase, Locale locale)
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+getSay(QiContext context) Say
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}
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class PepperAnimationEvent {
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+PepperAnimationEvent(String animationName)
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+PepperAnimationEvent(String animationName, IAnimationCompletedListener listener)
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+getAnimation(QiContext context) Animate
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+animationName : String
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+IAnimationCompletedListener : IAnimationCompletedListener
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}
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Pepper <|-- AbstractPepperActionEvent
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PepperSpeechEvent <|-- AbstractPepperActionEvent
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PepperAnimationEvent <|-- AbstractPepperActionEvent
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```
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#### Queue System in Pepper class
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```mermaid
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graph LR
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subgraph "Pepper Class - Action Queue System"
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speak[say(String phrase)\nPublic\nCreate PepperSpeechEvent] --Call method--> addQueue
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animate[animate(String animationName)\nPublic\nCreate PepperAnimationEvent] --Call method--> addQueue
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addQueue[addToEventQueue(AbstractPepperActionEvent event)\nPublic\nAdd provided event to event queue] --Add to queue--> queue[Event Queue\nPrivate\nQueue containing all events that\nneed to be executed]
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addQueue --Call method--> handleQueue[processEventQueue()\nPrivate\nCheck whether there is a context\navailable, and whether an event\nis currently being executed.\nExecutes the next event in the Queue]
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queue <.-> handleQueue
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provideCtx[provideQiContext(QiContext context)\nPublic\nSets global QiContext variable\nto provided context. If the context \nis not null,process the event queue] --Sets global QiContext variable--> handleQueue
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end
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``` |