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An Eclipse plugin may contain an Activator. This class extends the abstract class Plugin or AbstractUIPlugin, depending on whether the plugin contains graphic elements. This optional class serves as the conceptual representation of the plugin. Containing no application logic, it reacts to distinguished events for instance, the methods start() and stop() specified by the interface BundleActivator and implemented by the classes Plugin and AbstractUIPlugin. The methods are called by the Eclipse Platform when the plugin is loaded or closed. By overwriting these methods, special platform-specific tasks are executed at these times. An Activator in its simplest form looks as shown in Listing 16-1. Listing 16-1. Activator class of an Eclipse plugin package com.galileo.eclipse.plugin; import org.eclipse.core.runtime.Plugin; import org.osgi.framework.BundleContext; public class Activator extends Plugin { private static Activator plugin; public void start(BundleContext context) throws Exception { super.start(context); plugin = this; } public void stop(BundleContext context) throws Exception { plugin = null; super.stop(context); } public static Activator getDefault() { return plugin; } } The counterpart to the Eclipse plugin activator is the module installer of a NetBeans module. This module installer is optional. The NetBeans platform instantiates an installer during module startup. The installer extends the class ModuleInstall (see Listing 16-2). This class specifies the methods restored() and close(), which are equivalent to methods in the BundleActivator interface. Also available are validate(), for the examination of the starting conditions; closing(), for the examination of stop conditions; and uninstalled(), for uninstallation of the module. As in activators, these methods can be overwritten and used as required. Listing 16-2. The counterpart to the activator is a NetBeans module installer. package com.galileo.netbeans.module; import org.openide.modules.ModuleInstall;

This next class, CalcDistance, will help you in defining the constants for the surface your robot travels on. The fields used are of type SimpleNavigation and NavStamp. The constructor, as always, takes a JSerialPort that is used to construct sNav and stamp. There are two calibrate() methods, one that takes the parameter for the number of times to test before an average is output, and the other that will just test three times. The algorithm works like this: 1. Take current sonar reading forward. 2. Move forward. 3. Take current sonar reading forward. 4. Compare the two readings and move in reverse. 5. Take another sonar reading. 6. Compare the two and repeat until the count is up. 7. At the end, count the average distance measured for the speed and then exit. In Example 9-26, I am moving north, and then moving in reverse by changing the magnitude of the time to a negative number. Example 9-26. DistanceCalibration.java package com.scottpreston.javarobot.chapter9; import import import import import import com.scottpreston.javarobot.chapter2.JSerialPort; com.scottpreston.javarobot.chapter2.Utils; com.scottpreston.javarobot.chapter2.WebSerialClient; com.scottpreston.javarobot.chapter7.NavStamp; com.scottpreston.javarobot.chapter7.Navigation; com.scottpreston.javarobot.chapter7.SonarReadings;

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this Node to the list, which we return as an array. Therefore, this method provides the core of the whole system created in this example. Listing 7-11. Container class that loads and manages all child nodes dynamically public class ExplorerNodeContainer extends Children.Keys<FileObject> { private FileObject folder = null; public ExplorerNodeContainer(FileObject folder) { this.folder = folder; } protected void addNotify() { setKeys(new FileObject[] {folder}); } protected Node[] createNodes(FileObject f) { ArrayList<Node> nodes = new ArrayList<Node>(); /* add folder nodes / for(FileObject o : Collections.list(f.getFolders(false))) { nodes.add(new ExplorerFolderNode(o)); } DataFolder df = DataFolder.findFolder(f); FolderLookup lkp = new ActionLookup(df); /* add leaf nodes, which represents an action */ for(Action a : lkp.getLookup().lookupAll(Action.class)) { nodes.add(new ExplorerLeafNode(a)); } return(nodes.toArray(new Node[nodes.size()])); } /* non-recursive folder lookup */ private static final class ActionLookup extends FolderLookup { public ActionLookup(DataFolder df) { super(df); } protected InstanceCookie acceptContainer(DataObject.Container con) { return(null); } protected InstanceCookie acceptFolder(DataFolder df) { return(null); } } } Finally, have a look at the ExplorerLeafNode class (see Listing 7-12). It simply contains a single action, invoked on the double-click of a node. The action received via the ActionLookup is passed to the constructor. Since this type of node does not contain child nodes, we pass Children.LEAF to the superclass constructor. Then we set the name to be used when the node is displayed.

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