Beispiel #1
0
  /** Get current sensor values */
  @OPERATION
  void getCurrentScan() {
    logger1.info("ArtScan >> getCurrentScan()");
    ObsProperty prop = getObsProperty(propertyName);
    if (currentScan != null)
      // prop.updateValues(checkNan(currentScan[0]), checkNan(currentScan[(int)
      // (laserScanSize*0.25)]), checkNan(currentScan[(int) (laserScanSize*0.5)]),
      // checkNan(currentScan[(int) (laserScanSize*0.75)]), checkNan(currentScan[laserScanSize-1]));
      // prop.updateValues(checkNan(currentScan[0]), checkNan(currentScan[182]),
      // checkNan(currentScan[363]), checkNan(currentScan[544]),
      // checkNan(currentScan[laserScanSize-1]));
      prop.updateValues(
          checkNan(currentScan[0]),
          checkNan(currentScan[127]),
          checkNan(currentScan[255]),
          checkNan(currentScan[384]),
          checkNan(currentScan[laserScanSize - 1]));
    else prop.updateValues(50000f, 50000f, 50000f, 50000f, 50000f);
    // logger1.info("ArtScan >> Value:" + prop);
    logger1.info("ArtScan >> end of getCurrentScan()");
    // 182, 363, 544, 725 hokuyo scan
    // 0, 270, 514, 810, 1080
    // 0, 159, 319, 479, 639
    //		System.out.println("ArtScan >> getCurrentScan()");
    //		ObsProperty prop = getObsProperty(propertyName);
    //		prop.updateValues(prop.getValues());

    signal("tick_scan");
  }
Beispiel #2
0
    /** The command code */
    public void exec() {
      try {

        ObsProperty prop = getObsProperty(propertyName);
        prop.updateValues(
            checkNan(currentScan[0]),
            checkNan(currentScan[(int) (laserScanSize * 0.25)]),
            checkNan(currentScan[(int) (laserScanSize * 0.5)]),
            checkNan(currentScan[(int) (laserScanSize * 0.75)]),
            checkNan(currentScan[laserScanSize - 1]));
        // prop.updateValues(checkNan(currentScan[0]), checkNan(currentScan[182]),
        // checkNan(currentScan[363]), checkNan(currentScan[544]),
        // checkNan(currentScan[laserScanSize-1]));

      } catch (Exception ex) {
        ex.printStackTrace();
      }
    }