/** 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");
}
/** 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();
}
}
