@OPERATION
void move(double x, double y, double speed) {
try {
execLinkedOp("env-link", "move", ID, x, y, speed);
} catch (Exception e) {
e.printStackTrace();
failed("Move linked operation failed", "fail", ID, e);
}
}
@OPERATION
void stopDevice() {
try {
execLinkedOp("to-device", "stopDevice");
} catch (Exception e) {
e.printStackTrace();
failed("stopDevice linked operation failed", "fail", e.getMessage());
}
}
@OPERATION
void sense() {
OpFeedbackParam<PersonSenseData[]> people = new OpFeedbackParam<>();
OpFeedbackParam<PoTSenseData[]> points = new OpFeedbackParam<>();
try {
execLinkedOp("env-link", "sense", ID, people, points);
ObsProperty peoplep = getObsProperty("people");
ObsProperty pointsp = getObsProperty("points");
peoplep.updateValue(toArray(people.get()));
pointsp.updateValue(toArray(points.get()));
} catch (Exception e) {
e.printStackTrace();
failed("Sense linked operation failed", "fail", ID, e);
}
}
/** 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();
}
}
@SuppressWarnings("unchecked")
@OPERATION
void input_data() {
String file = "simulation.yaml";
Yaml yaml = new Yaml();
Object data;
try {
data = yaml.load(new FileInputStream(file));
} catch (FileNotFoundException e) {
failed("User Input failed", "fail", file, e.getMessage());
return;
}
LinkedHashMap<String, Object> map = (LinkedHashMap<String, Object>) data;
try {
for (Entry<String, Object> entry : map.entrySet()) {
switch (entry.getKey()) {
case "World":
defineObsProperty("parameter", "world");
readWorld((LinkedHashMap<String, Object>) entry.getValue());
break;
case "Simulation":
defineObsProperty("parameter", "simulation");
readSimulation((LinkedHashMap<String, Object>) entry.getValue());
break;
case "Analysis":
defineObsProperty("parameter", "analysis");
readAnalysis((LinkedHashMap<String, Object>) entry.getValue());
break;
case "People":
defineObsProperty("parameter", "people");
readPeople((ArrayList<Object>) entry.getValue());
break;
case "Hovering":
defineObsProperty("parameter", "hovering");
readHovering((ArrayList<Object>) entry.getValue());
break;
}
}
} catch (Exception e) {
failed("Parameter parsing failed", "fail", file, e.getMessage());
return;
}
}