/** 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");
}
@OPERATION
public void bid(double bidValue, int count) {
if (!getObsProperty("running").booleanValue()) failed("auction not started");
getObsProperty("answer_count").updateValue(count + 1);
ObsProperty opCurrentValue = getObsProperty("best_bid");
if (bidValue < opCurrentValue.doubleValue()) { // the bid is better than
// the previous
opCurrentValue.updateValue(bidValue);
chosenAgent = getOpUserName(); // the name of the agent doing this
// operation
}
System.out.println("Received bid " + bidValue + " from " + getOpUserName());
}
@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();
}
}
