/**
* Request/reply: Get/set fiducial ID. <br>
* <br>
* Some fiducial finder devices display their own fiducial. Send a null PLAYER_FIDUCIAL_REQ_GET_ID
* request to get the identifier displayed by the fiducial. <br>
* <br>
* Some devices can dynamically change the identifier they display. They can use the
* PLAYER_FIDUCIAL_REQ_SET_ID request to allow a client to set the currently displayed value. Make
* the request with the player_fiducial_id_t structure. The device replies with the same structure
* with the id field set to the value it actually used. You should check this value, as the device
* may not be able to display the value you requested. <br>
* <br>
* Currently supported by the stg_fiducial driver. <br>
* <br>
* See the player_fiducial_id structure from player.h
*
* @param id the fiducial ID to be displayed
*/
public void setFiducialVal(int id) {
try {
sendHeader(PLAYER_MSGTYPE_REQ, PLAYER_FIDUCIAL_REQ_SET_ID, 4);
XdrBufferEncodingStream xdr = new XdrBufferEncodingStream(4);
xdr.beginEncoding(null, 0);
xdr.xdrEncodeInt(id);
xdr.endEncoding();
os.write(xdr.getXdrData(), 0, xdr.getXdrLength());
xdr.close();
os.flush();
} catch (IOException e) {
throw new PlayerException(
"[Fiducial] : Couldn't request PLAYER_FIDUCIAL_REQ_SET_ID: " + e.toString(), e);
} catch (OncRpcException e) {
throw new PlayerException(
"[Fiducial] : Error while XDR-encoding SET_ID request: " + e.toString(), e);
}
}
/**
* Request/reply: Get/set sensor field of view. <br>
* <br>
* The field of view of the fiducial device can be set using the PLAYER_FIDUCIAL_REQ_GET_FOV
* request (response will be null), and queried using a null PLAYER_FIDUCIAL_REQ_GET_FOV request.
* <br>
* <br>
* See the player_fiducial_fov structure from player.h
*
* @param pff a PlayerFiducialFov structure holding the required data
*/
public void setFov(PlayerFiducialFov pff) {
try {
sendHeader(PLAYER_MSGTYPE_REQ, PLAYER_FIDUCIAL_REQ_SET_FOV, 12);
XdrBufferEncodingStream xdr = new XdrBufferEncodingStream(12);
xdr.beginEncoding(null, 0);
xdr.xdrEncodeFloat(pff.getMin_range());
xdr.xdrEncodeFloat(pff.getMax_range());
xdr.xdrEncodeFloat(pff.getView_angle());
xdr.endEncoding();
os.write(xdr.getXdrData(), 0, xdr.getXdrLength());
xdr.close();
os.flush();
} catch (IOException e) {
throw new PlayerException(
"[Fiducial] : Couldn't request PLAYER_FIDUCIAL_REQ_SET_FOV: " + e.toString(), e);
} catch (OncRpcException e) {
throw new PlayerException(
"[Fiducial] : Error while XDR-encoding SET_FOV request: " + e.toString(), e);
}
}