@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);
    }
  }
Exemplo n.º 4
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();
      }
    }
 @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;
   }
 }