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java.lang.Objectjavaclient.PlayerDevice
javaclient.SonarInterface
public class SonarInterface
The sonar interface provides access to a collection of fixed range sensors, such as a sonar array. This interface accepts no commands.
Field Summary | |
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protected short |
PLAYER_SONAR_GET_GEOM_REQ
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static short |
PLAYER_SONAR_MAX_SAMPLES
maximum number of sonar samples |
protected short |
PLAYER_SONAR_POWER_REQ
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Fields inherited from class javaclient.PlayerDevice |
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device, DIFFERENCE_SYNCH_FACTOR, index, is, os, pc, PLAYER_MAX_REQREP_SIZE, PLAYER_STXX, reserved, size, t_sec, t_usec, ts_sec, ts_usec |
Constructor Summary | |
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SonarInterface(PlayerClient pc,
short indexOfDevice)
Constructor for SonarInterface. |
Method Summary | |
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PlayerSonarGeomT |
getPSGT()
Get the geometry data. |
int[] |
getRanges()
Returns the sonar array data values up to PLAYER_SONAR_MAX_SAMPLES. |
int |
getSamplesCount()
Returns the number of ultrasonic sensors specified in the Player world file (the number of valid range readings). |
void |
handleResponse(int size)
Handle acknowledgement response messages (threaded mode). |
boolean |
isPSGTReady()
Check if geometry data is available. |
void |
queryGeometry()
Configuration request: Query geometry. |
void |
readData()
Read the sonar values. |
void |
setSonarPower(int value)
Configuration request: Sonar power. |
Methods inherited from class javaclient.PlayerDevice |
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getTimeForDataSampled_sec, getTimeForDataSampled_usec, getTimeForDataSampled, getTimeForDataSent_sec, getTimeForDataSent_usec, getTimeForDataSent, handleEARMessage, handleNARMessage, readHeader, sendHeader |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
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protected final short PLAYER_SONAR_GET_GEOM_REQ
protected final short PLAYER_SONAR_POWER_REQ
public static final short PLAYER_SONAR_MAX_SAMPLES
Constructor Detail |
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public SonarInterface(PlayerClient pc, short indexOfDevice)
pc
- a reference to the PlayerClient objectindexOfDevice
- the index of the deviceMethod Detail |
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public void readData()
readData
in class PlayerDevice
public int[] getRanges()
public int getSamplesCount()
public void queryGeometry()
public void setSonarPower(int value)
value
- turn power off (0) or on (>0)public void handleResponse(int size)
handleResponse
in class PlayerDevice
size
- size of the payloadpublic boolean isPSGTReady()
public PlayerSonarGeomT getPSGT()
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