javaclient
Class SonarInterface

java.lang.Object
  javaclient.PlayerDevice
      javaclient.SonarInterface

public class SonarInterface
extends PlayerDevice

The sonar interface provides access to a collection of fixed range sensors, such as a sonar array. This interface accepts no commands.

Version:

• v1.6.3 - Player 1.6.3 (all interfaces) supported
• v1.6.2 - Player 1.6.2 supported, Javadoc documentation, several bugfixes
• v1.5a - Player 1.5 supported (most popular devices)

Author:

Maxim A. Batalin & Radu Bogdan Rusu

Field Summary

protected short	PLAYER_SONAR_GET_GEOM_REQ
static short	PLAYER_SONAR_MAX_SAMPLES maximum number of sonar samples
protected short	PLAYER_SONAR_POWER_REQ

Fields inherited from class javaclient.PlayerDevice

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

SonarInterface(PlayerClient pc, short indexOfDevice)
Constructor for SonarInterface.

Method Summary

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

getTimeForDataSampled_sec, getTimeForDataSampled_usec, getTimeForDataSampled, getTimeForDataSent_sec, getTimeForDataSent_usec, getTimeForDataSent, handleEARMessage, handleNARMessage, readHeader, sendHeader

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

PLAYER_SONAR_GET_GEOM_REQ

protected final short PLAYER_SONAR_GET_GEOM_REQ

See Also:

Constant Field Values

PLAYER_SONAR_POWER_REQ

protected final short PLAYER_SONAR_POWER_REQ

See Also:

Constant Field Values

PLAYER_SONAR_MAX_SAMPLES

public static final short PLAYER_SONAR_MAX_SAMPLES

maximum number of sonar samples

See Also:

Constant Field Values

Constructor Detail

SonarInterface

public SonarInterface(PlayerClient pc,
                      short indexOfDevice)

Constructor for SonarInterface.

Parameters:

pc - a reference to the PlayerClient object

indexOfDevice - the index of the device

Method Detail

readData

public void readData()

Read the sonar values.

Overrides:

readData in class PlayerDevice

getRanges

public int[] getRanges()

Returns the sonar array data values up to PLAYER_SONAR_MAX_SAMPLES.

Returns:

an array filled with the sonar values

getSamplesCount

public int getSamplesCount()

Returns the number of ultrasonic sensors specified in the Player world file (the number of valid range readings).

Returns:

the number of ultrasonic sensors specified in the Player world file as an integer

queryGeometry

public void queryGeometry()

Configuration request: Query geometry.

See the player_sonar_geom structure from player.h

setSonarPower

public void setSonarPower(int value)

Configuration request: Sonar power. ("available only on real robots" (TM))

See the player_sonar_power_config structure from player.h

Parameters:

value - turn power off (0) or on (>0)

handleResponse

public void handleResponse(int size)

Handle acknowledgement response messages (threaded mode).

Overrides:

handleResponse in class PlayerDevice

Parameters:

size - size of the payload

isPSGTReady

public boolean isPSGTReady()

Check if geometry data is available.

Returns:

true if ready, false if not ready

getPSGT

public PlayerSonarGeomT getPSGT()

Get the geometry data.

Returns:

an object of type PlayerSonarGeomT containing the required geometry data