swarm.robot.sensors

Class ColorSensor

java.lang.Object

swarm.robot.sensors.AbstractSensor

swarm.robot.sensors.ColorSensor

All Implemented Interfaces:

IMqttHandler

public class ColorSensor
extends AbstractSensor

Color Sensors Emulator class

Author:

Nuwan Jaliyagoda

Field Summary

Fields inherited from class swarm.robot.sensors.AbstractSensor

robot, robotId, robotMqttClient

Constructor Summary

Constructors

Constructor and Description
ColorSensor(Robot robot, RobotMqttClient mqttClient) ColorSensor class

Method Summary

Modifier and Type	Method and Description
RGBColorType	getColor() Get the emulated color sensor reading from the simulator
void	handleSubscription(Robot robot, MqttMsg m) Handle colorSensor related MQTT subscriptions
void	sendColor(int red, int green, int blue, int ambient) Send the current color information on MQTT requests, Only for test, virtual robots will not invoke this.

Methods inherited from class java.lang.Object

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

Constructor Detail

ColorSensor

public ColorSensor(Robot robot,
                   RobotMqttClient mqttClient)

ColorSensor class

Parameters:

robot - robot object

mqttClient - mqttClient object

Method Detail

handleSubscription

public void handleSubscription(Robot robot,
                               MqttMsg m)

Handle colorSensor related MQTT subscriptions

Specified by:

handleSubscription in interface IMqttHandler

Overrides:

handleSubscription in class AbstractSensor

Parameters:

robot - Robot object

m - Subscription topic received object

getColor

public RGBColorType getColor()
                      throws SensorException

Get the emulated color sensor reading from the simulator

Returns:

color as RGBColorType

Throws:

SensorException

sendColor

public void sendColor(int red,
                      int green,
                      int blue,
                      int ambient)

Send the current color information on MQTT requests, Only for test, virtual robots will not invoke this.

Parameters:

red - Red intensity, [0,255]

green - Green intensity, [0,255]

blue - Blue intensity, [0,255]

ambient - Ambient status, [0,255]