swarm.robot.sensors

Class DistanceSensor

java.lang.Object

swarm.robot.sensors.AbstractSensor

swarm.robot.sensors.DistanceSensor

All Implemented Interfaces:

IMqttHandler

public class DistanceSensor
extends AbstractSensor

Distance 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
DistanceSensor(Robot robot, RobotMqttClient m) DistanceSensor class

Method Summary

Modifier and Type	Method and Description
double	getDistance() Get the emulated distance sensor reading from the simulator
void	handleSubscription(Robot robot, MqttMsg m) Handle distanceSensor related MQTT subscriptions
void	sendDistance(double dist) Send the current distance 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

DistanceSensor

public DistanceSensor(Robot robot,
                      RobotMqttClient m)

DistanceSensor class

Parameters:

robot - robot object

mqttClient - mqttClient object

Method Detail

handleSubscription

public void handleSubscription(Robot robot,
                               MqttMsg m)

Handle distanceSensor related MQTT subscriptions

Specified by:

handleSubscription in interface IMqttHandler

Overrides:

handleSubscription in class AbstractSensor

Parameters:

robot - Robot object

m - Subscription topic received object

getDistance

public double getDistance()
                   throws java.lang.Exception

Get the emulated distance sensor reading from the simulator

Returns:

distance as double

Throws:

SensorException

java.lang.Exception

sendDistance

public void sendDistance(double dist)

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

Parameters:

dist - distanceReading