swarm.robot.sensors

Class ProximitySensor

java.lang.Object

swarm.robot.sensors.AbstractSensor

swarm.robot.sensors.ProximitySensor

All Implemented Interfaces:

IMqttHandler

public class ProximitySensor
extends AbstractSensor

Proximity 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
ProximitySensor(Robot robot, int[] angles, RobotMqttClient m) ProximitySensor class
ProximitySensor(Robot robot, RobotMqttClient m) ProximitySensor class

Method Summary

Modifier and Type	Method and Description
ProximityReadingType	getProximity() Get the emulated proximity sensor reading from the simulator
void	handleSubscription(Robot robot, MqttMsg m) Handle proximitySensor related MQTT subscriptions
void	sendProximity() Send the current proximity information on MQTT requests, Only for test, virtual robots will not invoke this.
void	setAngles(int[] proximityAngles) Set the proximity sensor angles

Methods inherited from class java.lang.Object

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

Constructor Detail

ProximitySensor

public ProximitySensor(Robot robot,
                       RobotMqttClient m)

ProximitySensor class

Parameters:

robot - robot object

mqttClient - mqttClient object

ProximitySensor

public ProximitySensor(Robot robot,
                       int[] angles,
                       RobotMqttClient m)

ProximitySensor class

Parameters:

robot - robot object

angles[] - proximity sensor angles as int array

mqttClient - mqttClient object

Method Detail

handleSubscription

public void handleSubscription(Robot robot,
                               MqttMsg m)

Handle proximitySensor related MQTT subscriptions

Specified by:

handleSubscription in interface IMqttHandler

Overrides:

handleSubscription in class AbstractSensor

Parameters:

robot - Robot object

m - Subscription topic received object

setAngles

public void setAngles(int[] proximityAngles)

Set the proximity sensor angles

Parameters:

proximityAngles - angles as an int array

getProximity

public ProximityReadingType getProximity()
                                  throws java.lang.Exception

Get the emulated proximity sensor reading from the simulator

Returns:

distance as double

Throws:

SensorException

java.lang.Exception

sendProximity

public void sendProximity()

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

Parameters:

dist - proximityReading