com.aldebaran.qi.helper.proxies

Class ALLaser

java.lang.Object

com.aldebaran.qi.helper.ALProxy

com.aldebaran.qi.helper.proxies.ALLaser

public class ALLaser
extends ALProxy

Allow control over Hokuyo laser when available on Nao's head.

See Also:

NAOqi APIs for ALLaser

Field Summary

Fields inherited from class com.aldebaran.qi.helper.ALProxy

name, service

Constructor Summary

Constructors

Constructor and Description
ALLaser(Session session)

Method Summary

Modifier and Type	Method and Description
void	clearStats()
void	exit() Exits and unregisters the module.
java.lang.String	getBrokerName() Gets the name of the parent broker.
java.lang.Object	getMethodHelp(java.lang.String methodName) Retrieves a method's description.
java.util.List<java.lang.String>	getMethodList() Retrieves the module's method list.
java.lang.Object	getModuleHelp() Retrieves the module's description.
java.lang.String	getUsage(java.lang.String name) Gets the method usage string.
java.lang.Boolean	isRunning(java.lang.Integer id) Returns true if the method is currently running.
java.lang.Boolean	isStatsEnabled()
java.lang.Boolean	isTraceEnabled()
void	laserOFF() Disable laser light
void	laserON() Enable laser light and sampling
java.lang.Boolean	ping() Just a ping.
void	setDetectingLength(java.lang.Integer length_min_l, java.lang.Integer length_max_l) Set detection threshold of the laser
void	setOpeningAngle(java.lang.Float angle_min_f, java.lang.Float angle_max_f) Set openning angle of the laser
void	stop(java.lang.Integer id) returns true if the method is currently running
java.lang.String	version() Returns the version of the module.
java.lang.Boolean	wait(java.lang.Integer id, java.lang.Integer timeoutPeriod) Wait for the end of a long running method that was called using 'post'

Methods inherited from class com.aldebaran.qi.helper.ALProxy

call, connect, connect, disconnect, getNaoqiType, getService, isProxyReady, setService

Methods inherited from class java.lang.Object

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

Constructor Detail

ALLaser

public ALLaser(Session session)
        throws java.lang.Exception

Throws:

java.lang.Exception

Method Detail

isStatsEnabled

public java.lang.Boolean isStatsEnabled()
                                 throws CallError,
                                        java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

clearStats

public void clearStats()
                throws CallError,
                       java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

isTraceEnabled

public java.lang.Boolean isTraceEnabled()
                                 throws CallError,
                                        java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

exit

public void exit()
          throws CallError,
                 java.lang.InterruptedException

Exits and unregisters the module.

Throws:

CallError

java.lang.InterruptedException

version

public java.lang.String version()
                         throws CallError,
                                java.lang.InterruptedException

Returns the version of the module.

Returns:

A string containing the version of the module.

Throws:

CallError

java.lang.InterruptedException

ping

public java.lang.Boolean ping()
                       throws CallError,
                              java.lang.InterruptedException

Just a ping. Always returns true

Returns:

returns true

Throws:

CallError

java.lang.InterruptedException

getMethodList

public java.util.List<java.lang.String> getMethodList()
                                               throws CallError,
                                                      java.lang.InterruptedException

Retrieves the module's method list.

Returns:

An array of method names.

Throws:

CallError

java.lang.InterruptedException

getMethodHelp

public java.lang.Object getMethodHelp(java.lang.String methodName)
                               throws CallError,
                                      java.lang.InterruptedException

Retrieves a method's description.

Parameters:

methodName - The name of the method.

Returns:

A structure containing the method's description.

Throws:

CallError

java.lang.InterruptedException

getModuleHelp

public java.lang.Object getModuleHelp()
                               throws CallError,
                                      java.lang.InterruptedException

Retrieves the module's description.

Returns:

A structure describing the module.

Throws:

CallError

java.lang.InterruptedException

wait

public java.lang.Boolean wait(java.lang.Integer id,
                              java.lang.Integer timeoutPeriod)
                       throws CallError,
                              java.lang.InterruptedException

Wait for the end of a long running method that was called using 'post'

Parameters:

id - The ID of the method that was returned when calling the method using 'post'

timeoutPeriod - The timeout period in ms. To wait indefinately, use a timeoutPeriod of zero.

Returns:

True if the timeout period terminated. False if the method returned.

Throws:

CallError

java.lang.InterruptedException

isRunning

public java.lang.Boolean isRunning(java.lang.Integer id)
                            throws CallError,
                                   java.lang.InterruptedException

Returns true if the method is currently running.

Parameters:

id - The ID of the method that was returned when calling the method using 'post'

Returns:

True if the method is currently running

Throws:

CallError

java.lang.InterruptedException

stop

public void stop(java.lang.Integer id)
          throws CallError,
                 java.lang.InterruptedException

returns true if the method is currently running

Parameters:

id - the ID of the method to wait for

Throws:

CallError

java.lang.InterruptedException

getBrokerName

public java.lang.String getBrokerName()
                               throws CallError,
                                      java.lang.InterruptedException

Gets the name of the parent broker.

Returns:

The name of the parent broker.

Throws:

CallError

java.lang.InterruptedException

getUsage

public java.lang.String getUsage(java.lang.String name)
                          throws CallError,
                                 java.lang.InterruptedException

Gets the method usage string. This summarises how to use the method.

Parameters:

name - The name of the method.

Returns:

A string that summarises the usage of the method.

Throws:

CallError

java.lang.InterruptedException

laserOFF

public void laserOFF()
              throws CallError,
                     java.lang.InterruptedException

Disable laser light

Throws:

CallError

java.lang.InterruptedException

laserON

public void laserON()
             throws CallError,
                    java.lang.InterruptedException

Enable laser light and sampling

Throws:

CallError

java.lang.InterruptedException

setOpeningAngle

public void setOpeningAngle(java.lang.Float angle_min_f,
                            java.lang.Float angle_max_f)
                     throws CallError,
                            java.lang.InterruptedException

Set openning angle of the laser

Parameters:

angle_min_f - float containing the min value in rad, this value must be upper than -2.35619449

angle_max_f - float containing the max value in rad, this value must be lower than 2.092349795

Throws:

CallError

java.lang.InterruptedException

setDetectingLength

public void setDetectingLength(java.lang.Integer length_min_l,
                               java.lang.Integer length_max_l)
                        throws CallError,
                               java.lang.InterruptedException

Set detection threshold of the laser

Parameters:

length_min_l - int containing the min length that the laser will detect(mm), this value must be upper than 20 mm

length_max_l - int containing the max length that the laser will detect(mm), this value must be lower than 5600 mm

Throws:

CallError

java.lang.InterruptedException