[NodeCategory("Controller", "OusterOS0Controller", NodeTick.Synchronous, (LifeCycle)0, 0F, NodeMode.Standard, false)]
public class OusterOS0Controller : NodeRuntime

Fields

_isSamplingOffsetsChanged

Indicates when the sampling offsets change.

Declaration

protected bool _isSamplingOffsetsChanged

Field Value

Type	Description
Boolean

beams

Declaration

[Tooltip("Define the position and orientation of each cells.  (By default there is one positioned and oriented with the photo detector game object.)")]
[Field("Beams", PortDirection.Left, FieldExtra.Read | FieldExtra.ChangeEvent)]
[SerializeField]
protected PortType<OrientedPoints> beams

Field Value

Type	Description
PortType<OrientedPoints>

boundTransform

Position and orientation of the photosensor in space (scale is ignored).

Declaration

[Binding("Transform")]
[SerializeField]
protected Binding<Transform> boundTransform

Field Value

Type	Description
Binding<Transform>

frameHeight

Declaration

[Tooltip("Number of samples on the vertical axis of the frame.")]
[Field("FrameHeight", PortDirection.Right, FieldExtra.Write)]
[SerializeField]
protected PortType<uint> frameHeight

Field Value

Type	Description
PortType<UInt32>

framePeriod

Declaration

[Tooltip("Period that define a frame of data.")]
[Field("framePeriod", PortDirection.Right, FieldExtra.Write)]
[SerializeField]
protected PortType<float> framePeriod

Field Value

Type	Description
PortType<Single>

frameWidth

Declaration

[Tooltip("Number of samples on the horizontal axis of the frame.")]
[Field("FrameWidth", PortDirection.Right, FieldExtra.Write)]
[SerializeField]
protected PortType<uint> frameWidth

Field Value

Type	Description
PortType<UInt32>

samplingRate

Declaration

[Tooltip("Sensor sampling frequency (Sample per seconds)")]
[Field("Sampling rate", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<uint> samplingRate

Field Value

Type	Description
PortType<UInt32>

samplingRequest

Declaration

[Tooltip("List of orientations where to take a sample from.")]
[Field("SamplingRequest", PortDirection.Right, FieldExtra.Write)]
[SerializeField]
protected PortType<SamplingRequest> samplingRequest

Field Value

Type	Description
PortType<SamplingRequest>

scanMode

Declaration

[Tooltip("Define the frame resolution.")]
[Field("ScanMode", PortDirection.Left, FieldExtra.Read | FieldExtra.ChangeEvent)]
[SerializeField]
protected PortTypeEnum scanMode

Field Value

Type	Description
PortTypeEnum

Methods

Disable()

Disable change event on ports

Declaration

public override void Disable()

Overrides

NodeRuntime.Disable()

Enable(Scheduler.ClockState)

Initialize the controller and enable change event on beams port.

Declaration

public override void Enable(Scheduler.ClockState clockState)

Parameters

Type	Name	Description
Scheduler.ClockState	clockState	The parameters of the waveform associated to this node

Overrides

NodeRuntime.Enable(Scheduler.ClockState)

GetScanRate()

Gets the current scan frequency of the sensor.

Declaration

protected virtual double GetScanRate()

Returns

Type	Description
Double	Scan frequency in Hz.

OnBeamsChange()

Callback for when the beam channel arrangements change.

Declaration

protected void OnBeamsChange()

OnTick(Double, Double, Scheduler.ClockState, Scheduler.Signal)

OnTick event received from the scheduler for this node waveform. This is received for every rising edge of the waveform at the frequency configured in the scheduler.

Declaration

public override bool OnTick(double now, double eventTime, Scheduler.ClockState clockState, Scheduler.Signal signal)

Parameters

Type	Name	Description
Double	now	The current time in seconds of the scheduler clocksource
Double	eventTime	The current time in seconds of the scheduler waveform. This is independant from the clocksource time and aligned to every rising edge time in the waveform.
Scheduler.ClockState	clockState	The current parameters of the waveform event associated to this node
Scheduler.Signal	signal	Signals that the scheduler pass to the OnTick event receiver. These are signals that describe the action that should be done in the Node. For example, integrate this tick as multiple events.

Returns

Type	Description
Boolean	Returns true if time integration was performed

Overrides

NodeRuntime.OnTick(Double, Double, Scheduler.ClockState, Scheduler.Signal)