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

Fields

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>

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>

Methods

Enable(Scheduler.ClockState)

Initialize the controller.

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)

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

Trigger a measurement based on the _samplingRate.

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 independent 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)