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

Fields

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>

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>

isBeamsSync

Declaration

[Tooltip("Tells if all beams are emitted simultaneously or one after the other.)")]
[Field("IsBeamsSync", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<bool> isBeamsSync

Field Value

Type	Description
PortType<Boolean>

motorSpeed

Declaration

[Tooltip("Speed in rotation per minutes.)")]
[Field("MotorSpeed", PortDirection.Right, FieldExtra.Write)]
[SerializeField]
protected PortType<float> motorSpeed

Field Value

Type	Description
PortType<Single>

rotationRate

Declaration

[Tooltip("Number of turn per seconds express in Hz.)")]
[Field("RotationRate", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<float> rotationRate

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

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)

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)