bundles/examples/org.eclipse.apogy.examples.lidar/src-gen-custom/org/eclipse/apogy/examples/lidar/impl/LidarStubCustomImpl.java

/*******************************************************************************
 * Copyright (c) 2018 Agence spatiale canadienne / Canadian Space Agency 
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v1.0
 * which accompanies this distribution, and is available at
 * http://www.eclipse.org/legal/epl-v10.html
 *
 * Contributors:  
 *     Pierre Allard,
 *     Regent L'Archeveque  - initial API and implementation
 *
 * SPDX-License-Identifier: EPL-1.0
 *******************************************************************************/
package org.eclipse.apogy.examples.lidar.impl;

import org.eclipse.apogy.common.geometry.data3d.CartesianCoordinatesSet;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;

public class LidarStubCustomImpl extends LidarStubImpl {

	private static final Logger Logger = LoggerFactory.getLogger(LidarStubImpl.class);

	/**
	 * This is the degree symbol, as expressed in unicode
	 */
	private static final String DEGREE_SYM = "\u00b0";

	/*
	 * This operation is used to perform the steps necessary to initialize the
	 * Lidar unit.
	 * 
	 * @return Whether or not the Lidar's initialization was successfully
	 * completed
	 */
	@Override
	public boolean init() {
		// As this is a stub, just indicate that the Lidar
		// unit would have been initialized
		Logger.info("Just a stub - the necessary initialization for the Lidar unit would have taken place.");

		// Just return true
		return true;
	}

	/*
	 * This operation is used to acquire a depth scan of the field of view, with
	 * the given horizontal and vertical resolution. <p> Note: This method
	 * operates synchronously and will block until the entire scan has been
	 * completed.
	 * 
	 * @param horizontalResolution The horizontal angular resolution of the scan
	 * (in radians.)
	 * 
	 * @param verticalResolution The vertical angular resolution of the scan (in
	 * radians.)
	 * 
	 * @return The resulting scan with the given horizontal and vertical angular
	 * resolution.
	 * 
	 * @see #acquireScanNonBlocking(double, double)
	 */
	@Override
	public CartesianCoordinatesSet acquireScan(double horizontalResolution, double verticalResolution) {
		// As this is a stub, just indicate that the Lidar
		// unit would have synchronously taken a depth scan.
		Logger.info("acquireScan(" + Math.toDegrees(horizontalResolution) + DEGREE_SYM + ", "
				+ Math.toDegrees(verticalResolution) + DEGREE_SYM + "): Just a stub - "
				+ "the Lidar unit would have synchronously taken a depth "
				+ "scan of the Lidar's field of view at the specified resolutions.");

		// Just return null
		return null;
	}

	/*
	 * This operation is used to acquire a depth scan of the field of view, with
	 * the given horizontal and vertical resolution. <p> Note: This method
	 * operates asynchronously and as such, will return immediately, even if the
	 * scan is not yet completed.
	 * 
	 * @param horizontalResolution The horizontal angular resolution of the scan
	 * (in radians.)
	 * 
	 * @param verticalResolution The vertical angular resolution of the scan (in
	 * radians.)
	 * 
	 * @return The resulting scan with the given horizontal and vertical angular
	 * resolution.
	 * 
	 * @see #acquireScan(double, double)
	 */
	@Override
	public CartesianCoordinatesSet acquireScanNonBlocking(double horizontalResolution, double verticalResolution) {
		// As this is a stub, just indicate that the Lidar
		// unit would have synchronously taken a depth scan.
		Logger.info("acquireScanNonBlocking(" + Math.toDegrees(horizontalResolution) + DEGREE_SYM + ", "
				+ Math.toDegrees(verticalResolution) + DEGREE_SYM + "): Just a stub - "
				+ "the Lidar unit would have asynchronously taken a depth "
				+ "scan of the Lidar's field of view at the specified resolutions.");

		// Just return null
		return null;
	}
} // LidarStubImpl