Read all the width as reported by the laser #8
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Previously only a fixed angle was asked from the laser. We now use the maximum angle as reported by the laser.
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I don't have a laser to test with. @damonkohler does this look ok to you? |
| @@ -105,11 +105,16 @@ public void onShutdownComplete(Node node) { | |||
| "Number of scans in configuration does not match received range measurements (%d > %d).", | |||
| numberOfConfiguredRanges, scan.getRanges().length)); | |||
| float[] ranges = new float[numberOfConfiguredRanges]; | |||
| int scannedRanges = scan.getRanges().length; | |||
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Why is this change necessary? Is numberOfConfiguredRanges computed incorrectly?
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This will avoid painful debugging and unnecessary crashes in favor of a clear warning message if, for any unanticipated reason, numberOfConfigured ranges doesn't match scan.getRanges().length - as it happened to us when trying to use this code.
The reason numberOfConfiguredRanges could be different than scan.getRanges().length is because the former is calculated at configuration time (FF command) but the number of ranges on each scan can technically be different for each distance acquisition request (MD).
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In that case, just set numberOfConfiguredRanges = scan.getRanges().length.
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Hmm ... are you sure about that? In most cases both should match. A mismatch between them might indicate a higher-level logic error. I think this will end up being a useful check, it does provide additional information about what's going on to the programmer. And in most circumstances, both numbers should match anyway, particularly with the change below
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@damonkohler thanks for your review, we'll address your comments. Meanwhile, any reason why you simply closed the PR? Was that accidental? Otherwise could you clarify your intent? Are you requesting a new PR or are you simply stating you reject the contributions? |
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Whoops. Totally an accident. |
Previously only a fixed angle was asked from the laser. We now use the
maximum angle as reported by the laser.