Package trclib.sensor

Interface TrcTrigger

All Known Implementing Classes:
TrcTriggerDigitalInput, TrcTriggerThresholdRange, TrcTriggerThresholdZones
public interface TrcTrigger
This interface specifies a collection of methods to implement an asynchronous trigger. For example, a trigger can be generated by a digital sensor, an analog sensor or any value source. For a digital sensor, a trigger is generated when it changes from an inactive state to an active state or vise versa. For an analog sensor, a trigger is generated when the sensor value crosses a given set of thresholds. This class is intended to be implemented by different sensor trigger classes.

  • Method Details

    • enableTrigger

      void enableTrigger(TrcTrigger.TriggerMode triggerMode, TrcEvent event)
      This method arms the digital trigger. It enables the task that monitors the sensor state changes.
      Parameters:
      triggerMode - specifies the trigger mode that will signal the event.
      event - specifies the event to signal when the trigger state changed.

    • enableTrigger

      void enableTrigger(TrcTrigger.TriggerMode triggerMode, TrcEvent.Callback callback)
      This method arms the digital trigger. It enables the task that monitors the sensor state changes.
      Parameters:
      triggerMode - specifies the trigger mode that will trigger a callback.
      callback - specifies the callback handler to notify when the trigger state changed.

    • disableTrigger

      void disableTrigger()
      This method disarms the trigger. It disables the task that monitors the sensor value.

    • isEnabled

      boolean isEnabled()
      This method checks if the trigger task is enabled.
      Returns:
      true if enabled, false otherwise.

    • getSensorValue

      double getSensorValue()
      This method reads the current analog sensor value. For digital sensor trigger, it will throw a RuntimeException.
      Returns:
      current sensor value.

    • getSensorState

      boolean getSensorState()
      This method reads the current digital sensor state. For analog sensor trigger, it will throw a RuntimeException.
      Returns:
      current sensor state.