Set

概述

这是一个向致动器发送一个或多个命令（定时命令）的基本命令。

也可以使用一个别名而不是致动器名（见下文）。在这一情况下，在别名里的每一个致动器都可以使用相同的命令进行更新。 


          /**
          * Call this function to send a timed-command list to an actuator
          * Command send from an other module
          *
          * @param pCommands ALValue with all data
          * pCommands[0] has the actuator name (with or without the base name)
          * pCommands[1] Is the kind of update : 
          *    "Merge" : Just add new timed command.
          *    "ClearAll" : Delete all timed command before adding this one.
          *    "ClearAfter" : Delete all commands that are after the time of the 1st one on the list (the soonest)
          *    "ClearBefore" : Delete all commands that are before the time of the last one on the list (the oldest)
          * pCommands[2][x] is a list of x timed-command
          * pCommands[2][x][0] is the float command (offset and gain are then used)
          * pCommands[2][x][1] is the DCM Time for the command to be applied
          * pCommands[2][x][2] is the optional importance level. Minimum if not specified
          *
          */
          void DCM::set(ALValue& pCommands)

更新类型

共有4种更新： “ClearAll”、“Merge”、“ClearAfter”和“ClearBefore”。

这些更新告诉DCM，当针对同一致动器的定时命令已经在其内部缓冲区（由其它模块或同一模块发送）时，如何添加新命令。

  • “ClearAll”是一个很简单的类型，它删除（针对该致动器）以前的命令， 并由新命令取代。可以使用不带新命令的“clearAll”来删除所有的命令。 会保留最后发送的值。

    ClearAll

  • “Merge”也同样简单：新命令只是与以前的命令混合在一起 （如果有两个命令的时间完全相同，就需小心）：

    Merge

  • “ClearAfter”是指在第一个新命令后面的所有以前的命令都会被删除：

    ClearAfter

  • “ClearBefore”是指在最后一个新命令前面的所有以前的命令都会被删除：

    ClearBefore

Importance level （重要程度）

目前尚未应用。使用时请设定为“0”。

使用实例

Python语言：


          import naoqi
          from naoqi import ALProxy 
          
          dcm = ALProxy("DCM","127.0.0.1",9559)
          dcm.set(["ChestBoard/Led/Red/Actuator/Value", "Merge", [[1.0,dcm.getTime(10000)]] ])

C++语言


          // Program running in a module. Do not forget the #include "dcmproxy.h"
          try
          {
          DCMProxy* dcm = new DCMProxy(pBroker);
          
          ALValue commands;
          
          commands.arraySetSize(3);
          commands[0] = string("ChestBoard/Led/Red/Actuator/Value");
          commands[1] = string("Merge");
          commands[2].arraySetSize(1);
          commands[2][0].arraySetSize(2);
          commands[2][0][0] = 1.0;
          commands[2][0][1] = dcm->getTime(10000);
          
          dcm->set(commands);
          }
          AL_CATCH_ERR(return false;);

胸部红色发光二极管的新值会在10s里变为1.0。DCM会使用当前发送的值进行插值。

Python语言：


          import naoqi
          from naoqi import ALProxy 
          
          dcm = ALProxy("DCM","127.0.0.1",9559)
          dcm.set([
                "ChestBoard/Led/Red/Actuator/Value",
               "ClearAll",
                [
                    [1.0, dcm.getTime(2000) ],
                    [0.0, dcm.getTime(4000) ],
                    [1.0, dcm.getTime(6000) ],
                    [0.0, dcm.getTime(8000) ]
                ]
          ])

C++语言：


          // Program running in a module. Do not forget the #include "dcmproxy.h"
          try
          {
          DCMProxy* dcm = new DCMProxy(pBroker);
          
          ALValue commands;
          
          commands.arraySetSize(3);
          commands[0] = string("ChestBoard/Led/Red/Actuator/Value");
          commands[1] = string("ClearAll");
          commands[2].arraySetSize(4);
          commands[2][0].arraySetSize(2);
          commands[2][0][0] = 1.0;
          commands[2][0][1] = dcm->getTime(2000);
          commands[2][1].arraySetSize(2);
          commands[2][1][0] = 0.0;
          commands[2][1][1] = dcm->getTime(4000);
          commands[2][2].arraySetSize(2);
          commands[2][2][0] = 1.0;
          commands[2][2][1] = dcm->getTime(6000);
          commands[2][3].arraySetSize(2);
          commands[2][3][0] = 0.0;
          commands[2][3][1] = dcm->getTime(8000);
          
          dcm->set(commands);
          }
          AL_CATCH_ERR(return false;);

这是发送至胸部绿色发光二极管的4个命令的列表。

发光二极管的值在2s里将为1.0，在4s里为0，在6s里 重为1.0，然后在8s重又回到0。

结果是您可以看到发光二极管在80s里渐亮、渐暗两次。

注释:

这里所有的范例都使用“dcm.getTime()”来获得定时命令请求的所有时间。 这只是一个例子，还有其它更好的使用方式。 例如，您可以在启动时只完成一次“dcm.getTime()”，然后增加每毫秒整数值。 或者如果机器人上有一个模块在运行时，您也可以使用CPU时钟。

Python语言：


          import naoqi
          from naoqi import ALProxy
          
          dcm = ALProxy("DCM","127.0.0.1",9559)
          dcm.set([
                 "US/Actuator/Value",
                  "ClearAll",
                  [
                          [64.0+4.0, dcm.getTime(0)    ],
                          [32.0    , dcm.getTime(3000) ] 
                  ]
          ])

C++语言：


          // Program running in a module. Do not forget the #include "dcmproxy.h"
          try
          {
          DCMProxy* dcm = new DCMProxy(pBroker);
          
          ALValue commands;
          
          commands.arraySetSize(3);
          commands[0] = string("US/Actuator/Value");
          commands[1] = string("ClearAll");
          commands[2].arraySetSize(2);
          commands[2][0].arraySetSize(2);
          commands[2][0][0] = 68.0;
          commands[2][0][1] = dcm->getTime(0);
          commands[2][1].arraySetSize(2);
          commands[2][1][0] = 32.0;
          commands[2][1][1] = dcm->getTime(3000);
                    
          dcm->set(commands);
          }
          AL_CATCH_ERR(return false;);

这个命令会在三秒内、在左右两侧每100ms进行一次测量。 每次测量时，两侧的10个回声会保存在ALmemory中的如下位置： Device/SubDeviceList/US/Left/Sensor/Value, Device/SubDeviceList/US/Right/Sensor/Value, Device/SubDeviceList/US/Left/Sensor/Value1, Device/SubDeviceList/US/Right1/Sensor/Value1, Device/SubDeviceList/US/Left/Sensor/Value2, Device/SubDeviceList/US/Right1/Sensor/Value2……





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