ArRobotConfigPacketReader Class Reference

#include <ArRobotConfigPacketReader.h>

Detailed Description

This class will read a config packet from the robot.

Definition at line 37 of file ArRobotConfigPacketReader.h.

Public Member Functions

ArRobotConfigPacketReader (ArRobot *robot, bool onlyOneRequest=false, ArFunctor *packetedArrivedCB=NULL)

Constructor.

std::string buildString (void) const

Builds a string of the info.

void connected (void)

internal, connection callback

int getAux1Baud (void) const

Gets the host baud number, look at the manual for what these mean.

int getAux2Baud (void) const

Returns the Aux2 baud number, look at the manual for what these mean.

int getAux3Baud (void) const

Returns the Aux3 baud number, look at the manual for what these mean.

int getDriftFactor (void) const

Returns the DriftFactor value (see the manual).

int getFrontBumps (void) const

Returns the number of front bumpers.

bool getFrontSonar (void) const

Gets whether or not the robot has front sonar.

int getGyroType (void) const

Returns if the robot has a gyro or not.

int getHasCharger (void) const

Returns whether the robot has a charger.

bool getHasGripper (void) const

Gets the gripper value (whether or not the robot has a gripper).

bool getHasGyro (void) const

Returns if the robot has a gyro or not.

int getHostBaud (void) const

Gets the host baud number, look at the manual for what these mean.

int getJoyRotVel (void) const

Returns the joystick rotational velocity.

int getJoyVel (void) const

Returns the joystick translational velocity.

int getLowBattery (void) const

Gets the low battery beeping indicating voltage times 10.

const char * getName (void) const

Gets the name of the robot.

bool getNormalMPacs (void) const

Returns if the robot is using normal packets or new style packets.

int getPwmMax (void) const

Gets the maximum PWM the robot will have (stallval cannot be above this).

int getRearBumps (void) const

Returns the number of rear bumpers.

bool getRearSonar (void) const

Gets whether or not the robot has rear sonar.

bool getResetBaud (void) const

Returns the baud rate.

int getRevCount (void) const

Gets the revcount.

int getRotAccel (void) const

Returns the rotational acceleration.

int getRotAccelTop (void) const

Gets the absolute maximum rotational acceleration in deg/sec/sec (cannot be set above this in firmware or through software).

int getRotDecel (void) const

Returns the rotational deceleration.

int getRotKI (void) const

Returns the rotational KI value (look at the manual).

int getRotKP (void) const

Returns the rotational KP value (look at the manual).

int getRotKV (void) const

Returns the rotational KV value (look at the manual).

int getRotVelMax (void) const

Returns the current maximum rotational velocity (deg/sec) (can be set).

int getRotVelTop (void) const

Gets the absolute maximum rotational velocity in deg/sec (cannot be set above this in firmware or through software).

const char * getSerialNumber (void) const

Gets the serial number of the robot.

int getShutdownVoltage (void) const

Returns the voltage (x10) that the robot will shut down the computer at.

int getSipCycleTime (void) const

Gets the cycle time in ms of the motor packets.

int getSonarCycle (void) const

Returns the number of ms the sonar cycle is (default is 40).

int getStallCount (void) const

Returns the stallcount (how many 10ms increments robot stops after stall).

int getStallVal (void) const

Returns the stallval (pwms at which robot stalls).

const char * getSubType (void) const

Gets the subtype of robot.

int getTicksMM (void) const

Returns the Ticks/MM for the robot.

int getTransAccel (void) const

Returns the translational acceleration.

int getTransAccelTop (void) const

Gets the absolute maximum translational acceleration in mm/sec/sec (cannot be set above this in firmware or through software).

int getTransDecel (void) const

Returns the rotational deceleration.

int getTransKI (void) const

Returns the translational KI value (look at the manual).

int getTransKP (void) const

Returns the translational KP value (look at the manual).

int getTransKV (void) const

Returns the translational KV value (look at the manual).

int getTransVelMax (void) const

Returns the current maximum translational velocity (mm/sec) (can be set).

int getTransVelTop (void) const

Gets the absolute maximum translational velocity in mm/sec (cannot be set above this in firmware or through software).

const char * getType (void) const

Gets the type of robot.

int getWatchdog (void) const

Gets the watchdog (how many ms after command robot stops).

bool hasPacketArrived (void) const

See if we've gotten the data.

bool hasPacketBeenRequested (void) const

See if we've requested a packet yet.

void log (void) const

Log the config.

bool packetHandler (ArRobotPacket *packet)

internal, packet handler

bool requestPacket (void)

Request a packet.. true if we could, false if onlyOneRequest already done.

~ArRobotConfigPacketReader ()

Destructor.

Protected Attributes

int myAux1Baud

int myAux2Baud

int myAux3Baud

ArFunctorC< ArRobotConfigPacketReader > myConnectedCB

int myDriftFactor

int myFrontBumps

bool myFrontSonar

int myGyroType

int myHasCharger

bool myHasGripper

bool myHasGyro

int myHostBaud

int myJoyRotVel

int myJoyVel

ArTime myLastPacketRequest

int myLowBattery

std::string myName

bool myNormalMPacs

bool myOnlyOneRequest

bool myPacketArrived

ArFunctor * myPacketArrivedCB

ArRetFunctor1C< bool, ArRobotConfigPacketReader,
ArRobotPacket * > myPacketHandlerCB

bool myPacketRequested

int myPwmMax

int myRearBumps

bool myRearSonar

bool myResetBaud

int myRevCount

ArRobot * myRobot

int myRotAccel

int myRotAccelTop

int myRotDecel

int myRotKI

int myRotKP

int myRotKV

int myRotVelMax

int myRotVelTop

std::string mySerialNumber

int myShutdownVoltage

int mySipCycleTime

int mySonarCycle

int myStallCount

int myStallVal

std::string mySubType

int myTicksMM

int myTransAccel

int myTransAccelTop

int myTransDecel

int myTransKI

int myTransKP

int myTransKV

int myTransVelMax

int myTransVelTop

std::string myType

int myWatchdog

Constructor & Destructor Documentation

ArRobotConfigPacketReader::ArRobotConfigPacketReader ( ArRobot * robot,

bool onlyOneRequest = false,

ArFunctor * packetArrivedCB = NULL

)

Constructor.

Parameters:

robot is the robot to connect this to

onlyOneRequest if this is true then only one request for a packet will ever be honored (so that you can save the settings from one point in time)

packetArrivedCB a functor to call when the packet comes in, note the robot is locked during this callback

Definition at line 43 of file ArRobotConfigPacketReader.cpp.

Member Function Documentation

std::string ArRobotConfigPacketReader::buildString ( void ) const

Builds a string of the info.
Like most memory stuff this won't work across DLL's in windows, it should work fine in linux or with static library files in windows.
Definition at line 180 of file ArRobotConfigPacketReader.cpp.

The documentation for this class was generated from the following files:

Generated on Tue Feb 20 10:51:45 2007 for Aria by

1.4.0


Public Member Functions
	ArRobotConfigPacketReader (ArRobot robot, bool onlyOneRequest=false, ArFunctor packetedArrivedCB=NULL)
	Constructor.
std::string	buildString (void) const
	Builds a string of the info.
void	connected (void)
	internal, connection callback
int	getAux1Baud (void) const
	Gets the host baud number, look at the manual for what these mean.
int	getAux2Baud (void) const
	Returns the Aux2 baud number, look at the manual for what these mean.
int	getAux3Baud (void) const
	Returns the Aux3 baud number, look at the manual for what these mean.
int	getDriftFactor (void) const
	Returns the DriftFactor value (see the manual).
int	getFrontBumps (void) const
	Returns the number of front bumpers.
bool	getFrontSonar (void) const
	Gets whether or not the robot has front sonar.
int	getGyroType (void) const
	Returns if the robot has a gyro or not.
int	getHasCharger (void) const
	Returns whether the robot has a charger.
bool	getHasGripper (void) const
	Gets the gripper value (whether or not the robot has a gripper).
bool	getHasGyro (void) const
	Returns if the robot has a gyro or not.
int	getHostBaud (void) const
	Gets the host baud number, look at the manual for what these mean.
int	getJoyRotVel (void) const
	Returns the joystick rotational velocity.
int	getJoyVel (void) const
	Returns the joystick translational velocity.
int	getLowBattery (void) const
	Gets the low battery beeping indicating voltage times 10.
const char *	getName (void) const
	Gets the name of the robot.
bool	getNormalMPacs (void) const
	Returns if the robot is using normal packets or new style packets.
int	getPwmMax (void) const
	Gets the maximum PWM the robot will have (stallval cannot be above this).
int	getRearBumps (void) const
	Returns the number of rear bumpers.
bool	getRearSonar (void) const
	Gets whether or not the robot has rear sonar.
bool	getResetBaud (void) const
	Returns the baud rate.
int	getRevCount (void) const
	Gets the revcount.
int	getRotAccel (void) const
	Returns the rotational acceleration.
int	getRotAccelTop (void) const
	Gets the absolute maximum rotational acceleration in deg/sec/sec (cannot be set above this in firmware or through software).
int	getRotDecel (void) const
	Returns the rotational deceleration.
int	getRotKI (void) const
	Returns the rotational KI value (look at the manual).
int	getRotKP (void) const
	Returns the rotational KP value (look at the manual).
int	getRotKV (void) const
	Returns the rotational KV value (look at the manual).
int	getRotVelMax (void) const
	Returns the current maximum rotational velocity (deg/sec) (can be set).
int	getRotVelTop (void) const
	Gets the absolute maximum rotational velocity in deg/sec (cannot be set above this in firmware or through software).
const char *	getSerialNumber (void) const
	Gets the serial number of the robot.
int	getShutdownVoltage (void) const
	Returns the voltage (x10) that the robot will shut down the computer at.
int	getSipCycleTime (void) const
	Gets the cycle time in ms of the motor packets.
int	getSonarCycle (void) const
	Returns the number of ms the sonar cycle is (default is 40).
int	getStallCount (void) const
	Returns the stallcount (how many 10ms increments robot stops after stall).
int	getStallVal (void) const
	Returns the stallval (pwms at which robot stalls).
const char *	getSubType (void) const
	Gets the subtype of robot.
int	getTicksMM (void) const
	Returns the Ticks/MM for the robot.
int	getTransAccel (void) const
	Returns the translational acceleration.
int	getTransAccelTop (void) const
	Gets the absolute maximum translational acceleration in mm/sec/sec (cannot be set above this in firmware or through software).
int	getTransDecel (void) const
	Returns the rotational deceleration.
int	getTransKI (void) const
	Returns the translational KI value (look at the manual).
int	getTransKP (void) const
	Returns the translational KP value (look at the manual).
int	getTransKV (void) const
	Returns the translational KV value (look at the manual).
int	getTransVelMax (void) const
	Returns the current maximum translational velocity (mm/sec) (can be set).
int	getTransVelTop (void) const
	Gets the absolute maximum translational velocity in mm/sec (cannot be set above this in firmware or through software).
const char *	getType (void) const
	Gets the type of robot.
int	getWatchdog (void) const
	Gets the watchdog (how many ms after command robot stops).
bool	hasPacketArrived (void) const
	See if we've gotten the data.
bool	hasPacketBeenRequested (void) const
	See if we've requested a packet yet.
void	log (void) const
	Log the config.
bool	packetHandler (ArRobotPacket *packet)
	internal, packet handler
bool	requestPacket (void)
	Request a packet.. true if we could, false if onlyOneRequest already done.
	~ArRobotConfigPacketReader ()
	Destructor.
Protected Attributes
int	myAux1Baud
int	myAux2Baud
int	myAux3Baud
ArFunctorC< ArRobotConfigPacketReader >	myConnectedCB
int	myDriftFactor
int	myFrontBumps
bool	myFrontSonar
int	myGyroType
int	myHasCharger
bool	myHasGripper
bool	myHasGyro
int	myHostBaud
int	myJoyRotVel
int	myJoyVel
ArTime	myLastPacketRequest
int	myLowBattery
std::string	myName
bool	myNormalMPacs
bool	myOnlyOneRequest
bool	myPacketArrived
ArFunctor *	myPacketArrivedCB
ArRetFunctor1C< bool, ArRobotConfigPacketReader, ArRobotPacket * >	myPacketHandlerCB
bool	myPacketRequested
int	myPwmMax
int	myRearBumps
bool	myRearSonar
bool	myResetBaud
int	myRevCount
ArRobot *	myRobot
int	myRotAccel
int	myRotAccelTop
int	myRotDecel
int	myRotKI
int	myRotKP
int	myRotKV
int	myRotVelMax
int	myRotVelTop
std::string	mySerialNumber
int	myShutdownVoltage
int	mySipCycleTime
int	mySonarCycle
int	myStallCount
int	myStallVal
std::string	mySubType
int	myTicksMM
int	myTransAccel
int	myTransAccelTop
int	myTransDecel
int	myTransKI
int	myTransKP
int	myTransKV
int	myTransVelMax
int	myTransVelTop
std::string	myType
int	myWatchdog