Aria  2.8.0
ArRobotConfigPacketReader Class Reference

This class will read a config packet from the robot. More...

#include <ArRobotConfigPacketReader.h>

Public Member Functions

 ArRobotConfigPacketReader (ArRobot *robot, bool onlyOneRequest=false, ArFunctor *packetedArrivedCB=NULL)
 Constructor. More...
 
std::string buildString (void) const
 Builds a string of the info. More...
 
std::string buildStringMovement (void) const
 Builds a string of the movement info. More...
 
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.
 
unsigned char getBatteryType (void) const
 Gets the battery type.
 
int getDriftFactor (void) const
 Returns the DriftFactor value (see the manual)
 
const char * getFirmwareVersion (void) const
 Gets the firmware version.
 
int getFrontBumps (void) const
 Returns the number of front bumpers.
 
bool getFrontSonar (void) const
 Gets whether or not the robot has front sonar.
 
int getGyroCCW (void) const
 Gets the gyro CCW value.
 
int getGyroCW (void) const
 Gets the gyro CW value.
 
int getGyroRateLimit (void) const
 Gets the port the PDB is on.
 
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.
 
char getHighTemperatureShutdown (void) const
 Gets the high temperature threshold.
 
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 getKinematicsDelay (void) const
 Gets the kinematics delay.
 
int getLatAccel (void) const
 Returns the lateral acceleration.
 
int getLatAccelTop (void) const
 Gets the absolute maximum lateral acceleration in mm/sec/sec (cannot be set above this in firmware or through software)
 
int getLatDecel (void) const
 Returns the lateral deceleration.
 
int getLatVelMax (void) const
 Returns the current maximum lateral velocity (mm/sec) (can be set)
 
int getLatVelTop (void) const
 Gets the absolute maximum lateral velocity in mm/sec (cannot be set above this in firmware or through software)
 
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.
 
unsigned char getPDBPort (void) const
 Gets the port the PDB is on.
 
int getPowerBits (void) const
 Gets the power bits.
 
int getPowerbotChargeThreshold (void) const
 Gets the powerbot charge threshold.
 
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.
 
const ArRobotPacketgetRobotPacket (void) const
 Gets a pointer to the packet that we built the config packet from.
 
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)
 
int getStateOfChargeLow (void) const
 Gets the warning state of charge.
 
int getStateOfChargeShutdown (void) const
 Gets the shutdown state of charge.
 
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 translational 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.
 
void logMovement (void) const
 Log the movement part of the config 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
 
unsigned char myBatteryType
 
ArFunctorC< ArRobotConfigPacketReadermyConnectedCB
 
int myDriftFactor
 
std::string myFirmwareVersion
 
int myFrontBumps
 
bool myFrontSonar
 
int myGyroCCW
 
int myGyroCW
 
int myGyroRateLimit
 
int myGyroType
 
int myHasCharger
 
bool myHasGripper
 
bool myHasGyro
 
char myHighTemperatureShutdown
 
int myHostBaud
 
int myJoyRotVel
 
int myJoyVel
 
int myKinematicsDelay
 
ArTime myLastPacketRequest
 
int myLatAccel
 
int myLatAccelTop
 
int myLatDecel
 
int myLatVelMax
 
int myLatVelTop
 
int myLowBattery
 
std::string myName
 
bool myNormalMPacs
 
bool myOnlyOneRequest
 
ArRobotPacket myPacket
 
bool myPacketArrived
 
ArFunctormyPacketArrivedCB
 
ArRetFunctor1C< bool, ArRobotConfigPacketReader, ArRobotPacket * > myPacketHandlerCB
 
bool myPacketRequested
 
unsigned char myPDBPort
 
int myPowerBits
 
int myPowerbotChargeThreshold
 
int myPwmMax
 
int myRearBumps
 
bool myRearSonar
 
bool myResetBaud
 
int myRevCount
 
ArRobotmyRobot
 
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
 
int myStateOfChargeLow
 
int myStateOfChargeShutdown
 
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
 

Detailed Description

This class will read a config packet from the robot.

Constructor & Destructor Documentation

◆ ArRobotConfigPacketReader()

ArRobotConfigPacketReader::ArRobotConfigPacketReader ( ArRobot robot,
bool  onlyOneRequest = false,
ArFunctor packetArrivedCB = NULL 
)

Constructor.

Parameters
robotis the robot to connect this to
onlyOneRequestif 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)
packetArrivedCBa functor to call when the packet comes in, note the robot is locked during this callback

Member Function Documentation

◆ buildString()

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.

◆ buildStringMovement()

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

Builds a string of the movement 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.


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