101 lines
3.5 KiB
C
101 lines
3.5 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARROBOTBATTERYPACKETREADER_H
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#define ARROBOTBATTERYPACKETREADER_H
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#include "ariaTypedefs.h"
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#include "ariaUtil.h"
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#include "ArFunctor.h"
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class ArRobot;
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class ArRobotPacket;
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/// This class will read a config packet from the robot
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class ArRobotBatteryPacketReader
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{
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public:
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/// Constructor
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AREXPORT ArRobotBatteryPacketReader(ArRobot *robot);
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/// Destructor
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AREXPORT ~ArRobotBatteryPacketReader();
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/// Request a single packet..
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AREXPORT void requestSinglePacket(void);
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/// Request a continous stream of packets
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AREXPORT void requestContinuousPackets(void);
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/// Stop the stream of packets
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AREXPORT void stopPackets(void);
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/// See if we've requested packets
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AREXPORT bool haveRequestedPackets(void);
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/// See if we've gotten the data
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bool hasPacketArrived(void) const { return myPacketArrived; }
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/// Gets the number of batteries
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int getNumBatteries(void) const { return myNumBatteries; }
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/// Gets the number of bytes per battery
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int getNumBytesPerBattery(void) const { return myNumBytesPerBattery; }
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/// Gets the flags1 for a particular battery
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int getFlags1(int battery) { return myFlags1[battery]; }
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/// Gets the flags2 for a particular battery
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int getFlags2(int battery) { return myFlags2[battery]; }
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/// Gets the flags3 for a particular battery
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int getFlags3(int battery) { return myFlags3[battery]; }
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/// Gets the relative state of charge for a particular battery
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int getRelSOC(int battery) { return myRelSOC[battery]; }
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/// Gets the absolute state of charge for a particular battery
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int getAbsSOC(int battery) { return myAbsSOC[battery]; }
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protected:
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/// internal, packet handler
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AREXPORT bool packetHandler(ArRobotPacket *packet);
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/// internal, packet handler
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AREXPORT void connectCallback(void);
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// the robot
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ArRobot *myRobot;
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int myNumBatteries;
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int myNumBytesPerBattery;
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std::map<int, int> myFlags1;
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std::map<int, int> myFlags2;
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std::map<int, int> myFlags3;
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std::map<int, int> myRelSOC;
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std::map<int, int> myAbsSOC;
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// whether our data has been received or not
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bool myPacketArrived;
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// last time we requested a packet (we'll only ask every 200 ms)
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ArTime myLastPacketRequest;
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bool myRequestedBatteryPackets;
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// the callback
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ArRetFunctor1C<bool, ArRobotBatteryPacketReader, ArRobotPacket *> myPacketHandlerCB;
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ArFunctorC<ArRobotBatteryPacketReader> myConnectCB;
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};
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#endif // ARROBOTBATTERYPACKETREADER_H
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