294 lines
12 KiB
C
294 lines
12 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 ARROBOTCONFIGPACKETREADER_H
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#define ARROBOTCONFIGPACKETREADER_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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#include "ArRobotPacket.h"
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class ArRobot;
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/// This class will read a config packet from the robot
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class ArRobotConfigPacketReader
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{
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public:
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/// Constructor
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AREXPORT ArRobotConfigPacketReader(ArRobot *robot,
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bool onlyOneRequest = false,
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ArFunctor *packetedArrivedCB = NULL);
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/// Destructor
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AREXPORT ~ArRobotConfigPacketReader();
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/// Request a packet.. true if we could, false if onlyOneRequest already done
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AREXPORT bool requestPacket(void);
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/// See if we've requested a packet yet
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bool hasPacketBeenRequested(void) const { return myPacketRequested; }
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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 a pointer to the packet that we built the config packet from
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const ArRobotPacket *getRobotPacket(void) const { return &myPacket; }
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/// Log the config
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AREXPORT void log(void) const;
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/// Log the movement part of the config config
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AREXPORT void logMovement(void) const;
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/// Builds a string of the info
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AREXPORT std::string buildString(void) const;
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/// Builds a string of the movement info
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AREXPORT std::string buildStringMovement(void) const;
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/// Gets the type of robot
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const char *getType(void) const { return myType.c_str(); }
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/// Gets the subtype of robot
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const char *getSubType(void) const { return mySubType.c_str(); }
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/// Gets the serial number of the robot
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const char *getSerialNumber(void) const { return mySerialNumber.c_str(); }
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/// Gets the absolute maximum rotational velocity in deg/sec (cannot be set above this in firmware or through software)
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int getRotVelTop(void) const { return myRotVelTop; }
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/// Gets the absolute maximum translational velocity in mm/sec (cannot be set above this in firmware or through software)
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int getTransVelTop(void) const { return myTransVelTop; }
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/// Gets the absolute maximum rotational acceleration in deg/sec/sec (cannot be set above this in firmware or through software)
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int getRotAccelTop(void) const { return myRotAccelTop; }
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/// Gets the absolute maximum translational acceleration in mm/sec/sec (cannot be set above this in firmware or through software)
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int getTransAccelTop(void) const { return myTransAccelTop; }
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/// Gets the maximum PWM the robot will have (stallval cannot be above this)
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int getPwmMax(void) const { return myPwmMax; }
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/// Gets the name of the robot
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const char *getName(void) const { return myName.c_str(); }
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/// Gets the cycle time in ms of the motor packets
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int getSipCycleTime(void) const { return mySipCycleTime; }
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/// Gets the host baud number, look at the manual for what these mean
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int getHostBaud(void) const { return myHostBaud; }
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/// Gets the host baud number, look at the manual for what these mean
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int getAux1Baud(void) const { return myAux1Baud; }
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/// Gets the gripper value (whether or not the robot has a gripper)
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bool getHasGripper(void) const { return myHasGripper; }
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/// Gets whether or not the robot has front sonar
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bool getFrontSonar(void) const { return myFrontSonar; }
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/// Gets whether or not the robot has rear sonar
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bool getRearSonar(void) const { return myRearSonar; }
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/// Gets the low battery beeping indicating voltage times 10
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int getLowBattery(void) const { return myLowBattery; }
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/// Gets the revcount
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int getRevCount(void) const { return myRevCount; }
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/// Gets the watchdog (how many ms after command robot stops)
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int getWatchdog(void) const { return myWatchdog; }
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/// Returns if the robot is using normal packets or new style packets
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bool getNormalMPacs(void) const { return myNormalMPacs; }
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/// Returns the stallval (pwms at which robot stalls)
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int getStallVal(void) const { return myStallVal; }
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/// Returns the stallcount (how many 10ms increments robot stops after stall)
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int getStallCount(void) const { return myStallCount; }
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/// Returns the joystick translational velocity
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int getJoyVel(void) const { return myJoyVel; }
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/// Returns the joystick rotational velocity
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int getJoyRotVel(void) const { return myJoyRotVel; }
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/// Returns the current maximum rotational velocity (deg/sec) (can be set)
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int getRotVelMax(void) const { return myRotVelMax; }
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/// Returns the current maximum translational velocity (mm/sec) (can be set)
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int getTransVelMax(void) const { return myTransVelMax; }
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/// Returns the rotational acceleration
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int getRotAccel(void) const { return myRotAccel; }
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/// Returns the rotational deceleration
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int getRotDecel(void) const { return myRotDecel; }
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/// Returns the rotational KP value (look at the manual)
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int getRotKP(void) const { return myRotKP; }
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/// Returns the rotational KV value (look at the manual)
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int getRotKV(void) const { return myRotKV; }
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/// Returns the rotational KI value (look at the manual)
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int getRotKI(void) const { return myRotKI; }
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/// Returns the translational acceleration
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int getTransAccel(void) const { return myTransAccel; }
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/// Returns the translational deceleration
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int getTransDecel(void) const { return myTransDecel; }
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/// Returns the translational KP value (look at the manual)
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int getTransKP(void) const { return myTransKP; }
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/// Returns the translational KV value (look at the manual)
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int getTransKV(void) const { return myTransKV; }
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/// Returns the translational KI value (look at the manual)
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int getTransKI(void) const { return myTransKI; }
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/// Returns the number of front bumpers
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int getFrontBumps(void) const { return myFrontBumps; }
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/// Returns the number of rear bumpers
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int getRearBumps(void) const { return myRearBumps; }
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/// Returns whether the robot has a charger
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int getHasCharger(void) const { return myHasCharger; }
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/// Returns the number of ms the sonar cycle is (default is 40)
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int getSonarCycle(void) const { return mySonarCycle; }
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/// Returns the baud rate
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bool getResetBaud(void) const { return myResetBaud; }
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/// Returns if the robot has a gyro or not
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bool getHasGyro(void) const { return myHasGyro; }
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/// Returns if the robot has a gyro or not
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int getGyroType(void) const { return myGyroType; }
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/// Returns the DriftFactor value (see the manual)
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int getDriftFactor(void) const { return myDriftFactor; }
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/// Returns the Aux2 baud number, look at the manual for what these mean
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int getAux2Baud(void) const { return myAux2Baud; }
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/// Returns the Aux3 baud number, look at the manual for what these mean
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int getAux3Baud(void) const { return myAux3Baud; }
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/// Returns the Ticks/MM for the robot
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int getTicksMM(void) const { return myTicksMM; }
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/// Returns the voltage (x10) that the robot will shut down the computer at
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int getShutdownVoltage(void) const { return myShutdownVoltage; }
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/// Gets the firmware version
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const char *getFirmwareVersion(void) const
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{ return myFirmwareVersion.c_str(); }
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/// Gets the gyro CW value
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int getGyroCW(void) const { return myGyroCW; }
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/// Gets the gyro CCW value
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int getGyroCCW(void) const { return myGyroCCW; }
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/// Gets the kinematics delay
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int getKinematicsDelay(void) const { return myKinematicsDelay; }
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/// Gets the absolute maximum lateral velocity in mm/sec (cannot be set above this in firmware or through software)
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int getLatVelTop(void) const { return myLatVelTop; }
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/// Gets the absolute maximum lateral acceleration in mm/sec/sec (cannot be set above this in firmware or through software)
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int getLatAccelTop(void) const { return myLatAccelTop; }
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/// Returns the current maximum lateral velocity (mm/sec) (can be set)
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int getLatVelMax(void) const { return myLatVelMax; }
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/// Returns the lateral acceleration
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int getLatAccel(void) const { return myLatAccel; }
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/// Returns the lateral deceleration
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int getLatDecel(void) const { return myLatDecel; }
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/// Gets the powerbot charge threshold
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int getPowerbotChargeThreshold(void) const
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{ return myPowerbotChargeThreshold; }
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/// Gets the port the PDB is on
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unsigned char getPDBPort(void) const
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{ return myPDBPort; }
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/// Gets the port the PDB is on
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int getGyroRateLimit(void) const
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{ return myGyroRateLimit; }
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/// Gets the high temperature threshold
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char getHighTemperatureShutdown(void) const
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{ return myHighTemperatureShutdown; }
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/// Gets the power bits
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int getPowerBits(void) const
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{ return myPowerBits; }
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/// Gets the battery type
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unsigned char getBatteryType(void) const
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{ return myBatteryType; }
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/// Gets the warning state of charge
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int getStateOfChargeLow(void) const
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{ return myStateOfChargeLow; }
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/// Gets the shutdown state of charge
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int getStateOfChargeShutdown(void) const
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{ return myStateOfChargeShutdown; }
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/// internal, packet handler
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AREXPORT bool packetHandler(ArRobotPacket *packet);
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/// internal, connection callback
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AREXPORT void connected(void);
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protected:
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// the different parameters from the robot
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std::string myType;
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std::string mySubType;
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std::string mySerialNumber;
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int myRotVelTop;
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int myTransVelTop;
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int myRotAccelTop;
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int myTransAccelTop;
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int myPwmMax;
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std::string myName;
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int mySipCycleTime;
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int myHostBaud;
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int myAux1Baud;
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bool myHasGripper;
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bool myFrontSonar;
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bool myRearSonar;
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int myLowBattery;
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int myRevCount;
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int myWatchdog;
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bool myNormalMPacs;
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int myStallVal;
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int myStallCount;
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int myJoyVel;
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int myJoyRotVel;
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int myRotVelMax;
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int myTransVelMax;
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int myRotAccel;
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int myRotDecel;
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int myRotKP;
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int myRotKV;
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int myRotKI;
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int myTransAccel;
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int myTransDecel;
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int myTransKP;
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int myTransKV;
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int myTransKI;
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int myFrontBumps;
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int myRearBumps;
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int myHasCharger;
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int mySonarCycle;
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bool myResetBaud;
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bool myHasGyro;
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int myGyroType;
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int myDriftFactor;
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int myAux2Baud;
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int myAux3Baud;
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int myTicksMM;
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int myShutdownVoltage;
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std::string myFirmwareVersion;
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int myGyroCW;
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int myGyroCCW;
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int myKinematicsDelay;
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int myLatVelTop;
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int myLatAccelTop;
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int myLatVelMax;
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int myLatAccel;
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int myLatDecel;
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int myPowerbotChargeThreshold;
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unsigned char myPDBPort;
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int myGyroRateLimit;
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char myHighTemperatureShutdown;
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int myPowerBits;
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unsigned char myBatteryType;
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int myStateOfChargeLow;
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int myStateOfChargeShutdown;
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// the robot
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ArRobot *myRobot;
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// whether only one request can be done or not
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bool myOnlyOneRequest;
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// whether a request has been made or not
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bool myPacketRequested;
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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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// a copy of the packet
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ArRobotPacket myPacket;
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// the callback
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ArRetFunctor1C<bool, ArRobotConfigPacketReader, ArRobotPacket *> myPacketHandlerCB;
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// callback for connectiosn in case we need to request a config packet
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ArFunctorC<ArRobotConfigPacketReader> myConnectedCB;
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// callback for when we get a packet
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ArFunctor *myPacketArrivedCB;
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};
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#endif // ARROBOTCONFIGPACKETREADER_H
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