C++ class implementation of the ardusim protocol. More...

#include <inc/Ardusim.h>

Classes
struct	AnemometerCalibData
struct	TopDistances
Public Member Functions
	Ardusim (std::string port_name)
	Constructor.
int	checkVersion (int timeout)
	Check version.
bool	getAnemometer (std::vector< lse_sensor_msgs::Anemometer > *anemometer)
bool	getNose (std::vector< lse_sensor_msgs::Nostril > *nose)
bool	getRange (std::vector< lse_sensor_msgs::Range > *range)
void	getRequests (std::list< int > *requests)
	Get requests.
bool	getSensorData (int timeout)
	Read sensor data from the arduino.
bool	getThermistor (std::vector< lse_sensor_msgs::Thermistor > *thermistor)
bool	getTPA (std::vector< lse_sensor_msgs::TPA > *tpa)
bool	loadAnemometerCalibFile (std::string *file_path)
	Get value.
bool	sensorDiscovery (int timeout)
	Scan i2c sensors.
bool	setAutoRequests (int timeout)
	Ask for connected sensors.
void	setRequests (int *requests, int num_of_requests)
	Set requests.
	~Ardusim ()
	Destructor.
Private Member Functions
void	addValue (std::string *data, int value)
	Add value.
bool	autoRequests (int timeout, char mode)
	Auto request sensors from the arduino.
int	getValue (std::string *data)
	Get value.
void	parseAnemometer (std::string *data)
	Anemometer data parser.
bool	parseData (std::string *data)
	Parse data.
void	parseNose (std::string *data)
	Nose data parser.
void	parseRange (std::string *data)
	Range data parser.
void	parseTPA (std::string *data)
	TPA data parser.
bool	sendCommand (int timeout, char mode, std::string *reply)
	Send command.
Private Attributes
std::vector < lse_sensor_msgs::Anemometer >	anemometer_msgs_
	Vector of anemometer messages.
std::vector< AnemometerCalibData >	calib_data_
std::vector < lse_sensor_msgs::Nostril >	nose_msgs_
	Vector of nose messages.
ros::Time	now_
	Current time.
std::vector < lse_sensor_msgs::Range >	range_msgs_
	Vector of range messages.
std::list< int >	requests_
	List of requests.
cereal::CerealPort *	serial_port_
std::vector < lse_sensor_msgs::Thermistor >	thermistor_msgs_
	Vector of thermistor messages.
std::vector< lse_sensor_msgs::TPA >	tpa_msgs_
	Vector of tpa messages.

Detailed Description

C++ class implementation of the ardusim protocol.

This class implements the ardusim protocol (arduino sensor interface module). This allows for easy ROS publishing of LSE common sensor data.

Definition at line 80 of file Ardusim.h.

Constructor & Destructor Documentation

ardusim::Ardusim::Ardusim ( std::string port_name )

Constructor.

Parameters:

port_name Name of the serial port to open.

Definition at line 49 of file Ardusim.cpp.

ardusim::Ardusim::~Ardusim ( )

Destructor.

Definition at line 80 of file Ardusim.cpp.

Member Function Documentation

void ardusim::Ardusim::addValue	(	std::string *	data,
		int	value
	)		`[private]`

Add value.

Parsing helper function. Adds an int value to a std::string.

Parameters:

data	String.
value	Int value to be added.

See also:: getValue()

Definition at line 318 of file Ardusim.cpp.

bool ardusim::Ardusim::autoRequests	(	int	timeout,
		char	mode
	)		`[private]`

Auto request sensors from the arduino.

Ask the arduino which sensors are connected to it. This can be user-defined or product of a i2c scan.

Parameters:

timeout	Timeout in milliseconds.
mode	Ardusim mode.

See also:: sensorDiscovery(); setAutoRequests()

Returns:: True if succeeded, false if not.

Definition at line 140 of file Ardusim.cpp.

int ardusim::Ardusim::checkVersion ( int timeout )

Check version.

Check the software version running in the arduino for compatibility issues.

Parameters:

timeout Timeout in milliseconds.

Returns:: The version of the sofware in the arduino.

Definition at line 126 of file Ardusim.cpp.

bool ardusim::Ardusim::getAnemometer ( std::vector< lse_sensor_msgs::Anemometer > * anemometer )

Definition at line 281 of file Ardusim.cpp.

bool ardusim::Ardusim::getNose ( std::vector< lse_sensor_msgs::Nostril > * nose )

Definition at line 245 of file Ardusim.cpp.

bool ardusim::Ardusim::getRange ( std::vector< lse_sensor_msgs::Range > * range )

Definition at line 227 of file Ardusim.cpp.

void ardusim::Ardusim::getRequests ( std::list< int > * requests )

Get requests.

Ask Ardusim which sensors we are getting!

Parameters:

requests List of requests.

Definition at line 170 of file Ardusim.cpp.

bool ardusim::Ardusim::getSensorData ( int timeout )

Read sensor data from the arduino.

Read sensor data from the arduino. The sensors requested are the ones in the list of requests.

Parameters:

timeout Timeout in milliseconds.

See also:: requests_; sensorDiscovery(); setAutoRequests(); setRequests()

Returns:: True if succeeded, false if not.

Definition at line 188 of file Ardusim.cpp.

bool ardusim::Ardusim::getThermistor ( std::vector< lse_sensor_msgs::Thermistor > * thermistor )

Definition at line 299 of file Ardusim.cpp.

bool ardusim::Ardusim::getTPA ( std::vector< lse_sensor_msgs::TPA > * tpa )

Definition at line 263 of file Ardusim.cpp.

int ardusim::Ardusim::getValue ( std::string * data ) [private]

Get value.

Parsing helper function. Gets an int value from a std::string.

Parameters:

data String.

See also:: addValue()

Returns:: An int value.

Definition at line 329 of file Ardusim.cpp.

bool ardusim::Ardusim::loadAnemometerCalibFile ( std::string * file_path )

Get value.

Load the calibration data for the anemometer from a file.

Parameters:

file_path File path.

See also:: parseAnemometer()

Returns:: Wether the file was loaded or not.

Definition at line 543 of file Ardusim.cpp.

void ardusim::Ardusim::parseAnemometer ( std::string * data ) [private]

Anemometer data parser.

Definition at line 431 of file Ardusim.cpp.

bool ardusim::Ardusim::parseData ( std::string * data ) [private]

Parse data.

Data parsing function. Parses data comming from the arduino.

Parameters:

data	String to be parsed.

Returns:: True if succeeded, false if not.

Definition at line 343 of file Ardusim.cpp.

void ardusim::Ardusim::parseNose ( std::string * data ) [private]

Nose data parser.

Definition at line 393 of file Ardusim.cpp.

void ardusim::Ardusim::parseRange ( std::string * data ) [private]

Range data parser.

Definition at line 375 of file Ardusim.cpp.

void ardusim::Ardusim::parseTPA ( std::string * data ) [private]

TPA data parser.

Definition at line 412 of file Ardusim.cpp.

bool ardusim::Ardusim::sendCommand	(	int	timeout,
		char	mode,
		std::string *	reply
	)		`[private]`

Send command.

Send a command to the arduino.

Parameters:

timeout	Timeout in milliseconds.
mode	Ardusim mode.
reply	Reply from the arduino.

Returns:: True if succeeded, false if not.

Definition at line 93 of file Ardusim.cpp.

bool ardusim::Ardusim::sensorDiscovery ( int timeout ) [inline]

Scan i2c sensors.

Commands the arduino to perform a i2c scan to detect connected sensors automatically. Wrapper for autoRequests.

Parameters:

timeout Timeout in milliseconds.

See also:: autoRequests(); setRequests()

Returns:: True if succeeded, false if not.

Definition at line 115 of file Ardusim.h.

bool ardusim::Ardusim::setAutoRequests ( int timeout ) [inline]

Ask for connected sensors.

Asks the arduino which user-defined sensors are connected. Wrapper for autoRequests.

Parameters:

timeout Timeout in milliseconds.

See also:: autoRequests(); setRequests()

Returns:: True if succeeded, false if not.

Definition at line 127 of file Ardusim.h.

void ardusim::Ardusim::setRequests	(	int *	requests,
		int	num_of_requests
	)

Set requests.

Tell the arduino which sensors to read.

Parameters:

requests	Array of requests to read.
num_of_requests	Number of requests.

Definition at line 177 of file Ardusim.cpp.

Member Data Documentation

std::vector<lse_sensor_msgs::Anemometer> ardusim::Ardusim::anemometer_msgs_ [private]

Vector of anemometer messages.

Definition at line 266 of file Ardusim.h.

std::vector<AnemometerCalibData> ardusim::Ardusim::calib_data_ [private]

Definition at line 277 of file Ardusim.h.

std::vector<lse_sensor_msgs::Nostril> ardusim::Ardusim::nose_msgs_ [private]

Vector of nose messages.

Definition at line 262 of file Ardusim.h.

ros::Time ardusim::Ardusim::now_ [private]

Current time.

Definition at line 188 of file Ardusim.h.

std::vector<lse_sensor_msgs::Range> ardusim::Ardusim::range_msgs_ [private]

Vector of range messages.

Definition at line 260 of file Ardusim.h.

std::list<int> ardusim::Ardusim::requests_ [private]

List of requests.

Definition at line 186 of file Ardusim.h.

cereal::CerealPort* ardusim::Ardusim::serial_port_ [private]

Definition at line 183 of file Ardusim.h.

std::vector<lse_sensor_msgs::Thermistor> ardusim::Ardusim::thermistor_msgs_ [private]

Vector of thermistor messages.

Definition at line 268 of file Ardusim.h.

std::vector<lse_sensor_msgs::TPA> ardusim::Ardusim::tpa_msgs_ [private]

Vector of tpa messages.

Definition at line 264 of file Ardusim.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation