Program Listing for File controller_info.hpp
↰ Return to documentation for file (include/kobuki_core/packets/controller_info.hpp
)
/*****************************************************************************
** Preprocessor
*****************************************************************************/
#ifndef KOBUKI_CORE_CONTROLLER_INFO_HPP__
#define KOBUKI_CORE_CONTROLLER_INFO_HPP__
/*****************************************************************************
** Include
*****************************************************************************/
#include "../packet_handler/payload_base.hpp"
#include "../packet_handler/payload_headers.hpp"
/*****************************************************************************
** Namespace
*****************************************************************************/
namespace kobuki
{
/*****************************************************************************
** Interface
*****************************************************************************/
class ControllerInfo : public packet_handler::payloadBase
{
public:
ControllerInfo() : packet_handler::payloadBase(false, 13) {};
struct Data {
Data() : type(0), p_gain(100*1000), i_gain(100), d_gain(2*1000) {}
unsigned char type;
unsigned int p_gain; //default value: 100 * 1000
unsigned int i_gain; //default value: 0.1 * 1000
unsigned int d_gain; //default value: 2 * 1000
} data;
bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
{
buildBytes(Header::ControllerInfo, byteStream);
buildBytes(length, byteStream);
buildBytes(data.type, byteStream);
buildBytes(data.p_gain, byteStream);
buildBytes(data.i_gain, byteStream);
buildBytes(data.d_gain, byteStream);
return true;
}
bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)
{
if (byteStream.size() < static_cast<unsigned int>(length)+2)
{
//std::cout << "kobuki_node: kobuki_controller_info: deserialise failed. not enough byte stream." << std::endl;
return false;
}
unsigned char header_id(0x00), length_packed(0x00);
buildVariable(header_id, byteStream);
buildVariable(length_packed, byteStream);
if( header_id != Header::ControllerInfo ) return false;
if( length_packed != length ) return false;
buildVariable(data.type, byteStream);
buildVariable(data.p_gain, byteStream);
buildVariable(data.i_gain, byteStream);
buildVariable(data.d_gain, byteStream);
//showMe();
return constrain();
}
bool constrain()
{
return true;
}
void showMe()
{
}
};
} // namespace kobuki
#endif /* KOBUKI_CORE_CONTROLLER_INFO_HPP__ */