#include <command.hpp>

Inheritance diagram for kobuki::Command:

Classes
struct	Data
	Data structure containing data for commands. More...
Public Types
typedef ecl::PushAndPop < unsigned char >	Buffer
typedef ecl::Stencil< Buffer >	BufferStencil
enum	Name { BaseControl = 1, Sound = 3, SoundSequence = 4, RequestExtra = 9, ChangeFrame = 10, RequestEeprom = 11, SetDigitalOut = 12, SetController = 13, GetController = 14 }
enum	VersionFlag { HardwareVersion = 0x01, FirmwareVersion = 0x02, UniqueDeviceID = 0x08 }
Public Member Functions
bool	deserialise (ecl::PushAndPop< unsigned char > &byteStream)
void	resetBuffer (Buffer &buffer)
bool	serialise (ecl::PushAndPop< unsigned char > &byteStream)
virtual	~Command ()
Static Public Member Functions
static Command	GetControllerGain ()
static Command	GetVersionInfo ()
static Command	PlaySoundSequence (const enum SoundSequences &number, Command::Data &current_data)
static Command	SetControllerGain (const unsigned char &type, const unsigned int &p_gain, const unsigned int &i_gain, const unsigned int &d_gain)
static Command	SetDigitalOutput (const DigitalOutput &digital_output, Command::Data &current_data)
static Command	SetExternalPower (const DigitalOutput &digital_output, Command::Data &current_data)
static Command	SetLedArray (const enum LedNumber &number, const enum LedColour &colour, Command::Data &current_data)
static Command	SetVelocityControl (DiffDrive &diff_drive)
static Command	SetVelocityControl (const int16_t &speed, const int16_t &radius)
Public Attributes
Data	data
Static Private Attributes
static const unsigned char	header0 = 0xaa
static const unsigned char	header1 = 0x55

Detailed Description

Definition at line 34 of file command.hpp.

Member Typedef Documentation

typedef ecl::PushAndPop<unsigned char> kobuki::Command::Buffer

Definition at line 37 of file command.hpp.

typedef ecl::Stencil< Buffer > kobuki::Command::BufferStencil

Definition at line 38 of file command.hpp.

Member Enumeration Documentation

enum kobuki::Command::Name

These values are used to detect the type of sub-payload that is ensuing.

Enumerator:

BaseControl
Sound
SoundSequence
RequestExtra
ChangeFrame
RequestEeprom
SetDigitalOut
SetController
GetController

Definition at line 43 of file command.hpp.

enum kobuki::Command::VersionFlag

Enumerator:

HardwareVersion
FirmwareVersion
UniqueDeviceID

Definition at line 49 of file command.hpp.

Constructor & Destructor Documentation

virtual kobuki::Command::~Command ( ) [inline, virtual]

Definition at line 111 of file command.hpp.

Member Function Documentation

bool kobuki::Command::deserialise ( ecl::PushAndPop< unsigned char > & byteStream ) [inline, virtual]

Unused

Implements packet_handler::payloadBase.

Definition at line 130 of file command.hpp.

Command kobuki::Command::GetControllerGain ( ) [static]

Definition at line 188 of file command.cpp.

Command kobuki::Command::GetVersionInfo ( ) [static]

Definition at line 146 of file command.cpp.

Command kobuki::Command::PlaySoundSequence	(	const enum SoundSequences &	number,
		Command::Data &	current_data
	)		`[static]`

Definition at line 135 of file command.cpp.

void kobuki::Command::resetBuffer ( Buffer & buffer )

Clears the command buffer and resets the header.

Definition at line 202 of file command.cpp.

bool kobuki::Command::serialise ( ecl::PushAndPop< unsigned char > & byteStream ) [virtual]

Implements packet_handler::payloadBase.

Definition at line 210 of file command.cpp.

Command kobuki::Command::SetControllerGain	(	const unsigned char &	type,
		const unsigned int &	p_gain,
		const unsigned int &	i_gain,
		const unsigned int &	d_gain
	)		`[static]`

Definition at line 176 of file command.cpp.

Command kobuki::Command::SetDigitalOutput	(	const DigitalOutput &	digital_output,
		Command::Data &	current_data
	)		`[static]`

Set one of the digital out pins available to the user.

They set the last 4 bits on the data.gp_out variable.

Todo:: could use far better documentation here/example here.

Parameters:

digital_output	: mask and value to send
current_data	: need to store settings as the gp_output command is a combo command

Returns:: Command : the command to send down the wire.

Definition at line 84 of file command.cpp.

Command kobuki::Command::SetExternalPower	(	const DigitalOutput &	digital_output,
		Command::Data &	current_data
	)		`[static]`

Set one of the external power sources available to the user.

They set the second 4 bits(0x00f0) on the data.gp_out variable.

Todo:: could use far better documentation here/example here.

Parameters:

digital_output	: mask and value to send
current_data	: need to store settings as the gp_output command is a combo command

Returns:: Command : the command to send down the wire.

Definition at line 115 of file command.cpp.

Command kobuki::Command::SetLedArray	(	const enum LedNumber &	number,
		const enum LedColour &	colour,
		Command::Data &	current_data
	)		`[static]`

Update the gp_out bits and get ready for sending as a SetDigitalOut command.

The led arrays are obtained from the gp_outputs with a 0x0f00 mask.

Led1 Red : 0x0100
Led1 Green : 0x0200
Led1 Orange : 0x0300
Led2 Red : 0x0400
Led2 Green : 0x0800
Led2 Orange : 0x0c00

Important to overlay this on top of the existing gp_out configuration.

Parameters:

number	: led enumerated number
colour	: green, orange, red or black
current_data	: need to store settings as the gp_output command is a combo command

Returns:: Command : the command to send down the wire.

Definition at line 53 of file command.cpp.

Command kobuki::Command::SetVelocityControl ( DiffDrive & diff_drive ) [static]

Definition at line 157 of file command.cpp.

Command kobuki::Command::SetVelocityControl	(	const int16_t &	speed,
		const int16_t &	radius
	)		`[static]`

Definition at line 167 of file command.cpp.

Member Data Documentation

Data kobuki::Command::data

Definition at line 126 of file command.hpp.

const unsigned char kobuki::Command::header0 = 0xaa [static, private]

Definition at line 133 of file command.hpp.

const unsigned char kobuki::Command::header1 = 0x55 [static, private]

Definition at line 134 of file command.hpp.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation