#include <RmpInterface.h>

Inheritance diagram for segway::RmpInterface:

Public Member Functions
bool	ChangeOperationalMode (RmpOperationalModeRequest modeRequest)
void	GetFaultStatusDescription (FaultStatusDescription &rDescription)
template<typename T >
T	GetUserDefinedFeedback (UserDefinedFeedbackType type)
virtual void	Initialize (const std::string &rIpAddress, uint16_t portNumber)
virtual void	Initialize (const std::string &rDevicePort)
bool	ResetIntegrators (uint32_t bitmap)
bool	ResetParamsToDefault ()
	RmpInterface ()
template<typename T >
bool	SetConfiguration (const RmpConfigurationCommand< T > &rConfigurationCommand, T value)
template<>
bool	SetConfiguration (const RmpConfigurationCommand< uint32_t > &rConfigurationCommand, uint32_t value)
template<>
bool	SetConfiguration (const RmpConfigurationCommand< float > &rConfigurationCommand, float value)
bool	SetUserDefinedFeedbackBitmap (UserDefinedFeedbackBitmapType bitmapType, const uint32_t bitmap)
virtual void	ShutDown ()
virtual bool	Update (bool forceUpdate=false)
virtual	~RmpInterface ()
Protected Member Functions
size_t	GetFeedbackEntryCount ()
void	Initialize ()
void	InitializeFeedbackBitmaps ()
bool	IsValidFeedbackBitmap (const RmpConfigurationCommand< uint32_t > &rConfigurationCommand, const uint32_t bitmap)
bool	SendConfigurationCommand (uint16_t commandId, uint32_t value)
bool	SetConfiguration (uint16_t commandId, UserDefinedFeedbackType feedbackType, uint32_t value)
void	UpdateUserDefinedFeedback (const Bytes &rBytes)
Protected Attributes
uint32_t	m_FeedbackBitmap [FEEDBACK_TYPE_NBR]
bool	m_IsFeedbackBitmapSet
RmpTransport::Ptr	m_pTransport
uint32_t	m_UserDefinedFeedback [FEEDBACK_TYPE_NBR][MAX_ENTRIES_PER_FEEDBACK]

Detailed Description

This class provides an interface to a rmp platform. Please refer to the rmp user manual to understand the technical terms.

Definition at line 55 of file RmpInterface.h.

Constructor & Destructor Documentation

segway::RmpInterface::RmpInterface ( )

Constructor

Definition at line 58 of file RmpInterface.cpp.

segway::RmpInterface::~RmpInterface ( ) [virtual]

Destructor

Definition at line 66 of file RmpInterface.cpp.

Member Function Documentation

bool segway::RmpInterface::ChangeOperationalMode ( RmpOperationalModeRequest modeRequest )

Change operational mode

Parameters:

modeRequest desired operational mode. Defined in RmpUserDefinedFeedbackType.h.

Returns:: wether the mode was properly changed

Exceptions:

std::logic_error if modeRequest is not valid

Definition at line 406 of file RmpInterface.cpp.

void segway::RmpInterface::GetFaultStatusDescription ( FaultStatusDescription & rDescription )

Get a fault status description. This method returns a list of string describing a fault. An empty list means not fault.

Parameters:

rDescription returned fault status description

Definition at line 474 of file RmpInterface.cpp.

size_t segway::RmpInterface::GetFeedbackEntryCount ( ) [protected]

Get the number of feedback entries

Returns:: number of feedback entries

Definition at line 643 of file RmpInterface.cpp.

float segway::RmpInterface::GetUserDefinedFeedback ( UserDefinedFeedbackType type )

Get a user defined feedback

Parameters:

type	type of user defined feedback. Defined in RmpUserDefinedFeedbackType.h.

Returns:: feedback. This templated function is only implemented for type uint32_t and float.

Exceptions:

std::logic_error if called with template parameter different than uint32_t or float

Definition at line 188 of file RmpInterface.cpp.

void segway::RmpInterface::Initialize	(	const std::string &	rIpAddress,
		uint16_t	portNumber
	)		`[virtual]`

Initialize a udp communication

Parameters:

rIpAddress	ip address of the rmp
portNumber	port number of the rmp

Exceptions:

std::logic_error if the transport has already been initialized and has not been shut down

Definition at line 71 of file RmpInterface.cpp.

void segway::RmpInterface::Initialize ( const std::string & rDevicePort ) [virtual]

Initialize a usb communication

Parameters:

rDevicePort

Exceptions:

std::logic_error if the transport has already been initialized and has not been shut down

Definition at line 83 of file RmpInterface.cpp.

void segway::RmpInterface::Initialize ( ) [protected]

Protected initialization method Initialize the user defined feedback bitmaps and switch to tractor mode

Exceptions:

std::runtime_error if unable to initialize feedback bitmpas properly

Exceptions:

std::runtime_error if unable to set the rmp in tractor mode

Definition at line 510 of file RmpInterface.cpp.

void segway::RmpInterface::InitializeFeedbackBitmaps ( ) [protected]

Get the uder defined feedback bitmap (configuration) from the rmp and update the state representation accordingly

Exceptions:

std::runtime_error if unable to initialize feedback bitmpas properly

Definition at line 521 of file RmpInterface.cpp.

bool segway::RmpInterface::IsValidFeedbackBitmap	(	const RmpConfigurationCommand< uint32_t > &	rConfigurationCommand,
		const uint32_t	bitmap
	)		`[protected]`

Check wether the feedback bitmap is valid

Parameters:

rConfigurationCommand	bitmap configuration command
bitmap	bitmap

Returns:: wether the feedback bitmap is valid

Definition at line 682 of file RmpInterface.cpp.

bool segway::RmpInterface::ResetIntegrators ( uint32_t bitmap )

Reset position data on the rmp

Parameters:

bitmap bitmap describing which position data to reset, should not be greater than RESET_ALL_POSITION_DATA (0x0000001F)

Returns:: wether the integrator(s) was(were) properly reset

Exceptions:

std::logic_error if the bitmap is not valid. Please read the rmp manual for more information about bitmap validity.

Definition at line 224 of file RmpInterface.cpp.

bool segway::RmpInterface::ResetParamsToDefault ( )

Reset all parameters stored in NVM to their default values

Returns:: wether the parameters were properly reset

Definition at line 297 of file RmpInterface.cpp.

bool segway::RmpInterface::SendConfigurationCommand	(	uint16_t	commandId,
		uint32_t	value
	)		`[protected]`

Send configuration command

Parameters:

commandId	configuration command id, specified in RmpConfigurationCommand.h
value	configuration value

Returns:: wether the command was properly sent.

Definition at line 637 of file RmpInterface.cpp.

template<typename T >

bool segway::RmpInterface::SetConfiguration	(	const RmpConfigurationCommand< T > &	rConfigurationCommand,
		T	value
	)

Execute configuration command

Parameters:

rConfigurationCommand	configuration command object as defined in RmpConfigurationCommand.h
value	parameter value. This templated function is only implemented for type uint32_t and float.

Returns:: wether the rmp is properly configured

Exceptions:

std::logic_error if called with template parameter different than uint32_t or float

Definition at line 105 of file RmpInterface.cpp.

template<>

bool segway::RmpInterface::SetConfiguration	(	const RmpConfigurationCommand< uint32_t > &	rConfigurationCommand,
		uint32_t	value
	)

Definition at line 113 of file RmpInterface.cpp.

template<>

bool segway::RmpInterface::SetConfiguration	(	const RmpConfigurationCommand< float > &	rConfigurationCommand,
		float	value
	)

Definition at line 131 of file RmpInterface.cpp.

bool segway::RmpInterface::SetConfiguration	(	uint16_t	commandId,
		UserDefinedFeedbackType	feedbackType,
		uint32_t	value
	)		`[protected]`

Set up configuration

Parameters:

commandId	configuration command id, specified in RmpConfigurationCommand.h
feedbackType	user defined feeback type, specified in RmpUserdefinedFeedbackType
value	configuration value

Returns:: wether the configuaration was properly set up.

Definition at line 581 of file RmpInterface.cpp.

bool segway::RmpInterface::SetUserDefinedFeedbackBitmap	(	UserDefinedFeedbackBitmapType	bitmapType,
		const uint32_t	bitmap
	)

Set user defined feedback bitmap

Parameters:

bitmapType	type of user defined feedback bitmap
bitmap	feedback bitmap

Returns:: wether the bitmap was properyly set

Exceptions:

std::logic_error	if bitmapType is not valid
std::logic_error	if bitmap is not valid. Please read the rmp manual for more information about bitmap validity.

Definition at line 327 of file RmpInterface.cpp.

void segway::RmpInterface::ShutDown ( ) [virtual]

Stop the communication

Definition at line 95 of file RmpInterface.cpp.

bool segway::RmpInterface::Update ( bool forceUpdate = false ) [virtual]

Update Read and update the platform state

Parameters:

forceUpdate force update. If true, will send a dummy command to cause a response.

Returns:: wether the update was successfull

Definition at line 148 of file RmpInterface.cpp.

void segway::RmpInterface::UpdateUserDefinedFeedback ( const Bytes & rBytes ) [protected]

Update user defined feedback Convert a byte array to user defined feedback data.

Parameters:

rBytes byte array

Definition at line 662 of file RmpInterface.cpp.

Member Data Documentation

uint32_t segway::RmpInterface::m_FeedbackBitmap[FEEDBACK_TYPE_NBR] [protected]

Store the user defined feedback bitmap information

Definition at line 265 of file RmpInterface.h.

bool segway::RmpInterface::m_IsFeedbackBitmapSet [protected]

Wether the user defined feedback bitmap is set (known)

Definition at line 260 of file RmpInterface.h.

RmpTransport::Ptr segway::RmpInterface::m_pTransport [protected]

Transport interface

Definition at line 255 of file RmpInterface.h.

uint32_t segway::RmpInterface::m_UserDefinedFeedback[FEEDBACK_TYPE_NBR][MAX_ENTRIES_PER_FEEDBACK] [protected]

Store the user defined feedback

Definition at line 270 of file RmpInterface.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation