The core kobuki driver class. More...

#include <kobuki.hpp>

Public Member Functions
Battery	batteryStatus () const
bool	disable ()
bool	enable ()
void	fixPayload (ecl::PushAndPop< unsigned char > &byteStream)
double	getAngularVelocity () const
Cliff::Data	getCliffData () const
bool	getControllerGain ()
ControllerInfo::Data	getControllerInfoData () const
CoreSensors::Data	getCoreSensorData () const
Current::Data	getCurrentData () const
DockIR::Data	getDockIRData () const
GpInput::Data	getGpInputData () const
ecl::Angle< double >	getHeading () const
Inertia::Data	getInertiaData () const
ThreeAxisGyro::Data	getRawInertiaData () const
void	getWheelJointStates (double &wheel_left_angle, double &wheel_left_angle_rate, double &wheel_right_angle, double &wheel_right_angle_rate)
void	init (Parameters &parameters) throw (ecl::StandardException)
bool	isAlive () const
bool	isEnabled () const
bool	isShutdown () const
	Kobuki ()
void	lockDataAccess ()
void	playSoundSequence (const enum SoundSequences &number)
void	printSigSlotConnections () const
	Print a list of all relevant sigslot connections.
void	resetOdometry ()
void	setBaseControl (const double &linear_velocity, const double &angular_velocity)
bool	setControllerGain (const unsigned char &type, const unsigned int &p_gain, const unsigned int &i_gain, const unsigned int &d_gain)
void	setDigitalOutput (const DigitalOutput &digital_output)
void	setExternalPower (const DigitalOutput &digital_output)
void	setLed (const enum LedNumber &number, const enum LedColour &colour)
void	shutdown ()
void	spin ()
	Performs a scan looking for incoming data packets.
void	unlockDataAccess ()
void	updateOdometry (ecl::LegacyPose2D< double > &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates)
	Use the current sensor data (encoders and gyro) to calculate an update for the odometry.
VersionInfo	versionInfo () const
	~Kobuki ()
Private Member Functions
std::vector< std::string >	log (std::string msg)
std::vector< std::string >	log (std::string level, std::string msg)
std::vector< std::string >	log (std::string level, std::string name, std::string msg)
void	sendBaseControlCommand ()
void	sendCommand (Command command)
	Send the prepared command to the serial port.
Private Attributes
AccelerationLimiter	acceleration_limiter
Cliff	cliff
Command::Buffer	command_buffer
ecl::Mutex	command_mutex
ControllerInfo	controller_info
int	controller_info_reminder
CoreSensors	core_sensors
Current	current
PacketFinder::BufferType	data_buffer
ecl::Mutex	data_mutex
DiffDrive	diff_drive
DockIR	dock_ir
EventManager	event_manager
Firmware	firmware
GpInput	gp_input
Hardware	hardware
double	heading_offset
Inertia	inertia
bool	is_alive
bool	is_connected
bool	is_enabled
Command	kobuki_command
PacketFinder	packet_finder
Parameters	parameters
ecl::Serial	serial
bool	shutdown_requested
ecl::Signal	sig_controller_info
ecl::Signal< const std::string & >	sig_debug
ecl::Signal< const std::string & >	sig_error
ecl::Signal< const std::string & >	sig_info
ecl::Signal< const std::vector < std::string > & >	sig_named
ecl::Signal< const std::vector < short > & >	sig_raw_control_command
ecl::Signal< Command::Buffer & >	sig_raw_data_command
ecl::Signal < PacketFinder::BufferType & >	sig_raw_data_stream
ecl::Signal	sig_stream_data
ecl::Signal< const VersionInfo & >	sig_version_info
ecl::Signal< const std::string & >	sig_warn
ecl::Thread	thread
ThreeAxisGyro	three_axis_gyro
UniqueDeviceID	unique_device_id
std::vector< short >	velocity_commands_debug
int	version_info_reminder

Detailed Description

The core kobuki driver class.

This connects to the outside world via sigslots and get accessors.

Definition at line 87 of file kobuki.hpp.

Constructor & Destructor Documentation

kobuki::Kobuki::Kobuki ( )

Definition at line 51 of file kobuki.cpp.

kobuki::Kobuki::~Kobuki ( )

Shutdown the driver - make sure we wait for the thread to finish.

Definition at line 66 of file kobuki.cpp.

Member Function Documentation

Battery kobuki::Kobuki::batteryStatus ( ) const [inline]

Definition at line 124 of file kobuki.hpp.

bool kobuki::Kobuki::disable ( )

Disable power to the motors.

Definition at line 595 of file kobuki.cpp.

bool kobuki::Kobuki::enable ( )

Enable power to the motors.

Definition at line 589 of file kobuki.cpp.

void kobuki::Kobuki::fixPayload ( ecl::PushAndPop< unsigned char > & byteStream )

Definition at line 380 of file kobuki.cpp.

double kobuki::Kobuki::getAngularVelocity ( ) const

Definition at line 427 of file kobuki.cpp.

Cliff::Data kobuki::Kobuki::getCliffData ( ) const [inline]

Definition at line 133 of file kobuki.hpp.

bool kobuki::Kobuki::getControllerGain ( )

Definition at line 510 of file kobuki.cpp.

ControllerInfo::Data kobuki::Kobuki::getControllerInfoData ( ) const [inline]

Definition at line 138 of file kobuki.hpp.

CoreSensors::Data kobuki::Kobuki::getCoreSensorData ( ) const [inline]

Definition at line 131 of file kobuki.hpp.

Current::Data kobuki::Kobuki::getCurrentData ( ) const [inline]

Definition at line 134 of file kobuki.hpp.

DockIR::Data kobuki::Kobuki::getDockIRData ( ) const [inline]

Definition at line 132 of file kobuki.hpp.

GpInput::Data kobuki::Kobuki::getGpInputData ( ) const [inline]

Definition at line 136 of file kobuki.hpp.

ecl::Angle< double > kobuki::Kobuki::getHeading ( ) const

Definition at line 419 of file kobuki.cpp.

Inertia::Data kobuki::Kobuki::getInertiaData ( ) const [inline]

Definition at line 135 of file kobuki.hpp.

ThreeAxisGyro::Data kobuki::Kobuki::getRawInertiaData ( ) const [inline]

Definition at line 137 of file kobuki.hpp.

void kobuki::Kobuki::getWheelJointStates	(	double &	wheel_left_angle,
		double &	wheel_left_angle_rate,
		double &	wheel_right_angle,
		double &	wheel_right_angle_rate
	)

Definition at line 445 of file kobuki.cpp.

void kobuki::Kobuki::init ( Parameters & parameters ) throw (ecl::StandardException)

Definition at line 74 of file kobuki.cpp.

bool kobuki::Kobuki::isAlive ( ) const [inline]

Whether the connection to the robot is alive and currently streaming.

Definition at line 97 of file kobuki.hpp.

bool kobuki::Kobuki::isEnabled ( ) const [inline]

Whether the motor power is enabled or disabled.

Definition at line 99 of file kobuki.hpp.

bool kobuki::Kobuki::isShutdown ( ) const [inline]

Whether the worker thread is alive or not.

Definition at line 98 of file kobuki.hpp.

void kobuki::Kobuki::lockDataAccess ( )

Usually you should call the getXXX functions from within slot callbacks connected to this driver's signals. This ensures that data is not overwritten inbetween getXXX calls as it all happens in the serial device's reading thread (aye, convoluted - apologies for the multiple robot and multiple developer adhoc hacking over 4-5 years for hasty demos on pre-kobuki robots. This has generated such wonderful spaghetti ;).

If instead you just want to poll kobuki, then you should lock and unlock the data access around any getXXX calls.

Definition at line 156 of file kobuki.cpp.

std::vector<std::string> kobuki::Kobuki::log ( std::string msg ) [inline, private]

Definition at line 244 of file kobuki.hpp.

std::vector<std::string> kobuki::Kobuki::log	(	std::string	level,
		std::string	msg
	)		`[inline, private]`

Definition at line 245 of file kobuki.hpp.

std::vector<std::string> kobuki::Kobuki::log	(	std::string	level,
		std::string	name,
		std::string	msg
	)		`[inline, private]`

Definition at line 246 of file kobuki.hpp.

void kobuki::Kobuki::playSoundSequence ( const enum SoundSequences & number )

Definition at line 490 of file kobuki.cpp.

void kobuki::Kobuki::printSigSlotConnections ( ) const

Print a list of all relevant sigslot connections.

This includes both the kobuki driver signals as well as externally connected slots. Useful for when you need to check if any of your connections are dangling (often happens when you typo the name of the sigslots connection).

Definition at line 611 of file kobuki.cpp.

void kobuki::Kobuki::resetOdometry ( )

Definition at line 437 of file kobuki.cpp.

void kobuki::Kobuki::sendBaseControlCommand ( ) [private]

Definition at line 529 of file kobuki.cpp.

void kobuki::Kobuki::sendCommand ( Command command ) [private]

Send the prepared command to the serial port.

Need to be a bit careful here, because we have no control over how the user is calling this - they may be calling from different threads (this is so for kobuki_node), so we mutex protect it here rather than relying on the user to do so above.

Parameters:

command : prepared command template (see Command's static member functions).

Definition at line 559 of file kobuki.cpp.

void kobuki::Kobuki::setBaseControl	(	const double &	linear_velocity,
		const double &	angular_velocity
	)

Definition at line 524 of file kobuki.cpp.

bool kobuki::Kobuki::setControllerGain	(	const unsigned char &	type,
		const unsigned int &	p_gain,
		const unsigned int &	i_gain,
		const unsigned int &	d_gain
	)

Definition at line 495 of file kobuki.cpp.

void kobuki::Kobuki::setDigitalOutput ( const DigitalOutput & digital_output )

Definition at line 477 of file kobuki.cpp.

void kobuki::Kobuki::setExternalPower ( const DigitalOutput & digital_output )

Definition at line 481 of file kobuki.cpp.

void kobuki::Kobuki::setLed	(	const enum LedNumber &	number,
		const enum LedColour &	colour
	)

Definition at line 472 of file kobuki.cpp.

void kobuki::Kobuki::shutdown ( ) [inline]

Gently terminate the worker thread.

Definition at line 102 of file kobuki.hpp.

void kobuki::Kobuki::spin ( )

Performs a scan looking for incoming data packets.

Sits on the device waiting for incoming and then parses it, and signals that an update has occured.

Or, if in simulation, just loopsback the motor devices.

Definition at line 177 of file kobuki.cpp.

void kobuki::Kobuki::unlockDataAccess ( )

Unlock a previously locked data access privilege.

See also:: lockDataAccess()

Definition at line 164 of file kobuki.cpp.

void kobuki::Kobuki::updateOdometry	(	ecl::LegacyPose2D< double > &	pose_update,
		ecl::linear_algebra::Vector3d &	pose_update_rates
	)

Use the current sensor data (encoders and gyro) to calculate an update for the odometry.

This fuses current sensor data with the last updated odometry state to produce the new odometry state. This will be usually done in the slot callback to the stream_data signal.

It is important that this is called every time a data packet is received from the robot.

Parameters: