controller_info.hpp
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00001 
00009 /*****************************************************************************
00010 ** Preprocessor
00011 *****************************************************************************/
00012 
00013 #ifndef KOBUKI_CONTROLLER_INFO_HPP__
00014 #define KOBUKI_CONTROLLER_INFO_HPP__
00015 
00016 /*****************************************************************************
00017 ** Include
00018 *****************************************************************************/
00019 
00020 #include "../packet_handler/payload_base.hpp"
00021 #include "../packet_handler/payload_headers.hpp"
00022 
00023 /*****************************************************************************
00024 ** Namespace
00025 *****************************************************************************/
00026 
00027 namespace kobuki
00028 {
00029 
00030 /*****************************************************************************
00031 ** Interface
00032 *****************************************************************************/
00033 
00034 class ControllerInfo : public packet_handler::payloadBase
00035 {
00036 public:
00037   ControllerInfo() : packet_handler::payloadBase(false, 13) {};
00038   struct Data {
00039     Data() : type(0), p_gain(100*1000), i_gain(100), d_gain(2*1000) {}
00040     unsigned char type;
00041     unsigned int p_gain; //default value: 100 * 1000
00042     unsigned int i_gain; //default value: 0.1 * 1000
00043     unsigned int d_gain; //default value:   2 * 1000
00044   } data;
00045 
00046   bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
00047   {
00048     buildBytes(Header::ControllerInfo, byteStream);
00049     buildBytes(length, byteStream);
00050     buildBytes(data.type, byteStream);
00051     buildBytes(data.p_gain, byteStream);
00052     buildBytes(data.i_gain, byteStream);
00053     buildBytes(data.d_gain, byteStream);
00054     return true;
00055   }
00056 
00057   bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)
00058   {
00059     if (byteStream.size() < length+2)
00060     {
00061       //std::cout << "kobuki_node: kobuki_controller_info: deserialise failed. not enough byte stream." << std::endl;
00062       return false;
00063     }
00064 
00065     unsigned char header_id, length_packed;
00066     buildVariable(header_id, byteStream);
00067     buildVariable(length_packed, byteStream);
00068     if( header_id != Header::ControllerInfo ) return false;
00069     if( length_packed != length ) return false;
00070 
00071     buildVariable(data.type, byteStream);
00072     buildVariable(data.p_gain, byteStream);
00073     buildVariable(data.i_gain, byteStream);
00074     buildVariable(data.d_gain, byteStream);
00075 
00076     //showMe();
00077     return constrain();
00078   }
00079 
00080   bool constrain()
00081   {
00082     return true;
00083   }
00084 
00085   void showMe()
00086   {
00087   }
00088 };
00089 
00090 } // namespace kobuki
00091 
00092 #endif /* KOBUKI_CONTROLLER_INFO_HPP__ */


kobuki_driver
Author(s): Daniel Stonier , Younghun Ju , Jorge Santos Simon
autogenerated on Thu Jun 6 2019 20:24:37