#include <segwayrmp.h>

Public Member Functions
void	configureSerial (std::string port, int baudrate=460800)

void	configureUSBByDescription (std::string description, int baudrate=460800)

void	configureUSBByIndex (int device_index, int baudrate=460800)

void	configureUSBBySerial (std::string serial_number, int baudrate=460800)

void	connect (bool reset_integrators=true)

void	move (float linear_velocity, float angular_velocity)

void	moveCounts (short int linear_counts, short int angular_counts)

void	resetAllIntegrators ()

	SegwayRMP (InterfaceType interface_type=serial, SegwayRMPType segway_rmp_type=rmp200)

void	setBalanceModeLocking (bool state=true)

void	setControllerGainSchedule (ControllerGainSchedule controller_gain_schedule)

void	setCurrentLimitScaleFactor (double scalar=1.0)

void	setExceptionCallback (ExceptionCallback callback)

void	setLogMsgCallback (std::string log_level, LogMsgCallback callback)

void	setMaxAccelerationScaleFactor (double scalar=1.0)

void	setMaxTurnScaleFactor (double scalar=1.0)

void	setMaxVelocityScaleFactor (double scalar=1.0)

void	setOperationalMode (OperationalMode operational_mode)

void	setStatusCallback (SegwayStatusCallback callback)

void	setTimestampCallback (GetTimeCallback callback)

void	shutdown ()

	~SegwayRMP ()

Private Member Functions
void	ExecuteCallbacks_ ()

void	operator= (const SegwayRMP &)

const SegwayRMP &	operator= (SegwayRMP)

bool	ParsePacket_ (Packet &packet, SegwayStatus::Ptr &ss_ptr)

void	ProcessPacket_ (Packet &packet)

void	ReadContinuously_ ()

void	SetConstantsBySegwayType_ (SegwayRMPType &rmp_type)

void	StartReadingContinuously_ ()

void	StopReadingContinuously_ ()

Private Attributes
boost::thread	callback_execution_thread_

bool	connected_

bool	continuously_reading_

LogMsgCallback	debug_

double	dps_to_counts_

LogMsgCallback	error_

GetTimeCallback	get_time_

ExceptionCallback	handle_exception_

LogMsgCallback	info_

InterfaceType	interface_type_

double	meters_to_counts_

double	mps_to_counts_

boost::thread	read_thread_

double	rev_to_counts_

RMPIO *	rmp_io_

SegwayRMPType	segway_rmp_type_

SegwayStatus::Ptr	segway_status_

FiniteConcurrentSharedQueue< SegwayStatus >	ss_queue_

SegwayStatusCallback	status_callback_

double	torque_to_counts_

Detailed Description

Provides an interface for the Segway RMP.

Definition at line 336 of file segwayrmp.h.

Constructor & Destructor Documentation

SegwayRMP::SegwayRMP	(	InterfaceType	interface_type = `serial`,
		SegwayRMPType	segway_rmp_type = `rmp200`
	)

Constructs the SegwayRMP object given the interface type.

Parameters

interface_type	This must be can, usb, or serial. Default is usb.
segway_rmp_type	This can be rmp50, rmp100, rmp200, or rmp400. Default is rmp200.

Definition at line 219 of file segwayrmp.cc.

SegwayRMP::~SegwayRMP ( )

Definition at line 264 of file segwayrmp.cc.

Member Function Documentation

void SegwayRMP::configureSerial	(	std::string	port,
		int	baudrate = `460800`
	)

Configures the serial interface, if the library is built with serial support, otherwise throws ConfigurationException.

Parameters

port	Defines which serial port to connect to in serial mode.
baudrate	Defines the speed of the serial port in baud's. Defaults to 460800 (recommended).

Definition at line 281 of file segwayrmp.cc.

void SegwayRMP::configureUSBByDescription	(	std::string	description,
		int	baudrate = `460800`
	)

Configures the FTD2XX usb interface, if the library is built with usb support, otherwise throws ConfigurationException.

Parameters

description	Defines which usb port to connect to based on the devices description.
baudrate	Defines the speed of the usb port in baud's. Defaults to 460800 (recommended).

Definition at line 308 of file segwayrmp.cc.

void SegwayRMP::configureUSBByIndex	(	int	device_index,
		int	baudrate = `460800`
	)

Configures the FTD2XX usb interface, if the library is built with usb support, otherwise throws ConfigurationException.

Parameters

device_index	Defines which usb port to connect to based on the devices index. Note: This is indexed by all ftd2xx devices on the system.
baudrate	Defines the speed of the usb port in baud's. Defaults to 460800 (recommended).

Definition at line 320 of file segwayrmp.cc.

void SegwayRMP::configureUSBBySerial	(	std::string	serial_number,
		int	baudrate = `460800`
	)

Configures the FTD2XX usb interface, if the library is built with usb support, otherwise throws ConfigurationException.

Parameters

serial_number	Defines which usb port to connect to based on the devices serial number.
baudrate	Defines the speed of the usb port in baud's. Defaults to 460800 (recommended).

Definition at line 297 of file segwayrmp.cc.

void SegwayRMP::connect ( bool reset_integrators = true )

Connects to the Segway. Ensure it has been configured first.

Parameters

reset_integrators If this is true, the integrators are reset.

Definition at line 331 of file segwayrmp.cc.

void SegwayRMP::ExecuteCallbacks_ ( )

private

Definition at line 761 of file segwayrmp.cc.

void SegwayRMP::move	(	float	linear_velocity,
		float	angular_velocity
	)

This command moves the base at a given linear and angular velocity. This assumes the max velocity scalar is set to 1.0.

Parameters

linear_velocity	Forward/Reverse desired velocity of the vehicle in m/s.
angular_velocity	Desired angular velocity of the vehicle in degrees/s, positive to is left.

Definition at line 394 of file segwayrmp.cc.

void SegwayRMP::moveCounts	(	short int	linear_counts,
		short int	angular_counts
	)

This command moves the base at a given linear and angular count.

Parameters

linear_counts	Forward/Reverse effort, in range [-1176, 1176]. Which maps approximately to [-8, 8] mph (assuming a max velocity scalar of 1.0)
angular_counts	Angular effort, in range [-1024, 1024].

Definition at line 367 of file segwayrmp.cc.

void segwayrmp::SegwayRMP::operator= ( const SegwayRMP & )

private

const SegwayRMP& segwayrmp::SegwayRMP::operator= ( SegwayRMP )

private

bool SegwayRMP::ParsePacket_	(	Packet &	packet,
		SegwayStatus::Ptr &	ss_ptr
	)

private

Definition at line 830 of file segwayrmp.cc.

void SegwayRMP::ProcessPacket_ ( Packet & packet )

private

Definition at line 933 of file segwayrmp.cc.

void SegwayRMP::ReadContinuously_ ( )

private

Definition at line 744 of file segwayrmp.cc.

void SegwayRMP::resetAllIntegrators ( )

Resets all of the integrators.

Todo:: Add individual functions for reseting each integrator.

Definition at line 522 of file segwayrmp.cc.

void SegwayRMP::setBalanceModeLocking ( bool state = true )

Locks or unlocks the balancing mode.

Parameters

state This allows you to specify whether you want lock or unlock balancing mode. True for locked and False for unlocked. The default state is True.

Definition at line 491 of file segwayrmp.cc.

void SegwayRMP::SetConstantsBySegwayType_ ( SegwayRMPType & rmp_type )

private

Definition at line 795 of file segwayrmp.cc.

void SegwayRMP::setControllerGainSchedule ( ControllerGainSchedule controller_gain_schedule )

Sets the controller gain schedule.

Parameters

controller_gain_schedule This sets the contoller gain schedule, possible values are light, tall, and heavy.

Definition at line 455 of file segwayrmp.cc.

void SegwayRMP::setCurrentLimitScaleFactor ( double scalar = 1.0 )

Sets the Current Limit Scale Factor

Parameters

scalar This is a value between 0.0 and 1.0 which will set the current limit for the drive motors, limiting torque. Values larger than 1.0 will round down to 1.0 and values < 0 will round up to 0.0. Parameter defaults to 1.0.

Definition at line 677 of file segwayrmp.cc.

void SegwayRMP::setExceptionCallback ( ExceptionCallback callback )

Sets the Callback Function to be called on when an unhandled exception occurs.

This allows you to catch and handle otherwise unhandled exceptions that might occur in an internal thread to the segwayrmp library.

The provided function must follow this prototype:

   void yourExceptionCallback(const std::exception&)

Here is an example:

   SegwayTime yourTimestampCallback() {
       std::cerr << "SegwayRMP Unhandled Exception: " << error.what()
                 << std::endl;
   }

And the resulting call to make it the callback:

   segwayrmp::SegwayRMP my_segway_rmp;
   my_segway_rmp.setExceptionCallback(yourExceptionCallback);

Alternatively you can use a class method as a callback using boost::bind:

   #include <boost/bind.hpp>
   #include <ctime>

   #include "segwayrmp.h"

   class MySegwayWrapper
   {
   public:
    MySegwayWrapper () {
      my_segway_rmp.setExceptionCallback(
        boost::bind(&MySegwayWrapper::handleException, this, _1));
    }
    SegwayTime handleException() {
       std::cerr << "SegwayRMP Unhandled Exception: " << error.what()
                 << std::endl;
    }

   private:
    segwayrmp::SegwayRMP my_segway_rmp;
   };

Parameters

callback A function pointer to the callback to handle otherwise unhandled exceptions that occur.

Definition at line 740 of file segwayrmp.cc.

void SegwayRMP::setLogMsgCallback	(	std::string	log_level,
		LogMsgCallback	callback
	)

Sets the Callback Function to be called when a log message occurs.

This allows you to hook into the message reporting of the library and use your own logging facilities.

The provided function must follow this prototype:

   void yourLogMsgCallback(const std::string &msg)

Here is an example (Using Debug in this case):

   void yourDebugMsgCallback(const std::string &msg) {
       std::cerr << "SegwayRMP Debug: " << msg << std::endl;
   }

And the call to make it the callback (Again using Debug for example):

   segwayrmp::SegwayRMP my_segway_rmp;
   my_segway_rmp.setLogMsgCallback("debug", yourDebugMsgCallback);

Alternatively you can use a class method as a callback using boost::bind:

   #include <boost/bind.hpp>

   #include "segwayrmp.h"

   class MySegwayWrapper
   {
   public:
    MySegwayWrapper () {
     my_segway_rmp.setLogMsgCallback("debug"
       boost::bind(&MySegwayWrapper::handleDebugMsg, this, _1));
    }

    void handleDebugMsg(const std::string &msg) {
      std::cerr << "SegwayRMP Debug: " << msg << std::endl;
    }

   private:
    segwayrmp::SegwayRMP my_segway_rmp;
   };

Parameters

log_level	A std::string which indicates which log level to assign a callback to. Must be one of "debug", "info", or "error".
callback	A LogMsgCallback type function which will be called when a log of level log_level occurs.

Definition at line 719 of file segwayrmp.cc.

void SegwayRMP::setMaxAccelerationScaleFactor ( double scalar = 1.0 )

Sets the Max Acceleration Scale Factor

Parameters

scalar This is a value between 0.0 and 1.0 which will set the acceleration scale factor on the segway internally for all velocity commands. Values larger than 1.0 will round down to 1.0 and values < 0 will round up to 0.0. Parameter defaults to 1.0.

Definition at line 601 of file segwayrmp.cc.

void SegwayRMP::setMaxTurnScaleFactor ( double scalar = 1.0 )

Sets the Max Turn Scale Factor

Parameters

scalar This is a value between 0.0 and 1.0 which will set the scale factor on the segway internally for all turn commands. Values larger than 1.0 will round down to 1.0 and values < 0 will round up to 0.0. Parameter defaults to 1.0.

Definition at line 639 of file segwayrmp.cc.

void SegwayRMP::setMaxVelocityScaleFactor ( double scalar = 1.0 )

Sets the Max Velocity Scale Factor

Parameters

scalar This is a value between 0.0 and 1.0 which will set the scale factor on the segway internally for all velocity commands. Values larger than 1.0 will round down to 1.0 and values < 0 will round up to 0.0. Parameter defaults to 1.0.

Definition at line 563 of file segwayrmp.cc.

void SegwayRMP::setOperationalMode ( OperationalMode operational_mode )

Sets the operational mode.

Parameters

operational_mode This must be disabled, tractor, or balanced.

Definition at line 422 of file segwayrmp.cc.

void SegwayRMP::setStatusCallback ( SegwayStatusCallback callback )

Sets the Callback Function to be called on new Segway Status Updates.

The provided function must follow this prototype:

   void yourSegwayStatusCallback(segwayrmp::SegwayStatus &segway_status)

Here is an example:

   void handleSegwayStatus(segwayrmp::SegwayStatus &ss) {
       std::cout << ss.str() << std::endl << std::endl;
   }

And the resulting call to make it the callback:

   segwayrmp::SegwayRMP my_segway_rmp;
   my_segway_rmp.setStatusCallback(handleSegwayStatus);

Alternatively you can use a class method as a callback using boost::bind:

   #include <boost/bind.hpp>

   #include "segwayrmp.h"

   class MySegwayWrapper
   {
   public:
    MySegwayWrapper () {
     my_segway_rmp.setStatusCallback(
       boost::bind(&MySegwayWrapper::handleSegwayStatus, this, _1));
    }

    void handleSegwayStatus(segwayrmp::SegwayStatus &ss) {
      std::cout << ss.str() << std::endl << std::endl;
    }

   private:
    segwayrmp::SegwayRMP my_segway_rmp;
   };

Parameters

status_callback A function pointer to the callback to handle new SegwayStatus updates.

Todo:: Make all the callbacks capable of taking class methods

Definition at line 715 of file segwayrmp.cc.

void SegwayRMP::setTimestampCallback ( GetTimeCallback callback )

Sets the Callback Function to be called on when a timestamp is made.

This allows you to provide your own time stamp method for time stamping the segway data. You must return a SegwayTimeStruct, but you can return an empty time struct and manually store your time stamp and use your timestamp when processing the segway status callback.

The provided function must follow this prototype:

   SegwayTime yourTimestampCallback()

Here is an example:

   SegwayTime yourTimestampCallback() {
       SegwayTime st;
       timespec start;
       clock_gettime(CLOCK_REALTIME, &start);
       st.sec  = start.tv_sec;
       st.nsec = start.tv_nsec;
       return st;
   }

And the resulting call to make it the callback:

   segwayrmp::SegwayRMP my_segway_rmp;
   my_segway_rmp.setTimestampCallback(yourTimestampCallback);

Alternatively you can use a class method as a callback using boost::bind:

   #include <boost/bind.hpp>
   #include <ctime>

   #include "segwayrmp.h"

   class MySegwayWrapper
   {
   public:
    MySegwayWrapper () {
      my_segway_rmp.setTimestampCallback(
        boost::bind(&MySegwayWrapper::handleTimestamp, this, _1));
    }
    SegwayTime handleTimestamp() {
       SegwayTime st;
       timespec start;
       clock_gettime(CLOCK_REALTIME, &start);
       st.sec  = start.tv_sec;
       st.nsec = start.tv_nsec;
       return st;
    }

   private:
    segwayrmp::SegwayRMP my_segway_rmp;
   };

Parameters

callback A function pointer to the callback to handle Timestamp creation.

Definition at line 736 of file segwayrmp.cc.

void SegwayRMP::shutdown ( )

Sends a shutdown command to the RMP that immediately shuts it down.

Definition at line 348 of file segwayrmp.cc.

void SegwayRMP::StartReadingContinuously_ ( )

private

Definition at line 778 of file segwayrmp.cc.

void SegwayRMP::StopReadingContinuously_ ( )

private

Definition at line 786 of file segwayrmp.cc.

Member Data Documentation

boost::thread segwayrmp::SegwayRMP::callback_execution_thread_

private

Definition at line 768 of file segwayrmp.h.

bool segwayrmp::SegwayRMP::connected_

private

Definition at line 743 of file segwayrmp.h.

bool segwayrmp::SegwayRMP::continuously_reading_

private

Definition at line 766 of file segwayrmp.h.

LogMsgCallback segwayrmp::SegwayRMP::debug_

private

Definition at line 757 of file segwayrmp.h.

double segwayrmp::SegwayRMP::dps_to_counts_

private

Definition at line 748 of file segwayrmp.h.

LogMsgCallback segwayrmp::SegwayRMP::error_

private

Definition at line 757 of file segwayrmp.h.

GetTimeCallback segwayrmp::SegwayRMP::get_time_

private

Definition at line 756 of file segwayrmp.h.

ExceptionCallback segwayrmp::SegwayRMP::handle_exception_

private

Definition at line 758 of file segwayrmp.h.

LogMsgCallback segwayrmp::SegwayRMP::info_

private

Definition at line 757 of file segwayrmp.h.

InterfaceType segwayrmp::SegwayRMP::interface_type_

private

Definition at line 739 of file segwayrmp.h.

double segwayrmp::SegwayRMP::meters_to_counts_

private

Definition at line 750 of file segwayrmp.h.

double segwayrmp::SegwayRMP::mps_to_counts_

private

Definition at line 749 of file segwayrmp.h.

boost::thread segwayrmp::SegwayRMP::read_thread_

private

Definition at line 767 of file segwayrmp.h.

double segwayrmp::SegwayRMP::rev_to_counts_

private

Definition at line 751 of file segwayrmp.h.

RMPIO* segwayrmp::SegwayRMP::rmp_io_

private

Definition at line 736 of file segwayrmp.h.

SegwayRMPType segwayrmp::SegwayRMP::segway_rmp_type_

private

Definition at line 740 of file segwayrmp.h.

SegwayStatus::Ptr segwayrmp::SegwayRMP::segway_status_

private

Definition at line 744 of file segwayrmp.h.

FiniteConcurrentSharedQueue<SegwayStatus> segwayrmp::SegwayRMP::ss_queue_

private

Definition at line 759 of file segwayrmp.h.

SegwayStatusCallback segwayrmp::SegwayRMP::status_callback_

private

Definition at line 755 of file segwayrmp.h.

double segwayrmp::SegwayRMP::torque_to_counts_

private

Definition at line 752 of file segwayrmp.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation