#include <myahrs_plus.hpp>

Inheritance diagram for WithRobot::iMyAhrsPlus:

Classes
class	EventItem

class	EventQueue

class	Protocol

class	ResponsQueue

Public Member Functions
bool	cmd_ascii_data_format (const char *asc_output=0, int timeout_msec=500)

bool	cmd_baudrate (int timeout_msec=500)

bool	cmd_baudrate (const char *baudrate, int timeout_msec=500)

bool	cmd_binary_data_format (const char *bin_output=0, int timeout_msec=500)

bool	cmd_calibration_parameter (char sensor_type, const char *calibration_parameters=0, int timeout_msec=500)

bool	cmd_clear_user_orientation_offset (int timeout_msec=500)

bool	cmd_divider (int timeout_msec=500)

bool	cmd_divider (const char *divider, int timeout_msec=500)

bool	cmd_id (int timeout_msec=500)

bool	cmd_id (const char *str_sensor_id, int timeout_msec=500)

bool	cmd_mode (const char *mode_string=0, int timeout_msec=500)

bool	cmd_ping (int timeout_msec=500)

bool	cmd_restore_all_default (int timeout_msec=500)

bool	cmd_save (int timeout_msec=500)

bool	cmd_sensitivity (int timeout_msec=500)

bool	cmd_serial_number (int timeout_msec=500)

bool	cmd_set_user_orientation_offset (int timeout_msec=500)

bool	cmd_set_user_orientation_offset (const char *enable_yaw_offset, int timeout_msec=500)

void	cmd_trigger ()

bool	cmd_version (int timeout_msec=500)

bool	get_attribute (const char *attrib_name, std::string &attrib_value)

std::vector< std::string >	get_attribute_list ()

SensorData	get_data ()

void	get_data (SensorData &data)

int	get_sensor_id ()

	iMyAhrsPlus (std::string port_name="", unsigned int baudrate=115200)

bool	resync ()

const char *	sdk_version ()

bool	start (std::string port_name="", int baudrate=-1)

void	stop ()

virtual	~iMyAhrsPlus ()

Protected Member Functions
virtual void	OnAttributeChange (int sensor_id, std::string attribute_name, std::string value)

virtual void	OnSensorData (int sensor_id, SensorData sensor_data)

Private Types
typedef bool(iMyAhrsPlus::*	AscHandler) (std::vector< std::string > &tokens)

typedef bool(iMyAhrsPlus::*	AscRspHandler) (std::map< std::string, std::string > &attributes)

typedef bool(iMyAhrsPlus::*	BinHandler) (iNodeParser::Node &node)

Private Member Functions
bool	ascii_parse_response (std::vector< std::string > &tokens)

bool	ascii_rsp_asc_out (std::map< std::string, std::string > &attributes)

bool	ascii_rsp_baudrate (std::map< std::string, std::string > &attributes)

bool	ascii_rsp_bin_out (std::map< std::string, std::string > &attributes)

bool	ascii_rsp_calib (std::map< std::string, std::string > &attributes)

bool	ascii_rsp_divider (std::map< std::string, std::string > &attributes)

bool	ascii_rsp_factory (std::map< std::string, std::string > &attributes)

bool	ascii_rsp_id (std::map< std::string, std::string > &attributes)

bool	ascii_rsp_mode (std::map< std::string, std::string > &attributes)

bool	ascii_rsp_ping (std::map< std::string, std::string > &attributes)

bool	ascii_rsp_save (std::map< std::string, std::string > &attributes)

bool	ascii_rsp_sensitivity (std::map< std::string, std::string > &attributes)

bool	ascii_rsp_serial_number (std::map< std::string, std::string > &attributes)

bool	ascii_rsp_stat (std::map< std::string, std::string > &attributes)

bool	ascii_rsp_trigger (std::map< std::string, std::string > &attributes)

bool	ascii_rsp_user_orientation (std::map< std::string, std::string > &attributes)

bool	ascii_rsp_version (std::map< std::string, std::string > &attributes)

bool	ascii_update_euler (std::vector< std::string > &tokens)

bool	ascii_update_imu (std::vector< std::string > &tokens)

bool	ascii_update_quaternion (std::vector< std::string > &tokens)

bool	ascii_update_quatimu (std::vector< std::string > &tokens)

bool	ascii_update_riimu (std::vector< std::string > &tokens)

bool	ascii_update_rpyimu (std::vector< std::string > &tokens)

bool	binary_parse_response (std::vector< iNodeParser::Node > &node_list)

bool	binary_update_euler (iNodeParser::Node &node)

bool	binary_update_imu (iNodeParser::Node &node)

bool	binary_update_quaternion (iNodeParser::Node &node)

bool	binary_update_riimu (iNodeParser::Node &node)

bool	binary_update_sequence (iNodeParser::Node &node)

void	clear_all_attribute ()

void	dbg_show_all_attributes (std::map< std::string, std::string > &attributes)

	iMyAhrsPlus (iMyAhrsPlus &rhs)

float	int16tofloat (int16_t value, float value_max)

bool	is_exist (const std::string &attribute_name)

void	proc_callback ()

void	proc_receiver ()

bool	send_command (std::string command_string, int timeout_msec)

void	set_attribute (const std::string &attribute_name, const std::string &value)

Static Private Member Functions
static void *	thread_proc_callback (void *arg)

static void *	thread_proc_receiver (void *arg)

Private Attributes
bool	activate_user_event

std::map< std::string, AscHandler >	ascii_handler_data_map

std::map< std::string, AscRspHandler >	ascii_handler_rsp_map

std::map< std::string, std::string >	attribute_map

std::map< std::string, BinHandler >	binary_handler_data_map

bool	debug

class WithRobot::iMyAhrsPlus::EventQueue	event_queue

Platform::Mutex	mutex_attribute

Platform::Mutex	mutex_communication

WithRobot::iMyAhrsPlus::Protocol	protocol

class WithRobot::iMyAhrsPlus::ResponsQueue	response_message_queue

SensorData	sensor_data

int	sensor_id

Platform::SerialPort	serial

Platform::Thread	thread_event

Platform::Thread	thread_receiver

bool	thread_receiver_ready

Static Private Attributes
static const int	ACCEL_RANGE = 16

static const int	EULER_RANGE = 180

static const int	GYRO_RANGE = 2000

static const int	MAGNET_RANGE = 300

static const int	TEMP_RANGE = 200

Detailed Description

Definition at line 1634 of file myahrs_plus.hpp.

Member Typedef Documentation

typedef bool(iMyAhrsPlus::* WithRobot::iMyAhrsPlus::AscHandler) (std::vector< std::string > &tokens)

private

Definition at line 1654 of file myahrs_plus.hpp.

typedef bool(iMyAhrsPlus::* WithRobot::iMyAhrsPlus::AscRspHandler) (std::map< std::string, std::string > &attributes)

private

Definition at line 1657 of file myahrs_plus.hpp.

typedef bool(iMyAhrsPlus::* WithRobot::iMyAhrsPlus::BinHandler) (iNodeParser::Node &node)

private

Definition at line 1660 of file myahrs_plus.hpp.

Constructor & Destructor Documentation

WithRobot::iMyAhrsPlus::iMyAhrsPlus ( iMyAhrsPlus & rhs )

inlineprivate

Definition at line 1837 of file myahrs_plus.hpp.

WithRobot::iMyAhrsPlus::iMyAhrsPlus	(	std::string	port_name = `""`,
		unsigned int	baudrate = `115200`
	)

inline

Definition at line 1840 of file myahrs_plus.hpp.

virtual WithRobot::iMyAhrsPlus::~iMyAhrsPlus ( )

inlinevirtual

Definition at line 1893 of file myahrs_plus.hpp.

Member Function Documentation

bool WithRobot::iMyAhrsPlus::ascii_parse_response ( std::vector< std::string > & tokens )

inlineprivate

Definition at line 2456 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_asc_out ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2512 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_baudrate ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2643 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_bin_out ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2520 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_calib ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2552 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_divider ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2495 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_factory ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2590 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_id ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2614 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_mode ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2504 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_ping ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2491 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_save ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2651 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_sensitivity ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2632 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_serial_number ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2624 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_stat ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2596 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_trigger ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2487 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_user_orientation ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2530 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_rsp_version ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2602 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_update_euler ( std::vector< std::string > & tokens )

inlineprivate

Definition at line 2663 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_update_imu ( std::vector< std::string > & tokens )

inlineprivate

Definition at line 2785 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_update_quaternion ( std::vector< std::string > & tokens )

inlineprivate

Definition at line 2684 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_update_quatimu ( std::vector< std::string > & tokens )

inlineprivate

Definition at line 2734 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_update_riimu ( std::vector< std::string > & tokens )

inlineprivate

Definition at line 2764 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::ascii_update_rpyimu ( std::vector< std::string > & tokens )

inlineprivate

Definition at line 2705 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::binary_parse_response ( std::vector< iNodeParser::Node > & node_list )

inlineprivate

Definition at line 2809 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::binary_update_euler ( iNodeParser::Node & node )

inlineprivate

Definition at line 2851 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::binary_update_imu ( iNodeParser::Node & node )

inlineprivate

Definition at line 2890 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::binary_update_quaternion ( iNodeParser::Node & node )

inlineprivate

Definition at line 2870 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::binary_update_riimu ( iNodeParser::Node & node )

inlineprivate

Definition at line 2925 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::binary_update_sequence ( iNodeParser::Node & node )

inlineprivate

Definition at line 2843 of file myahrs_plus.hpp.

void WithRobot::iMyAhrsPlus::clear_all_attribute ( )

inlineprivate

Definition at line 1998 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_ascii_data_format	(	const char *	asc_output = `0`,
		int	timeout_msec = `500`
	)

inline

Definition at line 2163 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_baudrate ( int timeout_msec = 500 )

inline

Definition at line 2240 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_baudrate	(	const char *	baudrate,
		int	timeout_msec = `500`
	)

inline

Definition at line 2244 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_binary_data_format	(	const char *	bin_output = `0`,
		int	timeout_msec = `500`
	)

inline

Definition at line 2173 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_calibration_parameter	(	char	sensor_type,
		const char *	calibration_parameters = `0`,
		int	timeout_msec = `500`
	)

inline

Definition at line 2196 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_clear_user_orientation_offset ( int timeout_msec = 500 )

inline

Definition at line 2192 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_divider ( int timeout_msec = 500 )

inline

Definition at line 2140 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_divider	(	const char *	divider,
		int	timeout_msec = `500`
	)

inline

Definition at line 2144 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_id ( int timeout_msec = 500 )

inline

Definition at line 2219 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_id	(	const char *	str_sensor_id,
		int	timeout_msec = `500`
	)

inline

Definition at line 2223 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_mode	(	const char *	mode_string = `0`,
		int	timeout_msec = `500`
	)

inline

Definition at line 2153 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_ping ( int timeout_msec = 500 )

inline

Definition at line 2136 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_restore_all_default ( int timeout_msec = 500 )

inline

Definition at line 2211 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_save ( int timeout_msec = 500 )

inline

Definition at line 2253 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_sensitivity ( int timeout_msec = 500 )

inline

Definition at line 2236 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_serial_number ( int timeout_msec = 500 )

inline

Definition at line 2232 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_set_user_orientation_offset ( int timeout_msec = 500 )

inline

Definition at line 2183 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_set_user_orientation_offset	(	const char *	enable_yaw_offset,
		int	timeout_msec = `500`
	)

inline

Definition at line 2187 of file myahrs_plus.hpp.

void WithRobot::iMyAhrsPlus::cmd_trigger ( )

inline

Definition at line 2131 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::cmd_version ( int timeout_msec = 500 )

inline

Definition at line 2215 of file myahrs_plus.hpp.

void WithRobot::iMyAhrsPlus::dbg_show_all_attributes ( std::map< std::string, std::string > & attributes )

inlineprivate

Definition at line 2481 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::get_attribute	(	const char *	attrib_name,
		std::string &	attrib_value
	)

inline

Definition at line 1963 of file myahrs_plus.hpp.

std::vector<std::string> WithRobot::iMyAhrsPlus::get_attribute_list ( )

inline

Definition at line 2033 of file myahrs_plus.hpp.

SensorData WithRobot::iMyAhrsPlus::get_data ( )

inline

Definition at line 1950 of file myahrs_plus.hpp.

void WithRobot::iMyAhrsPlus::get_data ( SensorData & data )

inline

Definition at line 1955 of file myahrs_plus.hpp.

int WithRobot::iMyAhrsPlus::get_sensor_id ( )

inline

Definition at line 1945 of file myahrs_plus.hpp.

float WithRobot::iMyAhrsPlus::int16tofloat	(	int16_t	value,
		float	value_max
	)

inlineprivate

Definition at line 2837 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::is_exist ( const std::string & attribute_name )

inlineprivate

Definition at line 1978 of file myahrs_plus.hpp.

virtual void WithRobot::iMyAhrsPlus::OnAttributeChange	(	int	sensor_id,
		std::string	attribute_name,
		std::string	value
	)

inlineprotectedvirtual

Reimplemented in WithRobot::MyAhrsPlus, and MyAhrsDriverForROS.

Definition at line 2262 of file myahrs_plus.hpp.

virtual void WithRobot::iMyAhrsPlus::OnSensorData	(	int	sensor_id,
		SensorData	sensor_data
	)

inlineprotectedvirtual

Reimplemented in WithRobot::MyAhrsPlus, and MyAhrsDriverForROS.

Definition at line 2261 of file myahrs_plus.hpp.

void WithRobot::iMyAhrsPlus::proc_callback ( )

inlineprivate

Definition at line 2401 of file myahrs_plus.hpp.

void WithRobot::iMyAhrsPlus::proc_receiver ( )

inlineprivate

Definition at line 2376 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::resync ( )

inline

Definition at line 2045 of file myahrs_plus.hpp.

const char* WithRobot::iMyAhrsPlus::sdk_version ( )

inline

Definition at line 1899 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::send_command	(	std::string	command_string,
		int	timeout_msec
	)

inlineprivate

Definition at line 2265 of file myahrs_plus.hpp.

void WithRobot::iMyAhrsPlus::set_attribute	(	const std::string &	attribute_name,
		const std::string &	value
	)

inlineprivate

Definition at line 1988 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::start	(	std::string	port_name = `""`,
		int	baudrate = `-1`
	)

inline

Definition at line 1903 of file myahrs_plus.hpp.

void WithRobot::iMyAhrsPlus::stop ( )

inline

Definition at line 1937 of file myahrs_plus.hpp.

static void* WithRobot::iMyAhrsPlus::thread_proc_callback ( void * arg )

inlinestaticprivate

Definition at line 2447 of file myahrs_plus.hpp.

static void* WithRobot::iMyAhrsPlus::thread_proc_receiver ( void * arg )

inlinestaticprivate

Definition at line 2442 of file myahrs_plus.hpp.

Member Data Documentation

const int WithRobot::iMyAhrsPlus::ACCEL_RANGE = 16

staticprivate

Definition at line 1663 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::activate_user_event

private

Definition at line 1646 of file myahrs_plus.hpp.

std::map<std::string, AscHandler> WithRobot::iMyAhrsPlus::ascii_handler_data_map

private

Definition at line 1655 of file myahrs_plus.hpp.

std::map<std::string, AscRspHandler> WithRobot::iMyAhrsPlus::ascii_handler_rsp_map

private

Definition at line 1658 of file myahrs_plus.hpp.

std::map<std::string, std::string> WithRobot::iMyAhrsPlus::attribute_map

private

Definition at line 1652 of file myahrs_plus.hpp.

std::map<std::string, BinHandler> WithRobot::iMyAhrsPlus::binary_handler_data_map

private

Definition at line 1661 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::debug

private

Definition at line 1636 of file myahrs_plus.hpp.

const int WithRobot::iMyAhrsPlus::EULER_RANGE = 180

staticprivate

Definition at line 1667 of file myahrs_plus.hpp.

class WithRobot::iMyAhrsPlus::EventQueue WithRobot::iMyAhrsPlus::event_queue

private

const int WithRobot::iMyAhrsPlus::GYRO_RANGE = 2000

staticprivate

Definition at line 1664 of file myahrs_plus.hpp.

const int WithRobot::iMyAhrsPlus::MAGNET_RANGE = 300

staticprivate

Definition at line 1665 of file myahrs_plus.hpp.

Platform::Mutex WithRobot::iMyAhrsPlus::mutex_attribute

private

Definition at line 1640 of file myahrs_plus.hpp.

Platform::Mutex WithRobot::iMyAhrsPlus::mutex_communication

private

Definition at line 1641 of file myahrs_plus.hpp.

WithRobot::iMyAhrsPlus::Protocol WithRobot::iMyAhrsPlus::protocol

private

class WithRobot::iMyAhrsPlus::ResponsQueue WithRobot::iMyAhrsPlus::response_message_queue

private

SensorData WithRobot::iMyAhrsPlus::sensor_data

private

Definition at line 1649 of file myahrs_plus.hpp.

int WithRobot::iMyAhrsPlus::sensor_id

private

Definition at line 1651 of file myahrs_plus.hpp.

Platform::SerialPort WithRobot::iMyAhrsPlus::serial

private

Definition at line 1638 of file myahrs_plus.hpp.

const int WithRobot::iMyAhrsPlus::TEMP_RANGE = 200

staticprivate

Definition at line 1666 of file myahrs_plus.hpp.

Platform::Thread WithRobot::iMyAhrsPlus::thread_event

private

Definition at line 1647 of file myahrs_plus.hpp.

Platform::Thread WithRobot::iMyAhrsPlus::thread_receiver

private

Definition at line 1644 of file myahrs_plus.hpp.

bool WithRobot::iMyAhrsPlus::thread_receiver_ready

private

Definition at line 1643 of file myahrs_plus.hpp.

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

myahrs_plus.hpp

Classes

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation