#include <sip.hpp>

Public Member Functions
void	FillStandard (ros_p2os_data_t *data)

void	ParseArm (unsigned char *buffer)

void	ParseArmInfo (unsigned char *buffer)

void	ParseGyro (unsigned char *buffer)

void	ParseSERAUX (unsigned char *buffer)

void	ParseStandard (unsigned char *buffer)

void	Print ()

void	PrintArm ()

void	PrintArmInfo ()

void	PrintSonars ()

	SIP (int idx)

	~SIP ()

Public Attributes
unsigned char	analog

int16_t	angle

int	angle_offset

bool	armConnected

bool	armJointMoving [6]

unsigned char	armJointPos [6]

double	armJointPosRads [6]

ArmJoint *	armJoints

unsigned char	armJointTargetPos [6]

unsigned char	armNumJoints

bool	armPowerOn

char *	armVersionString

std::string	base_link_frame_id

unsigned char	battery

uint16_t	blobarea

unsigned int	blobcolor

uint16_t	blobconf

uint16_t	blobmx

uint16_t	blobmy

uint16_t	blobx1

uint16_t	blobx2

uint16_t	bloby1

uint16_t	bloby2

uint16_t	compass

int16_t	control

unsigned char	digin

unsigned char	digout

uint16_t	frontbumpers

int32_t	gyro_rate

double	lastLiftPos

int16_t	lvel

bool	lwstall

unsigned char	motors_enabled

std::string	odom_frame_id

uint16_t	ptu

uint16_t	rawxpos

uint16_t	rawypos

uint16_t	rearbumpers

int16_t	rvel

bool	rwstall

unsigned char	sonar_flag

unsigned char	sonarreadings

uint16_t *	sonars

unsigned char	status

uint16_t	timer

int	x_offset

int	xpos

int	y_offset

int	ypos

Private Member Functions
int	PositionChange (uint16_t, uint16_t)

Private Attributes
int	param_idx

Detailed Description

Definition at line 55 of file sip.hpp.

Constructor & Destructor Documentation

SIP::SIP ( int idx )

inlineexplicit

Definition at line 117 of file sip.hpp.

SIP::~SIP ( )

inline

Definition at line 134 of file sip.hpp.

Member Function Documentation

void SIP::FillStandard ( ros_p2os_data_t * data )

Definition at line 36 of file sip.cpp.

void SIP::ParseArm ( unsigned char * buffer )

Definition at line 590 of file sip.cpp.

void SIP::ParseArmInfo ( unsigned char * buffer )

Definition at line 631 of file sip.cpp.

void SIP::ParseGyro ( unsigned char * buffer )

Definition at line 541 of file sip.cpp.

void SIP::ParseSERAUX ( unsigned char * buffer )

Parse a SERAUX SIP packet. For a CMUcam, this will have blob tracking messages in the format (all one-byte values, no spaces):

255 M mx my x1 y1 x2 y2 pixels confidence  (10-bytes)

Or color info messages of the format:

 255 S Rval Gval Bval Rvar Gvar Bvar    (8-bytes)

Definition at line 476 of file sip.cpp.

void SIP::ParseStandard ( unsigned char * buffer )

Definition at line 325 of file sip.cpp.

int SIP::PositionChange	(	uint16_t	from,
		uint16_t	to
	)

private

Definition at line 227 of file sip.cpp.

void SIP::Print ( )

Definition at line 242 of file sip.cpp.

void SIP::PrintArm ( )

Definition at line 303 of file sip.cpp.

void SIP::PrintArmInfo ( )

Definition at line 314 of file sip.cpp.

void SIP::PrintSonars ( )

Definition at line 291 of file sip.cpp.

Member Data Documentation

unsigned char SIP::analog

Definition at line 65 of file sip.hpp.

int16_t SIP::angle

Definition at line 68 of file sip.hpp.

int SIP::angle_offset

Definition at line 71 of file sip.hpp.

bool SIP::armConnected

Definition at line 86 of file sip.hpp.

bool SIP::armJointMoving[6]

Definition at line 87 of file sip.hpp.

unsigned char SIP::armJointPos[6]

Definition at line 88 of file sip.hpp.

double SIP::armJointPosRads[6]

Definition at line 89 of file sip.hpp.

ArmJoint* SIP::armJoints

Definition at line 93 of file sip.hpp.

unsigned char SIP::armJointTargetPos[6]

Definition at line 90 of file sip.hpp.

unsigned char SIP::armNumJoints

Definition at line 92 of file sip.hpp.

bool SIP::armPowerOn

Definition at line 86 of file sip.hpp.

char* SIP::armVersionString

Definition at line 91 of file sip.hpp.

std::string SIP::base_link_frame_id

Definition at line 73 of file sip.hpp.

unsigned char SIP::battery

Definition at line 65 of file sip.hpp.

uint16_t SIP::blobarea

Definition at line 79 of file sip.hpp.

unsigned int SIP::blobcolor

Definition at line 80 of file sip.hpp.

uint16_t SIP::blobconf

Definition at line 79 of file sip.hpp.

uint16_t SIP::blobmx

Definition at line 77 of file sip.hpp.

uint16_t SIP::blobmy

Definition at line 77 of file sip.hpp.

uint16_t SIP::blobx1

Definition at line 78 of file sip.hpp.

uint16_t SIP::blobx2

Definition at line 78 of file sip.hpp.

uint16_t SIP::bloby1

Definition at line 78 of file sip.hpp.

uint16_t SIP::bloby2

Definition at line 78 of file sip.hpp.

uint16_t SIP::compass

Definition at line 66 of file sip.hpp.

int16_t SIP::control

Definition at line 68 of file sip.hpp.

unsigned char SIP::digin

Definition at line 65 of file sip.hpp.

unsigned char SIP::digout

Definition at line 65 of file sip.hpp.

uint16_t SIP::frontbumpers

Definition at line 67 of file sip.hpp.

int32_t SIP::gyro_rate

Definition at line 83 of file sip.hpp.

double SIP::lastLiftPos

Definition at line 97 of file sip.hpp.

int16_t SIP::lvel

Definition at line 68 of file sip.hpp.

bool SIP::lwstall

Definition at line 63 of file sip.hpp.

unsigned char SIP::motors_enabled

Definition at line 64 of file sip.hpp.

std::string SIP::odom_frame_id

Definition at line 72 of file sip.hpp.

int SIP::param_idx

private

Definition at line 59 of file sip.hpp.

uint16_t SIP::ptu

Definition at line 66 of file sip.hpp.

uint16_t SIP::rawxpos

Definition at line 66 of file sip.hpp.

uint16_t SIP::rawypos

Definition at line 67 of file sip.hpp.

uint16_t SIP::rearbumpers

Definition at line 67 of file sip.hpp.

int16_t SIP::rvel

Definition at line 68 of file sip.hpp.

bool SIP::rwstall

Definition at line 63 of file sip.hpp.

unsigned char SIP::sonar_flag

Definition at line 64 of file sip.hpp.

unsigned char SIP::sonarreadings

Definition at line 65 of file sip.hpp.

uint16_t* SIP::sonars

Definition at line 69 of file sip.hpp.

unsigned char SIP::status

Definition at line 65 of file sip.hpp.

uint16_t SIP::timer

Definition at line 66 of file sip.hpp.

int SIP::x_offset

Definition at line 71 of file sip.hpp.

int SIP::xpos

Definition at line 70 of file sip.hpp.

int SIP::y_offset

Definition at line 71 of file sip.hpp.

int SIP::ypos

Definition at line 70 of file sip.hpp.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation