xbot::Command Class Reference

#include <command.hpp>

Inheritance diagram for xbot::Command:

Classes
struct	Data
	Data structure containing data for commands. More...

Public Types
typedef ecl::PushAndPop< unsigned char >	Buffer
typedef ecl::Stencil< Buffer >	BufferStencil
enum	Name {   Power = 1, BaseControl = 2, YawPlatform =3, PitchPlatform = 4,   Sound = 5, StateLed = 6, Lift = 7 }

Public Member Functions
bool	deserialise (ecl::PushAndPop< unsigned char > &byteStream)
void	resetBuffer (Buffer &buffer)
bool	serialise (ecl::PushAndPop< unsigned char > &byteStream)
virtual	~Command ()
Public Member Functions inherited from packet_handler::payloadBase
	payloadBase (const bool is_dynamic_=false, const unsigned char length_=0)
virtual	~payloadBase ()

Static Public Member Functions
static Command	SetLedControl (const unsigned char &led)
static Command	SetLiftControl (const unsigned char &lift_height)
static Command	SetPitchPlatformControl (const int &pitch_platform_degree)
static Command	SetPowerControl (const bool &power_state)
static Command	SetSoundControl (const bool &sound_state)
static Command	SetVelocityControl (DiffDrive &diff_drive)
static Command	SetVelocityControl (const float &speed, const float &radius)
static Command	SetYawPlatformControl (const int &yaw_platform_degree)

Public Attributes
Data	data
Public Attributes inherited from packet_handler::payloadBase
const bool	is_dynamic
const unsigned char	length
bool	yes

Static Private Attributes
static const unsigned char	header0 = 0xaa
static const unsigned char	header1 = 0x55

Additional Inherited Members
Protected Member Functions inherited from packet_handler::payloadBase
template<typename T >
void	buildBytes (const T &V, ecl::PushAndPop< unsigned char > &buffer)
template<>
void	buildBytes (const float &V, ecl::PushAndPop< unsigned char > &buffer)
template<typename T >
void	buildVariable (T &V, ecl::PushAndPop< unsigned char > &buffer)
template<>
void	buildVariable (float &V, ecl::PushAndPop< unsigned char > &buffer)

Detailed Description

Definition at line 33 of file command.hpp.

Member Typedef Documentation

typedef ecl::PushAndPop<unsigned char> xbot::Command::Buffer

Definition at line 36 of file command.hpp.

typedef ecl::Stencil< Buffer > xbot::Command::BufferStencil

Definition at line 37 of file command.hpp.

Member Enumeration Documentation

enum xbot::Command::Name

These values are used to detect the type of sub-payload that is ensuing.

Enumerator
Power
BaseControl
YawPlatform
PitchPlatform
Sound
StateLed
Lift

Definition at line 42 of file command.hpp.

Constructor & Destructor Documentation

virtual xbot::Command::~Command ( )

inlinevirtual

Definition at line 98 of file command.hpp.

Member Function Documentation

bool xbot::Command::deserialise ( ecl::PushAndPop< unsigned char > &  byteStream )

inlinevirtual

Unused

Implements packet_handler::payloadBase.

Definition at line 118 of file command.hpp.

void xbot::Command::resetBuffer

(

Buffer &

buffer

)

Clears the command buffer and resets the header.

Definition at line 118 of file command.cpp.

bool xbot::Command::serialise ( ecl::PushAndPop< unsigned char > &  byteStream )

virtual

Implements packet_handler::payloadBase.

Definition at line 126 of file command.cpp.

Command xbot::Command::SetLedControl ( const unsigned char &  led )

static

Definition at line 94 of file command.cpp.

Command xbot::Command::SetLiftControl ( const unsigned char &  lift_height )

static

Definition at line 57 of file command.cpp.

Command xbot::Command::SetPitchPlatformControl ( const int &  pitch_platform_degree )

static

Definition at line 76 of file command.cpp.

Command xbot::Command::SetPowerControl ( const bool &  power_state )

static

Definition at line 104 of file command.cpp.

Command xbot::Command::SetSoundControl ( const bool &  sound_state )

static

Definition at line 85 of file command.cpp.

Command xbot::Command::SetVelocityControl ( DiffDrive &  diff_drive )

static

Definition at line 38 of file command.cpp.

Command xbot::Command::SetVelocityControl ( const float &  speed, const float &  radius  )

static

Definition at line 48 of file command.cpp.

Command xbot::Command::SetYawPlatformControl ( const int &  yaw_platform_degree )

static

Definition at line 67 of file command.cpp.

Member Data Documentation

Data xbot::Command::data

Definition at line 114 of file command.hpp.

const unsigned char xbot::Command::header0 = 0xaa

staticprivate

Definition at line 121 of file command.hpp.

const unsigned char xbot::Command::header1 = 0x55

staticprivate

Definition at line 122 of file command.hpp.

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

• command.hpp
• command.cpp