#include <command.hpp>

Inheritance diagram for kobuki::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 { BaseControl = 1, Sound = 3, SoundSequence = 4, RequestExtra = 9, ChangeFrame = 10, RequestEeprom = 11, SetDigitalOut = 12, SetController = 13, GetController = 14 }

enum	VersionFlag { HardwareVersion = 0x01, FirmwareVersion = 0x02, UniqueDeviceID = 0x08 }

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	GetControllerGain ()

static Command	GetVersionInfo ()

static Command	PlaySoundSequence (const enum SoundSequences &number, Command::Data &current_data)

static Command	SetControllerGain (const unsigned char &type, const unsigned int &p_gain, const unsigned int &i_gain, const unsigned int &d_gain)

static Command	SetDigitalOutput (const DigitalOutput &digital_output, Command::Data &current_data)

static Command	SetExternalPower (const DigitalOutput &digital_output, Command::Data &current_data)

static Command	SetLedArray (const enum LedNumber &number, const enum LedColour &colour, Command::Data &current_data)

static Command	SetVelocityControl (DiffDrive &diff_drive)

static Command	SetVelocityControl (const int16_t &speed, const int16_t &radius)

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 34 of file command.hpp.

Member Typedef Documentation

◆ Buffer

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

Definition at line 37 of file command.hpp.

◆ BufferStencil

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

Definition at line 38 of file command.hpp.

Member Enumeration Documentation

◆ Name

enum kobuki::Command::Name

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

Enumerator
BaseControl
Sound
SoundSequence
RequestExtra
ChangeFrame
RequestEeprom
SetDigitalOut
SetController
GetController

Definition at line 43 of file command.hpp.

◆ VersionFlag

enum kobuki::Command::VersionFlag

Enumerator
HardwareVersion
FirmwareVersion
UniqueDeviceID

Definition at line 49 of file command.hpp.

Constructor & Destructor Documentation

◆ ~Command()

virtual kobuki::Command::~Command ( )

inlinevirtual

Definition at line 111 of file command.hpp.

Member Function Documentation

◆ deserialise()

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

inlinevirtual

Unused

Implements packet_handler::payloadBase.

Definition at line 130 of file command.hpp.

◆ GetControllerGain()

Command kobuki::Command::GetControllerGain ( )

static

Definition at line 188 of file command.cpp.

◆ GetVersionInfo()

Command kobuki::Command::GetVersionInfo ( )

static

Definition at line 146 of file command.cpp.

◆ PlaySoundSequence()

Command kobuki::Command::PlaySoundSequence	(	const enum SoundSequences &	number,
		Command::Data &	current_data
	)

static

Definition at line 135 of file command.cpp.

◆ resetBuffer()

void kobuki::Command::resetBuffer ( Buffer & buffer )

Clears the command buffer and resets the header.

Definition at line 202 of file command.cpp.

◆ serialise()

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

virtual

Implements packet_handler::payloadBase.

Definition at line 210 of file command.cpp.

◆ SetControllerGain()

Command kobuki::Command::SetControllerGain	(	const unsigned char &	type,
		const unsigned int &	p_gain,
		const unsigned int &	i_gain,
		const unsigned int &	d_gain
	)

static

Definition at line 176 of file command.cpp.

◆ SetDigitalOutput()

Command kobuki::Command::SetDigitalOutput	(	const DigitalOutput &	digital_output,
		Command::Data &	current_data
	)

static

Set one of the digital out pins available to the user.

They set the last 4 bits on the data.gp_out variable.

Todo:: could use far better documentation here/example here.

Parameters

digital_output	: mask and value to send
current_data	: need to store settings as the gp_output command is a combo command

Returns: Command : the command to send down the wire.

Definition at line 84 of file command.cpp.

◆ SetExternalPower()

Command kobuki::Command::SetExternalPower	(	const DigitalOutput &	digital_output,
		Command::Data &	current_data
	)

static

Set one of the external power sources available to the user.

They set the second 4 bits(0x00f0) on the data.gp_out variable.

Todo:: could use far better documentation here/example here.

Parameters

digital_output	: mask and value to send
current_data	: need to store settings as the gp_output command is a combo command

Returns: Command : the command to send down the wire.

Definition at line 115 of file command.cpp.

◆ SetLedArray()

Command kobuki::Command::SetLedArray	(	const enum LedNumber &	number,
		const enum LedColour &	colour,
		Command::Data &	current_data
	)

static

Update the gp_out bits and get ready for sending as a SetDigitalOut command.

The led arrays are obtained from the gp_outputs with a 0x0f00 mask.

Led1 Red : 0x0100
Led1 Green : 0x0200
Led1 Orange : 0x0300
Led2 Red : 0x0400
Led2 Green : 0x0800
Led2 Orange : 0x0c00

Important to overlay this on top of the existing gp_out configuration.

Parameters

number	: led enumerated number
colour	: green, orange, red or black
current_data	: need to store settings as the gp_output command is a combo command

Returns: Command : the command to send down the wire.

Definition at line 53 of file command.cpp.

◆ SetVelocityControl() [1/2]

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

static

Definition at line 157 of file command.cpp.

◆ SetVelocityControl() [2/2]

Command kobuki::Command::SetVelocityControl	(	const int16_t &	speed,
		const int16_t &	radius
	)

static

Definition at line 167 of file command.cpp.

Member Data Documentation

◆ data

Data kobuki::Command::data

Definition at line 126 of file command.hpp.

◆ header0

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

staticprivate

Definition at line 133 of file command.hpp.

◆ header1

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

staticprivate

Definition at line 134 of file command.hpp.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Buffer

◆ BufferStencil

Member Enumeration Documentation

◆ Name

◆ VersionFlag

Constructor & Destructor Documentation

◆ ~Command()

Member Function Documentation

◆ deserialise()

◆ GetControllerGain()

◆ GetVersionInfo()

◆ PlaySoundSequence()

◆ resetBuffer()

◆ serialise()

◆ SetControllerGain()

◆ SetDigitalOutput()

◆ SetExternalPower()

◆ SetLedArray()

◆ SetVelocityControl() [1/2]

◆ SetVelocityControl() [2/2]

Member Data Documentation

◆ data

◆ header0

◆ header1