The core kobuki driver class. More...

#include <kobuki.hpp>

Public Member Functions
Battery	batteryStatus () const

bool	disable ()

bool	enable ()

void	fixPayload (ecl::PushAndPop< unsigned char > &byteStream)

double	getAngularVelocity () const

Cliff::Data	getCliffData () const

bool	getControllerGain ()

ControllerInfo::Data	getControllerInfoData () const

CoreSensors::Data	getCoreSensorData () const

Current::Data	getCurrentData () const

DockIR::Data	getDockIRData () const

GpInput::Data	getGpInputData () const

ecl::Angle< double >	getHeading () const

Inertia::Data	getInertiaData () const

ThreeAxisGyro::Data	getRawInertiaData () const

void	getWheelJointStates (double &wheel_left_angle, double &wheel_left_angle_rate, double &wheel_right_angle, double &wheel_right_angle_rate)

void	init (Parameters &parameters)

	Kobuki ()

void	lockDataAccess ()

void	playSoundSequence (const enum SoundSequences &number)

void	printSigSlotConnections () const
	Print a list of all relevant sigslot connections. More...

void	resetOdometry ()

void	setBaseControl (const double &linear_velocity, const double &angular_velocity)

bool	setControllerGain (const unsigned char &type, const unsigned int &p_gain, const unsigned int &i_gain, const unsigned int &d_gain)

void	setDigitalOutput (const DigitalOutput &digital_output)

void	setExternalPower (const DigitalOutput &digital_output)

void	setLed (const enum LedNumber &number, const enum LedColour &colour)

void	spin ()
	Performs a scan looking for incoming data packets. More...

void	unlockDataAccess ()

void	updateOdometry (ecl::LegacyPose2D< double > &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates)
	Use the current sensor data (encoders and gyro) to calculate an update for the odometry. More...

VersionInfo	versionInfo () const

	~Kobuki ()

Private Member Functions
std::vector< std::string >	log (std::string level, std::string msg)

std::vector< std::string >	log (std::string level, std::string name, std::string msg)

std::vector< std::string >	log (std::string msg)

void	sendBaseControlCommand ()

void	sendCommand (Command command)
	Send the prepared command to the serial port. More...

Private Attributes
AccelerationLimiter	acceleration_limiter

Cliff	cliff

Command::Buffer	command_buffer

ecl::Mutex	command_mutex

ControllerInfo	controller_info

int	controller_info_reminder

CoreSensors	core_sensors

Current	current

PacketFinder::BufferType	data_buffer

ecl::Mutex	data_mutex

DiffDrive	diff_drive

DockIR	dock_ir

EventManager	event_manager

Firmware	firmware

GpInput	gp_input

Hardware	hardware

double	heading_offset

Inertia	inertia

bool	is_alive

bool	is_connected

bool	is_enabled

Command	kobuki_command

PacketFinder	packet_finder

Parameters	parameters

ecl::Serial	serial

bool	shutdown_requested

ecl::Signal	sig_controller_info

ecl::Signal< const std::string & >	sig_debug

ecl::Signal< const std::string & >	sig_error

ecl::Signal< const std::string & >	sig_info

ecl::Signal< const std::vector< std::string > & >	sig_named

ecl::Signal< const std::vector< short > & >	sig_raw_control_command

ecl::Signal< Command::Buffer & >	sig_raw_data_command

ecl::Signal< PacketFinder::BufferType & >	sig_raw_data_stream

ecl::Signal	sig_stream_data

ecl::Signal< const VersionInfo & >	sig_version_info

ecl::Signal< const std::string & >	sig_warn

ecl::Thread	thread

ThreeAxisGyro	three_axis_gyro

UniqueDeviceID	unique_device_id

std::vector< short >	velocity_commands_debug

int	version_info_reminder

Detailed Description

The core kobuki driver class.

This connects to the outside world via sigslots and get accessors.

Definition at line 95 of file kobuki.hpp.

Constructor & Destructor Documentation

◆ Kobuki()

kobuki::Kobuki::Kobuki ( )

Definition at line 55 of file kobuki.cpp.

◆ ~Kobuki()

kobuki::Kobuki::~Kobuki ( )

Shutdown the driver - make sure we wait for the thread to finish.

Definition at line 70 of file kobuki.cpp.

Member Function Documentation

◆ batteryStatus()

Battery kobuki::Kobuki::batteryStatus ( ) const

inline

Definition at line 134 of file kobuki.hpp.

◆ disable()

bool kobuki::Kobuki::disable ( )

Disable power to the motors.

Definition at line 606 of file kobuki.cpp.

◆ enable()

bool kobuki::Kobuki::enable ( )

Enable power to the motors.

Definition at line 600 of file kobuki.cpp.

◆ fixPayload()

void kobuki::Kobuki::fixPayload ( ecl::PushAndPop< unsigned char > & byteStream )

Definition at line 391 of file kobuki.cpp.

◆ getAngularVelocity()

double kobuki::Kobuki::getAngularVelocity ( ) const

Definition at line 438 of file kobuki.cpp.

◆ getCliffData()

Cliff::Data kobuki::Kobuki::getCliffData ( ) const

inline

Definition at line 143 of file kobuki.hpp.

◆ getControllerGain()

bool kobuki::Kobuki::getControllerGain ( )

Definition at line 521 of file kobuki.cpp.

◆ getControllerInfoData()

ControllerInfo::Data kobuki::Kobuki::getControllerInfoData ( ) const

inline

Definition at line 148 of file kobuki.hpp.

◆ getCoreSensorData()

CoreSensors::Data kobuki::Kobuki::getCoreSensorData ( ) const

inline

Definition at line 141 of file kobuki.hpp.

◆ getCurrentData()

Current::Data kobuki::Kobuki::getCurrentData ( ) const

inline

Definition at line 144 of file kobuki.hpp.

◆ getDockIRData()

DockIR::Data kobuki::Kobuki::getDockIRData ( ) const

inline

Definition at line 142 of file kobuki.hpp.

◆ getGpInputData()

GpInput::Data kobuki::Kobuki::getGpInputData ( ) const

inline

Definition at line 146 of file kobuki.hpp.

◆ getHeading()

ecl::Angle< double > kobuki::Kobuki::getHeading ( ) const

Definition at line 430 of file kobuki.cpp.

◆ getInertiaData()

Inertia::Data kobuki::Kobuki::getInertiaData ( ) const

inline

Definition at line 145 of file kobuki.hpp.

◆ getRawInertiaData()

ThreeAxisGyro::Data kobuki::Kobuki::getRawInertiaData ( ) const

inline

Definition at line 147 of file kobuki.hpp.

◆ getWheelJointStates()

void kobuki::Kobuki::getWheelJointStates	(	double &	wheel_left_angle,
		double &	wheel_left_angle_rate,
		double &	wheel_right_angle,
		double &	wheel_right_angle_rate
	)

Definition at line 456 of file kobuki.cpp.

◆ init()

void kobuki::Kobuki::init ( Parameters & parameters )

Definition at line 78 of file kobuki.cpp.

◆ lockDataAccess()

void kobuki::Kobuki::lockDataAccess ( )

Usually you should call the getXXX functions from within slot callbacks connected to this driver's signals. This ensures that data is not overwritten inbetween getXXX calls as it all happens in the serial device's reading thread (aye, convoluted - apologies for the multiple robot and multiple developer adhoc hacking over 4-5 years for hasty demos on pre-kobuki robots. This has generated such wonderful spaghetti ;).

If instead you just want to poll kobuki, then you should lock and unlock the data access around any getXXX calls.

Definition at line 160 of file kobuki.cpp.

◆ log() [1/3]

std::vector<std::string> kobuki::Kobuki::log	(	std::string	level,
		std::string	msg
	)

inlineprivate

Definition at line 255 of file kobuki.hpp.

◆ log() [2/3]

std::vector<std::string> kobuki::Kobuki::log	(	std::string	level,
		std::string	name,
		std::string	msg
	)

inlineprivate

Definition at line 256 of file kobuki.hpp.

◆ log() [3/3]

std::vector<std::string> kobuki::Kobuki::log ( std::string msg )

inlineprivate

Definition at line 254 of file kobuki.hpp.

◆ playSoundSequence()

void kobuki::Kobuki::playSoundSequence ( const enum SoundSequences & number )

Definition at line 501 of file kobuki.cpp.

◆ printSigSlotConnections()

void kobuki::Kobuki::printSigSlotConnections ( ) const

Print a list of all relevant sigslot connections.

This includes both the kobuki driver signals as well as externally connected slots. Useful for when you need to check if any of your connections are dangling (often happens when you typo the name of the sigslots connection).

Definition at line 622 of file kobuki.cpp.

◆ resetOdometry()

void kobuki::Kobuki::resetOdometry ( )

Definition at line 448 of file kobuki.cpp.

◆ sendBaseControlCommand()

void kobuki::Kobuki::sendBaseControlCommand ( )

private

Definition at line 540 of file kobuki.cpp.

◆ sendCommand()

void kobuki::Kobuki::sendCommand ( Command command )

private

Send the prepared command to the serial port.

Need to be a bit careful here, because we have no control over how the user is calling this - they may be calling from different threads (this is so for kobuki_node), so we mutex protect it here rather than relying on the user to do so above.

Parameters

command : prepared command template (see Command's static member functions).

Definition at line 570 of file kobuki.cpp.

◆ setBaseControl()

void kobuki::Kobuki::setBaseControl	(	const double &	linear_velocity,
		const double &	angular_velocity
	)

Definition at line 535 of file kobuki.cpp.

◆ setControllerGain()

bool kobuki::Kobuki::setControllerGain	(	const unsigned char &	type,
		const unsigned int &	p_gain,
		const unsigned int &	i_gain,
		const unsigned int &	d_gain
	)

Definition at line 506 of file kobuki.cpp.

◆ setDigitalOutput()

void kobuki::Kobuki::setDigitalOutput ( const DigitalOutput & digital_output )

Definition at line 488 of file kobuki.cpp.

◆ setExternalPower()

void kobuki::Kobuki::setExternalPower ( const DigitalOutput & digital_output )

Definition at line 492 of file kobuki.cpp.

◆ setLed()

void kobuki::Kobuki::setLed	(	const enum LedNumber &	number,
		const enum LedColour &	colour
	)

Definition at line 483 of file kobuki.cpp.

◆ spin()

void kobuki::Kobuki::spin ( )

Performs a scan looking for incoming data packets.

Sits on the device waiting for incoming and then parses it, and signals that an update has occured.

Or, if in simulation, just loopsback the motor devices.

Definition at line 181 of file kobuki.cpp.

◆ unlockDataAccess()

void kobuki::Kobuki::unlockDataAccess ( )

Unlock a previously locked data access privilege.

See also: lockDataAccess()

Definition at line 168 of file kobuki.cpp.

◆ updateOdometry()

void kobuki::Kobuki::updateOdometry	(	ecl::LegacyPose2D< double > &	pose_update,
		ecl::linear_algebra::Vector3d &	pose_update_rates
	)

Use the current sensor data (encoders and gyro) to calculate an update for the odometry.

This fuses current sensor data with the last updated odometry state to produce the new odometry state. This will be usually done in the slot callback to the stream_data signal.

It is important that this is called every time a data packet is received from the robot.

Parameters

pose_update	: return the pose updates in this variable.
pose_update_rates	: return the pose update rates in this variable.

Definition at line 473 of file kobuki.cpp.

◆ versionInfo()

VersionInfo kobuki::Kobuki::versionInfo ( ) const

inline

Definition at line 133 of file kobuki.hpp.

Member Data Documentation

◆ acceleration_limiter

AccelerationLimiter kobuki::Kobuki::acceleration_limiter

private

Definition at line 207 of file kobuki.hpp.

◆ cliff

Cliff kobuki::Kobuki::cliff

private

Definition at line 215 of file kobuki.hpp.

◆ command_buffer

Command::Buffer kobuki::Kobuki::command_buffer

private

Definition at line 243 of file kobuki.hpp.

◆ command_mutex

ecl::Mutex kobuki::Kobuki::command_mutex

private

Definition at line 237 of file kobuki.hpp.

◆ controller_info

ControllerInfo kobuki::Kobuki::controller_info

private

Definition at line 222 of file kobuki.hpp.

◆ controller_info_reminder

int kobuki::Kobuki::controller_info_reminder

private

Definition at line 230 of file kobuki.hpp.

◆ core_sensors

CoreSensors kobuki::Kobuki::core_sensors

private

Definition at line 212 of file kobuki.hpp.

◆ current

Current kobuki::Kobuki::current

private

Definition at line 216 of file kobuki.hpp.

◆ data_buffer

PacketFinder::BufferType kobuki::Kobuki::data_buffer

private

Definition at line 226 of file kobuki.hpp.

◆ data_mutex

ecl::Mutex kobuki::Kobuki::data_mutex

private

Definition at line 241 of file kobuki.hpp.

◆ diff_drive

DiffDrive kobuki::Kobuki::diff_drive

private

Definition at line 190 of file kobuki.hpp.

◆ dock_ir

DockIR kobuki::Kobuki::dock_ir

private

Definition at line 214 of file kobuki.hpp.

◆ event_manager

EventManager kobuki::Kobuki::event_manager

private

Definition at line 249 of file kobuki.hpp.

◆ firmware

Firmware kobuki::Kobuki::firmware

private

Definition at line 219 of file kobuki.hpp.

◆ gp_input

GpInput kobuki::Kobuki::gp_input

private

Definition at line 217 of file kobuki.hpp.

◆ hardware

Hardware kobuki::Kobuki::hardware

private

Definition at line 218 of file kobuki.hpp.

◆ heading_offset

double kobuki::Kobuki::heading_offset

private

Definition at line 196 of file kobuki.hpp.

◆ inertia

Inertia kobuki::Kobuki::inertia

private

Definition at line 213 of file kobuki.hpp.

◆ is_alive

bool kobuki::Kobuki::is_alive

private

Definition at line 227 of file kobuki.hpp.

◆ is_connected

bool kobuki::Kobuki::is_connected

private

Definition at line 202 of file kobuki.hpp.

◆ is_enabled

bool kobuki::Kobuki::is_enabled

private

Definition at line 191 of file kobuki.hpp.

◆ kobuki_command

Command kobuki::Kobuki::kobuki_command

private

Definition at line 242 of file kobuki.hpp.

◆ packet_finder

PacketFinder kobuki::Kobuki::packet_finder

private

Definition at line 225 of file kobuki.hpp.

◆ parameters

Parameters kobuki::Kobuki::parameters

private

Definition at line 201 of file kobuki.hpp.

◆ serial

ecl::Serial kobuki::Kobuki::serial

private

Definition at line 224 of file kobuki.hpp.

◆ shutdown_requested

bool kobuki::Kobuki::shutdown_requested

private

Definition at line 185 of file kobuki.hpp.

◆ sig_controller_info

ecl::Signal kobuki::Kobuki::sig_controller_info

private

Definition at line 267 of file kobuki.hpp.

◆ sig_debug

ecl::Signal<const std::string&> kobuki::Kobuki::sig_debug

private

Definition at line 269 of file kobuki.hpp.

◆ sig_error

ecl::Signal<const std::string&> kobuki::Kobuki::sig_error

private

Definition at line 269 of file kobuki.hpp.

◆ sig_info

ecl::Signal<const std::string&> kobuki::Kobuki::sig_info

private

Definition at line 269 of file kobuki.hpp.

◆ sig_named

ecl::Signal<const std::vector<std::string>&> kobuki::Kobuki::sig_named

private

Definition at line 270 of file kobuki.hpp.

◆ sig_raw_control_command

ecl::Signal<const std::vector<short>&> kobuki::Kobuki::sig_raw_control_command

private

Definition at line 273 of file kobuki.hpp.

◆ sig_raw_data_command

ecl::Signal<Command::Buffer&> kobuki::Kobuki::sig_raw_data_command

private

Definition at line 271 of file kobuki.hpp.

◆ sig_raw_data_stream

ecl::Signal<PacketFinder::BufferType&> kobuki::Kobuki::sig_raw_data_stream

private

Definition at line 272 of file kobuki.hpp.

◆ sig_stream_data

ecl::Signal kobuki::Kobuki::sig_stream_data

private

Definition at line 267 of file kobuki.hpp.

◆ sig_version_info

ecl::Signal<const VersionInfo&> kobuki::Kobuki::sig_version_info

private

Definition at line 268 of file kobuki.hpp.

◆ sig_warn

ecl::Signal<const std::string&> kobuki::Kobuki::sig_warn

private

Definition at line 269 of file kobuki.hpp.

◆ thread

ecl::Thread kobuki::Kobuki::thread

private

Definition at line 184 of file kobuki.hpp.

◆ three_axis_gyro

ThreeAxisGyro kobuki::Kobuki::three_axis_gyro

private

Definition at line 221 of file kobuki.hpp.

◆ unique_device_id

UniqueDeviceID kobuki::Kobuki::unique_device_id

private

Definition at line 220 of file kobuki.hpp.

◆ velocity_commands_debug

std::vector<short> kobuki::Kobuki::velocity_commands_debug

private

Definition at line 244 of file kobuki.hpp.

◆ version_info_reminder

int kobuki::Kobuki::version_info_reminder

private

Definition at line 229 of file kobuki.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Kobuki()

◆ ~Kobuki()

Member Function Documentation

◆ batteryStatus()

◆ disable()

◆ enable()

◆ fixPayload()

◆ getAngularVelocity()

◆ getCliffData()

◆ getControllerGain()

◆ getControllerInfoData()

◆ getCoreSensorData()

◆ getCurrentData()

◆ getDockIRData()

◆ getGpInputData()

◆ getHeading()

◆ getInertiaData()

◆ getRawInertiaData()

◆ getWheelJointStates()

◆ init()

◆ lockDataAccess()

◆ log() [1/3]

◆ log() [2/3]

◆ log() [3/3]

◆ playSoundSequence()

◆ printSigSlotConnections()

◆ resetOdometry()

◆ sendBaseControlCommand()

◆ sendCommand()

◆ setBaseControl()

◆ setControllerGain()

◆ setDigitalOutput()

◆ setExternalPower()

◆ setLed()

◆ spin()

◆ unlockDataAccess()

◆ updateOdometry()

◆ versionInfo()

Member Data Documentation

◆ acceleration_limiter

◆ cliff

◆ command_buffer

◆ command_mutex

◆ controller_info

◆ controller_info_reminder

◆ core_sensors

◆ current

◆ data_buffer

◆ data_mutex

◆ diff_drive

◆ dock_ir

◆ event_manager

◆ firmware

◆ gp_input

◆ hardware

◆ heading_offset

◆ inertia

◆ is_alive

◆ is_connected

◆ is_enabled

◆ kobuki_command

◆ packet_finder

◆ parameters

◆ serial

◆ shutdown_requested

◆ sig_controller_info

◆ sig_debug

◆ sig_error

◆ sig_info

◆ sig_named

◆ sig_raw_control_command

◆ sig_raw_data_command

◆ sig_raw_data_stream

◆ sig_stream_data

◆ sig_version_info