.. _program_listing_file__tmp_ws_src_kobuki_core_include_kobuki_core_packets_core_sensors.hpp:

Program Listing for File core_sensors.hpp
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_kobuki_core_include_kobuki_core_packets_core_sensors.hpp>` (``/tmp/ws/src/kobuki_core/include/kobuki_core/packets/core_sensors.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   /*****************************************************************************
   ** Preprocessor
   *****************************************************************************/
   
   #ifndef KOBUKI_CORE_CORE_SENSORS_HPP__
   #define KOBUKI_CORE_CORE_SENSORS_HPP__
   
   /*****************************************************************************
   ** Include
   *****************************************************************************/
   
   #include "../packet_handler/payload_base.hpp"
   #include "../macros.hpp"
   #include <stdint.h>
   
   /*****************************************************************************
   ** Namespaces
   *****************************************************************************/
   
   namespace kobuki
   {
   
   /*****************************************************************************
   ** Interface
   *****************************************************************************/
   
   class kobuki_PUBLIC CoreSensors : public packet_handler::payloadBase
   {
   public:
     CoreSensors() : packet_handler::payloadBase(false, 15) {};
   
     struct Data {
       uint16_t time_stamp;
       uint8_t bumper;
       uint8_t wheel_drop;
       uint8_t cliff;
       uint16_t left_encoder;
       uint16_t right_encoder;
       char left_pwm;
       char right_pwm;
       uint8_t buttons;
       uint8_t charger;
       uint8_t battery;
       uint8_t over_current;
     } data;
   
     struct Flags {
       // buttons
       static const uint8_t Button0 = 0x01;
       static const uint8_t Button1 = 0x02;
       static const uint8_t Button2 = 0x04;
   
       // bumper
       static const uint8_t LeftBumper   = 0x04;
       static const uint8_t CenterBumper = 0x02;
       static const uint8_t RightBumper  = 0x01;
   
       // cliff sensor
       static const uint8_t LeftCliff    = 0x04;
       static const uint8_t CenterCliff  = 0x02;
       static const uint8_t RightCliff   = 0x01;
   
       // wheel drop sensor
       static const uint8_t LeftWheel    = 0x02;
       static const uint8_t RightWheel   = 0x01;
   
       // Charging source
       // - first four bits distinguish between adapter or docking base charging
       static const uint8_t AdapterType  = 0x10;
       // - last 4 bits specified the charging status (see Battery.hpp for details)
       static const uint8_t BatteryStateMask = 0x0F;
       static const uint8_t Discharging  = 0x00;
       static const uint8_t Charged      = 0x02;
       static const uint8_t Charging     = 0x06;
   
       // wheel drop sensor
       static const uint8_t LeftWheel_OC    = 0x01;
       static const uint8_t RightWheel_OC   = 0x02;
   
     };
   
     bool serialise(ecl::PushAndPop<unsigned char> & byteStream);
     bool deserialise(ecl::PushAndPop<unsigned char> & byteStream);
   };
   
   } // namespace kobuki
   
   #endif /* KOBUKI_CORE_CORE_SENSORS_HPP__ */