Class Command

Defined in File command.hpp

Nested Relationships

Nested Types

Struct Command::Data

Inheritance Relationships

Base Type

public packet_handler::payloadBase (Class payloadBase)

Class Documentation

class Command : public packet_handler::payloadBase 

Public Types

enum Name

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

Values:

enumerator BaseControl

enumerator Sound

enumerator SoundSequence

enumerator RequestExtra

enumerator ChangeFrame

enumerator RequestEeprom

enumerator SetDigitalOut

enumerator SetController

enumerator GetController

enum VersionFlag

Values:

enumerator HardwareVersion

enumerator FirmwareVersion

enumerator UniqueDeviceID

typedef ecl::PushAndPop<unsigned char> Buffer

typedef ecl::Stencil<Buffer> BufferStencil

Public Functions

inline virtual ~Command()

void resetBuffer(Buffer &buffer)

virtual bool serialise(ecl::PushAndPop<unsigned char> &byteStream)

inline virtual bool deserialise(ecl::PushAndPop<unsigned char>&): Unused

Public Members

Data data

Public Static Functions

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

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

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

static Command PlaySoundSequence(const enum SoundSequences &number)

static Command GetVersionInfo()

static Command SetVelocityControl(DiffDrive &diff_drive)

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

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

static Command GetControllerGain()

struct Data

Data structure containing data for commands.

It is important to keep this state as it will have to retain knowledge of the last known command in some instances - e.g. for gp_out commands, quite often the incoming command is only to set the output for a single led while keeping the rest of the current gp_out values as is.

For generating individual commands we modify the data here, then copy the command class (avoid doing mutexes) and spin it off for sending down to the device.

Public Functions

inline Data()

Public Members

Name command

int16_t speed

int16_t radius

uint16_t note

unsigned char duration

unsigned char segment_name

uint16_t request_flags

unsigned char frame_id

uint16_t gp_out

unsigned char type

unsigned int p_gain

unsigned int i_gain

unsigned int d_gain

unsigned char reserved