Classes | Enumerations | Functions
sawyer Namespace Reference

Classes

class  BadAckException
class  base_data
class  CmdMessage
class  CmdProcessorReset
class  CmdRestoreSettings
class  CmdStoreSettings
class  Data6AxisYaw
class  DataAckermannOutput
class  DataDifferentialControl
class  DataDifferentialOutput
class  DataDifferentialSpeed
class  DataEcho
class  DataEncoders
class  DataEncodersRaw
class  DataFirmwareInfo
class  DataGear
class  DataMaxAcceleration
class  DataMaxSpeed
class  DataPlatformAcceleration
class  DataPlatformInfo
class  DataPlatformMagnetometer
class  DataPlatformName
class  DataPlatformOrientation
class  DataPlatformRotation
class  DataPowerSystem
class  DataProcessorStatus
class  DataRangefinders
class  DataRangefinderTimings
class  DataRawAcceleration
class  DataRawCurrent
class  DataRawGyro
class  DataRawMagnetometer
class  DataRawOrientation
class  DataRawTemperature
class  DataRawVoltage
class  DataSafetySystemStatus
class  DataSystemStatus
class  DataVelocity
class  DataWheelInfo
class  DataXYZData
class  Exception
class  Logger
class  Message
class  MessageException
class  Request
class  roch_driver
class  SetAckermannOutput
class  SetDifferentialControl
class  SetDifferentialOutput
class  SetDifferentialSpeed
class  SetGear
class  SetMaxAccel
class  SetMaxSpeed
class  SetPlatformName
class  SetPlatformTime
class  SetSafetySystem
class  SetTurn
class  SetVelocity
class  SetWheelInfo
class  Transport
class  TransportException

Enumerations

enum  MessageTypes {
  SET_PLATFORM_NAME = 0x0002, SET_PLATFORM_TIME = 0x0005, SET_SAFETY_SYSTEM = 0x0010, SET_DIFF_WHEEL_SPEEDS = 0x0200,
  SET_DIFF_CTRL_CONSTS = 0x0201, SET_DIFF_WHEEL_SETPTS = 0x0202, SET_ACKERMANN_SETPT = 0x0203, SET_VELOCITY_SETPT = 0x0204,
  SET_TURN_SETPT = 0x0205, SET_WHEEL_INFO = 0x0206, SET_MAX_SPEED = 0x0210, SET_MAX_ACCEL = 0x0211,
  SET_GEAR_SETPOINT = 0x0212, SET_GPADC_OUTPUT = 0x0300, SET_GPIO_DIRECTION = 0x0301, SET_GPIO_OUTPUT = 0x0302,
  SET_PTZ_POSITION = 0x0400, SET_XYZ_DATA = 0x2607, CMD_PROCESSOR_RESET = 0x2000, CMD_RESTORE_SETTINGS = 0x2001,
  CMD_STORE_SETTINGS = 0x2002, REQUEST_ECHO = 0x4000, REQUEST_PLATFORM_INFO = 0x4001, REQUEST_PLATFORM_NAME = 0x4002,
  REQUEST_FIRMWARE_INFO = 0x4003, REQUEST_SYSTEM_STATUS = 0x4004, REQUEST_POWER_SYSTEM = 0x4005, REQUEST_SAFETY_SYSTEM = 0x4010,
  REQUEST_DIFF_WHEEL_SPEEDS = 0x4200, REQUEST_DIFF_CTRL_CONSTS = 0x4201, REQUEST_DIFF_WHEEL_SETPTS = 0x4202, REQUEST_ACKERMANN_SETPTS = 0x4203,
  REQUEST_VELOCITY_SETPT = 0x4204, REQUEST_TURN_SETPT = 0x4205, REQUEST_WHEEL_INFO = 0x4206, REQUEST_MAX_SPEED = 0x4210,
  REQUEST_MAX_ACCEL = 0x4211, REQUEST_GEAR_SETPT = 0x4212, REQUEST_GPADC_OUTPUT = 0x4300, REQUEST_GPIO_STATUS = 0x4301,
  REQUEST_GPADC_INPUT = 0x4303, REQUEST_PTZ_POSITION = 0x4400, REQUEST_DISTANCE_DATA = 0x4500, REQUEST_DISTANCE_TIMING = 0x4501,
  REQUEST_ORIENT = 0x4600, REQUEST_ROT_RATE = 0x4601, REQUEST_ACCEL = 0x4602, REQUEST_6AXIS = 0x4603,
  REQUEST_6AXIS_ORIENT = 0x4604, REQUEST_6AXIS_YAW = 0x4605, REQUEST_XYZ_DATA = 0x4607, REQUEST_ENCODER = 0x4800,
  REQUEST_ENCODER_RAW = 0x4801, DATA_ECHO = 0x8000, DATA_PLATFORM_INFO = 0x8001, DATA_PLATFORM_NAME = 0x8002,
  DATA_FIRMWARE_INFO = 0x8003, DATA_SYSTEM_STATUS = 0x8004, DATA_POWER_SYSTEM = 0x8005, DATA_PROC_STATUS = 0x8006,
  DATA_SAFETY_SYSTEM = 0x8010, DATA_DIFF_WHEEL_SPEEDS = 0x8200, DATA_DIFF_CTRL_CONSTS = 0x8201, DATA_DIFF_WHEEL_SETPTS = 0x8202,
  DATA_ACKERMANN_SETPTS = 0x8203, DATA_VELOCITY_SETPT = 0x8204, DATA_TURN_SETPT = 0x8205, DATA_WHEEL_INFO = 0x8206,
  DATA_MAX_SPEED = 0x8210, DATA_MAX_ACCEL = 0x8211, DATA_GEAR_SETPT = 0x8212, DATA_GPADC_OUTPUT = 0x8300,
  DATA_GPIO_STATUS = 0x8301, DATA_GPADC_INPUT = 0x8303, DATA_PTZ_POSITION = 0x8400, DATA_DISTANCE_DATA = 0x8500,
  DATA_DISTANCE_TIMING = 0x8501, DATA_ORIENT = 0x8600, DATA_ROT_RATE = 0x8601, DATA_ACCEL = 0x8602,
  DATA_6AXIS = 0x8603, DATA_6AXIS_ORIENT = 0x8604, DATA_6AXIS_YAW = 0x8605, DATA_MAGNETOMETER = 0x8606,
  DATA_XYZ_DATA = 0x8607, DATA_ENCODER = 0x8800, DATA_ENCODER_RAW = 0x8801, DATA_CURRENT_RAW = 0xA110,
  DATA_VOLTAGE_RAW = 0xA111, DATA_TEMPERATURE_RAW = 0xA112, DATA_ORIENT_RAW = 0xA113, DATA_GYRO_RAW = 0xA114,
  DATA_ACCEL_RAW = 0xA115, DATA_MAGNETOMETER_RAW = 0xA116
}

Functions

double btof (void *src, size_t src_len, double scale)
int64_t btoi (void *src, size_t src_len)
uint64_t btou (void *src, size_t src_len)
void ftob (void *dest, size_t dest_len, double src, double scale)
void itob (void *dest, size_t dest_len, int64_t src)
void itob (void *dest, size_t dest_len, int32_t src)
void itob (void *dest, size_t dest_len, int16_t src)
void loggerTermHandler (int signal)
 MESSAGE_CONSTRUCTORS (DataDifferentialSpeed, PAYLOAD_LEN)
 MESSAGE_CONSTRUCTORS (DataWheelInfo, PAYLOAD_LEN)
 MESSAGE_CONSTRUCTORS (DataEncodersRaw,(1+getCount()*4)) uint8_t DataEncodersRaw
 MESSAGE_CONSTRUCTORS (DataPlatformInfo,(int) strlenModel()+6) uint8_t DataPlatformInfo
 MESSAGE_CONSTRUCTORS (DataPlatformName,(int)(*getPayloadPointer())+1) string DataPlatformName
 MESSAGE_CONSTRUCTORS (DataProcessorStatus,(1+getProcessCount()*2)) uint8_t DataProcessorStatus
 MESSAGE_CONSTRUCTORS (DataRangefinders,(1+getRangefinderCount()*2)) uint8_t DataRangefinders
 MESSAGE_CONSTRUCTORS (DataRangefinderTimings,(1+getRangefinderCount()*6)) uint8_t DataRangefinderTimings
 MESSAGE_CONSTRUCTORS (DataRawCurrent,(1+getCurrentCount()*2)) uint8_t DataRawCurrent
 MESSAGE_CONSTRUCTORS (DataRawTemperature,(1+2 *getTemperatureCount())) uint8_t DataRawTemperature
 MESSAGE_CONSTRUCTORS (DataRawVoltage,(1+2 *getVoltageCount())) uint8_t DataRawVoltage
 MESSAGE_CONVENIENCE_FNS (DataDifferentialSpeed, DATA_DIFF_WHEEL_SPEEDS)
 MESSAGE_CONVENIENCE_FNS (DataWheelInfo, DATA_WHEEL_INFO)
 MESSAGE_CONVENIENCE_FNS (DataEncoders, DATA_ENCODER)
void utob (void *dest, size_t dest_len, uint64_t src)
void utob (void *dest, size_t dest_len, uint32_t src)
void utob (void *dest, size_t dest_len, uint16_t src)

Detailed Description

File: Exception.h Desc: Provides the sawyer::Exception class, which is the parent class for all sawyer exceptions. Auth: Iain Peet

Copyright (c) 2010, Clearpath Robotics, Inc. Copyright (c) 2016, SawYer Robotics, Inc. All Rights Reserved

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Clearpath ROBOTICS, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Please send comments, questions, or patches to skynet@clearpathrobotics.com

File: Logger.h Desc: Provides the Logger singleton which is used within the sawyer API for log / trace message control Auth: Iain Peet

Copyright (c) 2010, Clearpath Robotics, Inc. Copyright (c) 2016, SawYer Robotics, Inc. All Rights Reserved

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Clearpath ROBOTICS, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Please send comments, questions, or patches to skynet@clearpathrobotics.com

File: Message.h Desc: Definition for the Message class. This class represents a single message which is sent or received from a platform Auth: R. Gariepy, Iain Peet

Copyright (c) 2010, Clearpath Robotics, Inc. Copyright (c) 2016, SawYer Robotics, Inc. All Rights Reserved

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Clearpath ROBOTICS, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Please send comments, questions, or patches to skynet@clearpathrobotics.com

File: Message_cmd.h Desc: Provides Set Message subclasses. Auth: Iain Peet

Copyright (c) 2010, Clearpath Robotics, Inc. Copyright (c) 2016, SawYer Robotics, Inc. All Rights Reserved

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Clearpath ROBOTICS, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Please send comments, questions, or patches to skynet@clearpathrobotics.com

File: HorizonMessage_data.h Desc: Provides Message subclasses corresponding to 'data' type messages Auth: Iain Peet, Mike Purvis

Copyright (c) 2010, Clearpath Robotics, Inc. Copyright (c) 2016, SawYer Robotics, Inc. All Rights Reserved

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Clearpath ROBOTICS, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Please send comments, questions, or patches to skynet@clearpathrobotics.com

File: Message_request.h Desc: Provides the Request class, which is used to request data messages at a particular frequency. Auth: Iain Peet

Copyright (c) 2010, Clearpath Robotics, Inc. Copyright (c) 2016, SawYer Robotics, Inc. All Rights Reserved

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Clearpath ROBOTICS, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Please send comments, questions, or patches to skynet@clearpathrobotics.com

File: HorizonProtocol.cpp Desc: Generic serial communication functions. Pass in void pointers, let the platform-specific implementation do the work. Usually, this should be included by (and linked against) windows_serial.cpp or linux_serial.cpp

Auth: R. Gariepy

Copyright (c) 2010, Clearpath Robotics, Inc. Copyright (c) 2016, SawYer Robotics, Inc. All Rights Reserved

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Clearpath ROBOTICS, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Please send comments, questions, or patches to skynet@clearpathrobotics.com

File: Transport.h Desc: Definition for Horizon transport class. Implements the details of the Horizon communication medium, providing the ability to send and receive messages. Received messages are queued. Auth: R. Gariepy

Copyright (c) 2010, Clearpath Robotics, Inc. Copyright (c) 2016, SawYer Robotics, Inc. All Rights Reserved

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Clearpath ROBOTICS, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Please send comments, questions, or patches to skynet@clearpathrobotics.com

_____ / _ \ / _/ \ \ / / / \ / / _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ \ / / \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | \ / / / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | \ / / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | / /|___||___||_| |_||_| \|_| |_| |_| |_| |_| |_| ROBOTICS™

File: Message_request.cpp Desc: Implements the Request Message class. Auth: Iain Peet

Copyright (c) 2010, Clearpath Robotics, Inc. All Rights Reserved

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Please send comments, questions, or patches to skynet@clearpathrobotics.com

Enumeration Type Documentation

enum sawyer::MessageTypes
Enumerator:
SET_PLATFORM_NAME 
SET_PLATFORM_TIME 
SET_SAFETY_SYSTEM 
SET_DIFF_WHEEL_SPEEDS 
SET_DIFF_CTRL_CONSTS 
SET_DIFF_WHEEL_SETPTS 
SET_ACKERMANN_SETPT 
SET_VELOCITY_SETPT 
SET_TURN_SETPT 
SET_WHEEL_INFO 
SET_MAX_SPEED 
SET_MAX_ACCEL 
SET_GEAR_SETPOINT 
SET_GPADC_OUTPUT 
SET_GPIO_DIRECTION 
SET_GPIO_OUTPUT 
SET_PTZ_POSITION 
SET_XYZ_DATA 
CMD_PROCESSOR_RESET 
CMD_RESTORE_SETTINGS 
CMD_STORE_SETTINGS 
REQUEST_ECHO 
REQUEST_PLATFORM_INFO 
REQUEST_PLATFORM_NAME 
REQUEST_FIRMWARE_INFO 
REQUEST_SYSTEM_STATUS 
REQUEST_POWER_SYSTEM 
REQUEST_SAFETY_SYSTEM 
REQUEST_DIFF_WHEEL_SPEEDS 
REQUEST_DIFF_CTRL_CONSTS 
REQUEST_DIFF_WHEEL_SETPTS 
REQUEST_ACKERMANN_SETPTS 
REQUEST_VELOCITY_SETPT 
REQUEST_TURN_SETPT 
REQUEST_WHEEL_INFO 
REQUEST_MAX_SPEED 
REQUEST_MAX_ACCEL 
REQUEST_GEAR_SETPT 
REQUEST_GPADC_OUTPUT 
REQUEST_GPIO_STATUS 
REQUEST_GPADC_INPUT 
REQUEST_PTZ_POSITION 
REQUEST_DISTANCE_DATA 
REQUEST_DISTANCE_TIMING 
REQUEST_ORIENT 
REQUEST_ROT_RATE 
REQUEST_ACCEL 
REQUEST_6AXIS 
REQUEST_6AXIS_ORIENT 
REQUEST_6AXIS_YAW 
REQUEST_XYZ_DATA 
REQUEST_ENCODER 
REQUEST_ENCODER_RAW 
DATA_ECHO 
DATA_PLATFORM_INFO 
DATA_PLATFORM_NAME 
DATA_FIRMWARE_INFO 
DATA_SYSTEM_STATUS 
DATA_POWER_SYSTEM 
DATA_PROC_STATUS 
DATA_SAFETY_SYSTEM 
DATA_DIFF_WHEEL_SPEEDS 
DATA_DIFF_CTRL_CONSTS 
DATA_DIFF_WHEEL_SETPTS 
DATA_ACKERMANN_SETPTS 
DATA_VELOCITY_SETPT 
DATA_TURN_SETPT 
DATA_WHEEL_INFO 
DATA_MAX_SPEED 
DATA_MAX_ACCEL 
DATA_GEAR_SETPT 
DATA_GPADC_OUTPUT 
DATA_GPIO_STATUS 
DATA_GPADC_INPUT 
DATA_PTZ_POSITION 
DATA_DISTANCE_DATA 
DATA_DISTANCE_TIMING 
DATA_ORIENT 
DATA_ROT_RATE 
DATA_ACCEL 
DATA_6AXIS 
DATA_6AXIS_ORIENT 
DATA_6AXIS_YAW 
DATA_MAGNETOMETER 
DATA_XYZ_DATA 
DATA_ENCODER 
DATA_ENCODER_RAW 
DATA_CURRENT_RAW 
DATA_VOLTAGE_RAW 
DATA_TEMPERATURE_RAW 
DATA_ORIENT_RAW 
DATA_GYRO_RAW 
DATA_ACCEL_RAW 
DATA_MAGNETOMETER_RAW 

Definition at line 207 of file Message.h.

Function Documentation

double sawyer::btof ( void *  src,
size_t  src_len,
double  scale 
)

Definition at line 160 of file Number.cpp.

int64_t sawyer::btoi ( void *  src,
size_t  src_len 
)

Definition at line 135 of file Number.cpp.

uint64_t sawyer::btou ( void *  src,
size_t  src_len 
)

Definition at line 120 of file Number.cpp.

void sawyer::ftob ( void *  dest,
size_t  dest_len,
double  src,
double  scale 
)

Definition at line 92 of file Number.cpp.

void sawyer::itob ( void *  dest,
size_t  dest_len,
int64_t  src 
)

Definition at line 70 of file Number.cpp.

void sawyer::itob ( void *  dest,
size_t  dest_len,
int32_t  src 
)

Definition at line 110 of file Number.cpp.

void sawyer::itob ( void *  dest,
size_t  dest_len,
int16_t  src 
)

Definition at line 115 of file Number.cpp.

void sawyer::loggerTermHandler ( int  signal)

Definition at line 62 of file Logger.cpp.

sawyer::MESSAGE_CONSTRUCTORS ( DataDifferentialSpeed  ,
PAYLOAD_LEN   
)
sawyer::MESSAGE_CONSTRUCTORS ( DataWheelInfo  ,
PAYLOAD_LEN   
)
sawyer::MESSAGE_CONSTRUCTORS ( DataEncodersRaw  ,
(1+getCount()*4)   
)

Definition at line 287 of file Message_data.cpp.

sawyer::MESSAGE_CONSTRUCTORS ( DataPlatformInfo  ,
(int) strlenModel()+  6 
)

Definition at line 460 of file Message_data.cpp.

sawyer::MESSAGE_CONSTRUCTORS ( DataPlatformName  ,
(int)(*  getPayloadPointer 
)

Definition at line 504 of file Message_data.cpp.

sawyer::MESSAGE_CONSTRUCTORS ( DataProcessorStatus  ,
(1+getProcessCount()*2)   
)

Definition at line 725 of file Message_data.cpp.

sawyer::MESSAGE_CONSTRUCTORS ( DataRangefinders  ,
(1+getRangefinderCount()*2)   
)

Definition at line 753 of file Message_data.cpp.

sawyer::MESSAGE_CONSTRUCTORS ( DataRangefinderTimings  ,
(1+getRangefinderCount()*6)   
)

Definition at line 781 of file Message_data.cpp.

sawyer::MESSAGE_CONSTRUCTORS ( DataRawCurrent  ,
(1+getCurrentCount()*2)   
)

Definition at line 873 of file Message_data.cpp.

sawyer::MESSAGE_CONSTRUCTORS ( DataRawTemperature  ,
(1+2 *getTemperatureCount())   
)

Definition at line 995 of file Message_data.cpp.

sawyer::MESSAGE_CONSTRUCTORS ( DataRawVoltage  ,
(1+2 *getVoltageCount())   
)

Definition at line 1025 of file Message_data.cpp.

sawyer::MESSAGE_CONVENIENCE_FNS ( DataDifferentialSpeed  ,
DATA_DIFF_WHEEL_SPEEDS   
)
sawyer::MESSAGE_CONVENIENCE_FNS ( DataWheelInfo  ,
DATA_WHEEL_INFO   
)
sawyer::MESSAGE_CONVENIENCE_FNS ( DataEncoders  ,
DATA_ENCODER   
)
void sawyer::utob ( void *  dest,
size_t  dest_len,
uint64_t  src 
)

Definition at line 55 of file Number.cpp.

void sawyer::utob ( void *  dest,
size_t  dest_len,
uint32_t  src 
)

Definition at line 100 of file Number.cpp.

void sawyer::utob ( void *  dest,
size_t  dest_len,
uint16_t  src 
)

Definition at line 105 of file Number.cpp.


roch_base
Author(s): Mike Purvis , Paul Bovbel , Carl
autogenerated on Sat Jun 8 2019 20:32:33