Classes
class	BadAckException

class	CmdMessage

class	CmdProcessorReset

class	CmdRestoreSettings

class	CmdStoreSettings

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	Exception

class	Logger

class	Message

class	MessageException

class	Request

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	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_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, 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_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_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_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_MAGNETOMETER = 0x8606, 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 (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 (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

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

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

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 skyne.nosp@m.t@cl.nosp@m.earpa.nosp@m.thro.nosp@m.botic.nosp@m.s.co.nosp@m.m

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

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

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 skyne.nosp@m.t@cl.nosp@m.earpa.nosp@m.thro.nosp@m.botic.nosp@m.s.co.nosp@m.m

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

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

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 skyne.nosp@m.t@cl.nosp@m.earpa.nosp@m.thro.nosp@m.botic.nosp@m.s.co.nosp@m.m

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

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

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 skyne.nosp@m.t@cl.nosp@m.earpa.nosp@m.thro.nosp@m.botic.nosp@m.s.co.nosp@m.m

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

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

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 skyne.nosp@m.t@cl.nosp@m.earpa.nosp@m.thro.nosp@m.botic.nosp@m.s.co.nosp@m.m

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

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

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 skyne.nosp@m.t@cl.nosp@m.earpa.nosp@m.thro.nosp@m.botic.nosp@m.s.co.nosp@m.m

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

File: Number.h Desc: Provides a family of functions similar in form to stdlib atoi and friends, for conversion between numeric primitives and small-endian byte arrays. Auth: Iain Peet

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 skyne.nosp@m.t@cl.nosp@m.earpa.nosp@m.thro.nosp@m.botic.nosp@m.s.co.nosp@m.m

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

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

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 skyne.nosp@m.t@cl.nosp@m.earpa.nosp@m.thro.nosp@m.botic.nosp@m.s.co.nosp@m.m

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

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

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 skyne.nosp@m.t@cl.nosp@m.earpa.nosp@m.thro.nosp@m.botic.nosp@m.s.co.nosp@m.m

Enumeration Type Documentation

enum clearpath::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_MAX_SPEED
SET_MAX_ACCEL
SET_GEAR_SETPOINT
SET_GPADC_OUTPUT
SET_GPIO_DIRECTION
SET_GPIO_OUTPUT
SET_PTZ_POSITION
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_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_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_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_MAGNETOMETER
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 211 of file Message.h.

Function Documentation

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

Definition at line 161 of file Number.cpp.

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

Definition at line 136 of file Number.cpp.

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

Definition at line 121 of file Number.cpp.

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

Definition at line 93 of file Number.cpp.

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

Definition at line 71 of file Number.cpp.

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

Definition at line 111 of file Number.cpp.

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

Definition at line 116 of file Number.cpp.

void clearpath::loggerTermHandler ( int signal )

Definition at line 61 of file Logger.cpp.

clearpath::MESSAGE_CONSTRUCTORS	(	DataDifferentialSpeed	,
		PAYLOAD_LEN
	)

clearpath::MESSAGE_CONSTRUCTORS	(	DataEncodersRaw	,
		(1+getCount()*4)
	)

Definition at line 302 of file Message_data.cpp.

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

Definition at line 475 of file Message_data.cpp.

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

Definition at line 519 of file Message_data.cpp.

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

Definition at line 707 of file Message_data.cpp.

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

Definition at line 735 of file Message_data.cpp.

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

Definition at line 763 of file Message_data.cpp.

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

Definition at line 829 of file Message_data.cpp.

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

Definition at line 951 of file Message_data.cpp.

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

Definition at line 981 of file Message_data.cpp.

clearpath::MESSAGE_CONVENIENCE_FNS	(	DataDifferentialSpeed	,
		DATA_DIFF_WHEEL_SPEEDS
	)

clearpath::MESSAGE_CONVENIENCE_FNS	(	DataEncoders	,
		DATA_ENCODER
	)

void clearpath::utob	(	void *	dest,
		size_t	dest_len,
		uint64_t	src
	)

Definition at line 56 of file Number.cpp.

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

Definition at line 101 of file Number.cpp.

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

Definition at line 106 of file Number.cpp.

Classes

Enumerations

Functions

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Enumeration Type Documentation

Function Documentation