The core xbot driver class. More...

#include <xbot.hpp>

Public Member Functions
void	base_fixPayload (ecl::PushAndPop< unsigned char > &byteStream)

bool	base_isAlive () const

void	base_lockDataAccess ()

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

void	base_unlockDataAccess ()

bool	disable ()

bool	enable ()

double	getAngularVelocity () const

CoreSensors::Data	getCoreSensorData () const

int	getDebugSensors () const

Sensors::Data	getExtraSensorsData () const

double	getHeading () const

unsigned char	getPitchPlatformDegree () const

bool	getPowerState ()

bool	getStopButtonState () const

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

unsigned char	getYawPlatformDegree () const

void	init (Parameters &parameters) throw (ecl::StandardException)

bool	is_base_connected () const

bool	is_sensor_connected () const

bool	isEnabled () const

bool	isShutdown () const

void	resetOdometry ()

void	resetXbot ()

void	resetXbotState ()

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

bool	sensor_isAlive () const

void	sensor_lockDataAccess ()

void	sensor_spin ()

void	sensor_unlockDataAccess ()

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

void	setLedControl (const char &led)

void	setLiftControl (const unsigned char &height_percent)

void	setPitchPlatformControl (const int &pitch_degree)

void	setPowerControl (const bool &power)

void	setSoundEnableControl (const bool &sound)

void	setYawPlatformControl (const int &yaw_degree)

void	shutdown ()

void	updateOdometry (ecl::Pose2D< 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...

	Xbot ()

	~Xbot ()

Private Member Functions
void	sendBaseControlCommand ()

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

Private Attributes
AccelerationLimiter	acceleration_limiter

ecl::Mutex	base_command_mutex

PacketFinder::BufferType	base_data_buffer

ecl::Mutex	base_data_mutex

bool	base_is_alive

bool	base_is_connected

PacketFinder	base_packet_finder

ecl::Serial	base_serial

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

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

ecl::Signal	base_sig_stream_data

ecl::Thread	base_thread

Command::Buffer	command_buffer

CoreSensors	core_sensors

DiffDrive	diff_drive

double	heading_offset

unsigned char	HeightPercent

bool	is_enabled

Parameters	parameters

bool	Power

ecl::Mutex	sensor_command_mutex

PacketFinder::BufferType	sensor_data_buffer

ecl::Mutex	sensor_data_mutex

bool	sensor_is_alive

bool	sensor_is_connected

PacketFinder	sensor_packet_finder

ecl::Serial	sensor_serial

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

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

ecl::Signal	sensor_sig_stream_data

ecl::Thread	sensor_thread

Sensors	sensors

bool	shutdown_requested

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::string & >	sig_warn

Command	xbot_command

Detailed Description

The core xbot driver class.

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

Definition at line 86 of file xbot.hpp.

Constructor & Destructor Documentation

xbot::Xbot::Xbot ( )

Definition at line 49 of file xbot.cpp.

xbot::Xbot::~Xbot ( )

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

Definition at line 64 of file xbot.cpp.

Member Function Documentation

void xbot::Xbot::base_fixPayload ( ecl::PushAndPop< unsigned char > & byteStream )

Definition at line 307 of file xbot.cpp.

bool xbot::Xbot::base_isAlive ( ) const

inline

Whether the connection to the robot is alive and currently streaming.

Definition at line 96 of file xbot.hpp.

void xbot::Xbot::base_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-xbot robots. This has generated such wonderful spaghetti ;).

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

Definition at line 169 of file xbot.cpp.

void xbot::Xbot::base_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 190 of file xbot.cpp.

void xbot::Xbot::base_unlockDataAccess ( )

Unlock a previously locked data access privilege.

See also: lockDataAccess()

Definition at line 175 of file xbot.cpp.

bool xbot::Xbot::disable ( )

Disable power to the motors.

Definition at line 719 of file xbot.cpp.

bool xbot::Xbot::enable ( )

Enable power to the motors.

Definition at line 713 of file xbot.cpp.

double xbot::Xbot::getAngularVelocity ( ) const

Definition at line 505 of file xbot.cpp.

CoreSensors::Data xbot::Xbot::getCoreSensorData ( ) const

inline

Definition at line 174 of file xbot.hpp.

int xbot::Xbot::getDebugSensors ( ) const

Definition at line 502 of file xbot.cpp.

Sensors::Data xbot::Xbot::getExtraSensorsData ( ) const

inline

Definition at line 176 of file xbot.hpp.

double xbot::Xbot::getHeading ( ) const

Definition at line 491 of file xbot.cpp.

unsigned char xbot::Xbot::getPitchPlatformDegree ( ) const

bool xbot::Xbot::getPowerState ( )

inline

Definition at line 165 of file xbot.hpp.

bool xbot::Xbot::getStopButtonState ( ) const

void xbot::Xbot::getWheelJointStates	(	float &	wheel_left_angle,
		float &	wheel_left_angle_rate,
		float &	wheel_right_angle,
		float &	wheel_right_angle_rate
	)

Definition at line 529 of file xbot.cpp.

unsigned char xbot::Xbot::getYawPlatformDegree ( ) const

void xbot::Xbot::init	(	Parameters &	parameters	)
throw	(	ecl::StandardException
	)

Definition at line 77 of file xbot.cpp.

bool xbot::Xbot::is_base_connected ( ) const

inline

Definition at line 113 of file xbot.hpp.

bool xbot::Xbot::is_sensor_connected ( ) const

inline

Definition at line 114 of file xbot.hpp.

bool xbot::Xbot::isEnabled ( ) const

inline

Whether the motor power is enabled or disabled.

Definition at line 104 of file xbot.hpp.

bool xbot::Xbot::isShutdown ( ) const

inline

Whether the worker thread is alive or not.

Definition at line 101 of file xbot.hpp.

void xbot::Xbot::resetOdometry ( )

Definition at line 521 of file xbot.cpp.

void xbot::Xbot::resetXbot ( )

Definition at line 593 of file xbot.cpp.

void xbot::Xbot::resetXbotState ( )

Definition at line 510 of file xbot.cpp.

void xbot::Xbot::sendBaseControlCommand ( )

private

Definition at line 601 of file xbot.cpp.

void xbot::Xbot::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 xbot_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 636 of file xbot.cpp.

void xbot::Xbot::sensor_fixPayload ( ecl::PushAndPop< unsigned char > & byteStream )

Definition at line 456 of file xbot.cpp.

bool xbot::Xbot::sensor_isAlive ( ) const

inline

Definition at line 100 of file xbot.hpp.

void xbot::Xbot::sensor_lockDataAccess ( )

Definition at line 177 of file xbot.cpp.

void xbot::Xbot::sensor_spin ( )

Definition at line 339 of file xbot.cpp.

void xbot::Xbot::sensor_unlockDataAccess ( )

Definition at line 179 of file xbot.cpp.

void xbot::Xbot::setBaseControl	(	const float &	linear_velocity,
		const float &	angular_velocity
	)

Definition at line 563 of file xbot.cpp.

void xbot::Xbot::setLedControl ( const char & led )

Definition at line 590 of file xbot.cpp.

void xbot::Xbot::setLiftControl ( const unsigned char & height_percent )

Definition at line 573 of file xbot.cpp.

void xbot::Xbot::setPitchPlatformControl ( const int & pitch_degree )

Definition at line 582 of file xbot.cpp.

void xbot::Xbot::setPowerControl ( const bool & power )

Definition at line 568 of file xbot.cpp.

void xbot::Xbot::setSoundEnableControl ( const bool & sound )

Definition at line 586 of file xbot.cpp.

void xbot::Xbot::setYawPlatformControl ( const int & yaw_degree )

Definition at line 578 of file xbot.cpp.

void xbot::Xbot::shutdown ( )

inline

Gently terminate the worker thread.

Definition at line 109 of file xbot.hpp.

void xbot::Xbot::updateOdometry	(	ecl::Pose2D< 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 552 of file xbot.cpp.

Member Data Documentation

AccelerationLimiter xbot::Xbot::acceleration_limiter

private

Definition at line 256 of file xbot.hpp.

ecl::Mutex xbot::Xbot::base_command_mutex

private

Definition at line 280 of file xbot.hpp.

PacketFinder::BufferType xbot::Xbot::base_data_buffer

private

Definition at line 266 of file xbot.hpp.

ecl::Mutex xbot::Xbot::base_data_mutex

private

Definition at line 282 of file xbot.hpp.

bool xbot::Xbot::base_is_alive

private

Definition at line 272 of file xbot.hpp.

bool xbot::Xbot::base_is_connected

private

Definition at line 249 of file xbot.hpp.

PacketFinder xbot::Xbot::base_packet_finder

private

Definition at line 265 of file xbot.hpp.

ecl::Serial xbot::Xbot::base_serial

private

Definition at line 264 of file xbot.hpp.

ecl::Signal<Command::Buffer &> xbot::Xbot::base_sig_raw_data_command

private

Definition at line 297 of file xbot.hpp.

ecl::Signal<PacketFinder::BufferType &> xbot::Xbot::base_sig_raw_data_stream

private

Definition at line 305 of file xbot.hpp.

ecl::Signal xbot::Xbot::base_sig_stream_data

private

Definition at line 294 of file xbot.hpp.

ecl::Thread xbot::Xbot::base_thread

private

Definition at line 221 of file xbot.hpp.

Command::Buffer xbot::Xbot::command_buffer

private

Definition at line 289 of file xbot.hpp.

CoreSensors xbot::Xbot::core_sensors

private

Definition at line 261 of file xbot.hpp.

DiffDrive xbot::Xbot::diff_drive

private

Definition at line 235 of file xbot.hpp.

double xbot::Xbot::heading_offset

private

Definition at line 242 of file xbot.hpp.

unsigned char xbot::Xbot::HeightPercent

private

Definition at line 229 of file xbot.hpp.

bool xbot::Xbot::is_enabled

private

Definition at line 236 of file xbot.hpp.

Parameters xbot::Xbot::parameters

private

Definition at line 247 of file xbot.hpp.

bool xbot::Xbot::Power

private

Definition at line 230 of file xbot.hpp.

ecl::Mutex xbot::Xbot::sensor_command_mutex

private

Definition at line 284 of file xbot.hpp.

PacketFinder::BufferType xbot::Xbot::sensor_data_buffer

private

Definition at line 271 of file xbot.hpp.

ecl::Mutex xbot::Xbot::sensor_data_mutex

private

Definition at line 285 of file xbot.hpp.

bool xbot::Xbot::sensor_is_alive

private

Definition at line 273 of file xbot.hpp.

bool xbot::Xbot::sensor_is_connected

private

Definition at line 251 of file xbot.hpp.

PacketFinder xbot::Xbot::sensor_packet_finder

private

Definition at line 270 of file xbot.hpp.

ecl::Serial xbot::Xbot::sensor_serial

private

Definition at line 269 of file xbot.hpp.

ecl::Signal<Command::Buffer &> xbot::Xbot::sensor_sig_raw_data_command

private

Definition at line 303 of file xbot.hpp.

ecl::Signal<PacketFinder::BufferType &> xbot::Xbot::sensor_sig_raw_data_stream

private

Definition at line 308 of file xbot.hpp.

ecl::Signal xbot::Xbot::sensor_sig_stream_data

private

Definition at line 295 of file xbot.hpp.

ecl::Thread xbot::Xbot::sensor_thread

private

Definition at line 223 of file xbot.hpp.

Sensors xbot::Xbot::sensors

private

Definition at line 262 of file xbot.hpp.

bool xbot::Xbot::shutdown_requested

private

Definition at line 224 of file xbot.hpp.

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

private

Definition at line 296 of file xbot.hpp.

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

private

Definition at line 296 of file xbot.hpp.

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

private

Definition at line 296 of file xbot.hpp.

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

private

Definition at line 296 of file xbot.hpp.

Command xbot::Xbot::xbot_command

private

Definition at line 288 of file xbot.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

Member Function Documentation

Member Data Documentation