SIP Class Reference

#include <sip.h>

List of all members.

Public Member Functions
void	FillStandard (ros_p2os_data_t *data)
void	ParseArm (unsigned char *buffer)
void	ParseArmInfo (unsigned char *buffer)
void	ParseGyro (unsigned char *buffer)
void	ParseSERAUX (unsigned char *buffer)
void	ParseStandard (unsigned char *buffer)
void	Print ()
void	PrintArm ()
void	PrintArmInfo ()
void	PrintSonars ()
	SIP (int idx)
	~SIP (void)
Public Attributes
unsigned char	analog
short	angle
int	angle_offset
bool	armConnected
bool	armJointMoving [6]
unsigned char	armJointPos [6]
double	armJointPosRads [6]
ArmJoint *	armJoints
unsigned char	armJointTargetPos [6]
unsigned char	armNumJoints
bool	armPowerOn
char *	armVersionString
unsigned char	battery
unsigned short	blobarea
unsigned int	blobcolor
unsigned short	blobconf
unsigned short	blobmx
unsigned short	blobmy
unsigned short	blobx1
unsigned short	blobx2
unsigned short	bloby1
unsigned short	bloby2
unsigned short	compass
short	control
unsigned char	digin
unsigned char	digout
unsigned short	frontbumpers
int32_t	gyro_rate
double	lastLiftPos
short	lvel
bool	lwstall
unsigned char	motors_enabled
unsigned short	ptu
unsigned short	rawxpos
unsigned short	rawypos
unsigned short	rearbumpers
short	rvel
bool	rwstall
unsigned char	sonar_flag
unsigned char	sonarreadings
unsigned short *	sonars
unsigned char	status
unsigned short	timer
int	x_offset
int	xpos
int	y_offset
int	ypos
Private Member Functions
int	PositionChange (unsigned short, unsigned short)
Private Attributes
int	param_idx

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Detailed Description

Definition at line 54 of file sip.h.

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Constructor & Destructor Documentation

SIP::SIP

(

int

idx

)

[inline]

Definition at line 114 of file sip.h.

SIP::~SIP

(

void

)

[inline]

Definition at line 132 of file sip.h.

---

Member Function Documentation

void SIP::FillStandard

(

ros_p2os_data_t *

data

)

Definition at line 38 of file sip.cc.

void SIP::ParseArm

(

unsigned char *

buffer

)

Definition at line 622 of file sip.cc.

void SIP::ParseArmInfo

(

unsigned char *

buffer

)

Definition at line 667 of file sip.cc.

void SIP::ParseGyro

(

unsigned char *

buffer

)

Definition at line 567 of file sip.cc.

void SIP::ParseSERAUX

(

unsigned char *

buffer

)

Parse a SERAUX SIP packet. For a CMUcam, this will have blob tracking messages in the format (all one-byte values, no spaces):

255 M mx my x1 y1 x2 y2 pixels confidence (10-bytes)

Or color info messages of the format:

255 S Rval Gval Bval Rvar Gvar Bvar (8-bytes)

Definition at line 500 of file sip.cc.

void SIP::ParseStandard

(

unsigned char *

buffer

)

Definition at line 349 of file sip.cc.

int SIP::PositionChange	(	unsigned short	from,
		unsigned short	to
	)		[private]

Definition at line 251 of file sip.cc.

void SIP::Print

(

)

Definition at line 272 of file sip.cc.

void SIP::PrintArm

(

)

Definition at line 332 of file sip.cc.

void SIP::PrintArmInfo

(

)

Definition at line 340 of file sip.cc.

void SIP::PrintSonars

(

)

Definition at line 321 of file sip.cc.

---

Member Data Documentation

unsigned char SIP::analog

Definition at line 64 of file sip.h.

short SIP::angle

Definition at line 67 of file sip.h.

int SIP::angle_offset

Definition at line 70 of file sip.h.

bool SIP::armConnected

Definition at line 83 of file sip.h.

bool SIP::armJointMoving[6]

Definition at line 84 of file sip.h.

unsigned char SIP::armJointPos[6]

Definition at line 85 of file sip.h.

double SIP::armJointPosRads[6]

Definition at line 86 of file sip.h.

ArmJoint* SIP::armJoints

Definition at line 90 of file sip.h.

unsigned char SIP::armJointTargetPos[6]

Definition at line 87 of file sip.h.

unsigned char SIP::armNumJoints

Definition at line 89 of file sip.h.

bool SIP::armPowerOn

Definition at line 83 of file sip.h.

char* SIP::armVersionString

Definition at line 88 of file sip.h.

unsigned char SIP::battery

Definition at line 64 of file sip.h.

unsigned short SIP::blobarea

Definition at line 76 of file sip.h.

unsigned int SIP::blobcolor

Definition at line 77 of file sip.h.

unsigned short SIP::blobconf

Definition at line 76 of file sip.h.

unsigned short SIP::blobmx

Definition at line 74 of file sip.h.

unsigned short SIP::blobmy

Definition at line 74 of file sip.h.

unsigned short SIP::blobx1

Definition at line 75 of file sip.h.

unsigned short SIP::blobx2

Definition at line 75 of file sip.h.

unsigned short SIP::bloby1

Definition at line 75 of file sip.h.

unsigned short SIP::bloby2

Definition at line 75 of file sip.h.

unsigned short SIP::compass

Definition at line 65 of file sip.h.

short SIP::control

Definition at line 67 of file sip.h.

unsigned char SIP::digin

Definition at line 64 of file sip.h.

unsigned char SIP::digout

Definition at line 64 of file sip.h.

unsigned short SIP::frontbumpers

Definition at line 66 of file sip.h.

int32_t SIP::gyro_rate

Definition at line 80 of file sip.h.

double SIP::lastLiftPos

Definition at line 94 of file sip.h.

short SIP::lvel

Definition at line 67 of file sip.h.

bool SIP::lwstall

Definition at line 62 of file sip.h.

unsigned char SIP::motors_enabled

Definition at line 63 of file sip.h.

int SIP::param_idx [private]

Definition at line 58 of file sip.h.

unsigned short SIP::ptu

Definition at line 65 of file sip.h.

unsigned short SIP::rawxpos

Definition at line 65 of file sip.h.

unsigned short SIP::rawypos

Definition at line 66 of file sip.h.

unsigned short SIP::rearbumpers

Definition at line 66 of file sip.h.

short SIP::rvel

Definition at line 67 of file sip.h.

bool SIP::rwstall

Definition at line 62 of file sip.h.

unsigned char SIP::sonar_flag

Definition at line 63 of file sip.h.

unsigned char SIP::sonarreadings

Definition at line 64 of file sip.h.

unsigned short* SIP::sonars

Definition at line 68 of file sip.h.

unsigned char SIP::status

Definition at line 64 of file sip.h.

unsigned short SIP::timer

Definition at line 65 of file sip.h.

int SIP::x_offset

Definition at line 70 of file sip.h.

int SIP::xpos

Definition at line 69 of file sip.h.

int SIP::y_offset

Definition at line 70 of file sip.h.

int SIP::ypos

Definition at line 69 of file sip.h.

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The documentation for this class was generated from the following files:

• sip.h
• sip.cc