.. _program_listing_file__tmp_ws_src_kobuki_core_include_kobuki_core_kobuki.hpp:

Program Listing for File kobuki.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_kobuki_core_include_kobuki_core_kobuki.hpp>` (``/tmp/ws/src/kobuki_core/include/kobuki_core/kobuki.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   /*****************************************************************************
    ** Ifdefs
    *****************************************************************************/
   
   #ifndef KOBUKI_CORE_HPP_
   #define KOBUKI_CORE_HPP_
   
   /*****************************************************************************
    ** Includes
    *****************************************************************************/
   
   #include <string>
   #include <iomanip>
   #include <ecl/config.hpp>
   #include <ecl/threads.hpp>
   #include <ecl/devices.hpp>
   #include <ecl/threads/mutex.hpp>
   #include <ecl/exceptions/standard_exception.hpp>
   #include <ecl/geometry.hpp>
   #include "version_info.hpp"
   
   #include "logging.hpp"
   #include "parameters.hpp"
   #include "event_manager.hpp"
   #include "command.hpp"
   #include "modules.hpp"
   #include "packets.hpp"
   #include "packet_handler/packet_finder.hpp"
   #include "macros.hpp"
   
   /*****************************************************************************
   ** Extern Templates
   *****************************************************************************/
   
   #ifdef ECL_IS_WIN32
     /* Help windows create common instances of sigslots across kobuki dll
      * and end user program (otherwise it creates two separate variables!) */
     EXP_TEMPLATE template class kobuki_PUBLIC ecl::SigSlotsManager<>;
     EXP_TEMPLATE template class kobuki_PUBLIC ecl::SigSlotsManager<const kobuki::VersionInfo&>;
     EXP_TEMPLATE template class kobuki_PUBLIC ecl::SigSlotsManager<const std::string&>;
     EXP_TEMPLATE template class kobuki_PUBLIC ecl::SigSlotsManager<kobuki::Command::Buffer&>;
     EXP_TEMPLATE template class kobuki_PUBLIC ecl::SigSlotsManager<kobuki::PacketFinderBase::BufferType&>;
   #endif
   
   /*****************************************************************************
    ** Namespaces
    *****************************************************************************/
   
   namespace kobuki
   {
   /*****************************************************************************
    ** Definitions
    *****************************************************************************/
   
   union union_sint16
   {
     short word;
     unsigned char byte[2];
   };
   
   /*****************************************************************************
   ** Parent Interface
   *****************************************************************************/
   
   class PacketFinder : public PacketFinderBase
   {
   public:
     virtual ~PacketFinder() {}
     bool checkSum();
   };
   
   /*****************************************************************************
    ** Interface [Kobuki]
    *****************************************************************************/
   class kobuki_PUBLIC Kobuki
   {
   public:
     /*********************
      ** C&D
      **********************/
     Kobuki();
     ~Kobuki();
   
     /*********************
      ** Configuration
      **********************/
     void init(Parameters &parameters);
     bool isAlive() const { return is_alive; } 
     bool isShutdown() const { return shutdown_requested; } 
     bool isEnabled() const { return is_enabled; } 
     bool enable(); 
     bool disable(); 
     void shutdown() { shutdown_requested = true; } 
     /******************************************
     ** Packet Processing
     *******************************************/
     void spin();
     void fixPayload(ecl::PushAndPop<unsigned char> & byteStream);
   
     /******************************************
     ** Getters - Data Protection
     *******************************************/
     void lockDataAccess();
     void unlockDataAccess();
   
     /******************************************
     ** Getters - User Friendly Api
     *******************************************/
     /* Be sure to lock/unlock the data access (lockDataAccess and unlockDataAccess)
      * around any getXXX calls - see the doxygen notes for lockDataAccess. */
     ecl::Angle<double> getHeading() const;
     double getAngularVelocity() const;
     VersionInfo versionInfo() const { return VersionInfo(firmware.version(), hardware.data.version, unique_device_id.data.udid0, unique_device_id.data.udid1, unique_device_id.data.udid2); }
     Battery batteryStatus() const { return Battery(core_sensors.data.battery, core_sensors.data.charger); }
   
     /******************************************
     ** Getters - Raw Data Api
     *******************************************/
     /* Be sure to lock/unlock the data access (lockDataAccess and unlockDataAccess)
      * around any getXXX calls - see the doxygen notes for lockDataAccess. */
     CoreSensors::Data getCoreSensorData() const { return core_sensors.data; }
     DockIR::Data getDockIRData() const { return dock_ir.data; }
     Cliff::Data getCliffData() const { return cliff.data; }
     Current::Data getCurrentData() const { return current.data; }
     Inertia::Data getInertiaData() const { return inertia.data; }
     GpInput::Data getGpInputData() const { return gp_input.data; }
     ThreeAxisGyro::Data getRawInertiaData() const { return three_axis_gyro.data; }
     ControllerInfo::Data getControllerInfoData() const { return controller_info.data; }
   
     /*********************
     ** Feedback
     **********************/
     void getWheelJointStates(double &wheel_left_angle, double &wheel_left_angle_rate,
                              double &wheel_right_angle, double &wheel_right_angle_rate);
     void updateOdometry(ecl::linear_algebra::Vector3d &pose_update,
                         ecl::linear_algebra::Vector3d &pose_update_rates);
   
     /*********************
     ** Soft Commands
     **********************/
     void resetOdometry();
   
     /*********************
     ** Hard Commands
     **********************/
     void setBaseControl(const double &linear_velocity, const double &angular_velocity);
     void setLed(const enum LedNumber &number, const enum LedColour &colour);
     void setDigitalOutput(const DigitalOutput &digital_output);
     void setExternalPower(const DigitalOutput &digital_output);
     void playSoundSequence(const enum SoundSequences &number);
     bool setControllerGain(const unsigned char &type, const unsigned int &p_gain,
                            const unsigned int &i_gain, const unsigned int &d_gain);
     bool getControllerGain();
   
     /*********************
     ** Debugging
     **********************/
     void printSigSlotConnections() const;
   
   private:
     /*********************
     ** Thread
     **********************/
     ecl::Thread thread;
     bool shutdown_requested; // helper to shutdown the worker thread.
   
     /*********************
     ** Odometry
     **********************/
     DiffDrive diff_drive;
     bool is_enabled;
   
     /*********************
     ** Inertia
     **********************/
     double heading_offset;
   
     /*********************
     ** Driver Paramters
     **********************/
     Parameters parameters;
     bool is_connected;
   
     /*********************
     ** Acceleration Limiter
     **********************/
     AccelerationLimiter acceleration_limiter;
   
     /*********************
     ** Packet Handling
     **********************/
     CoreSensors core_sensors;
     Inertia inertia;
     DockIR dock_ir;
     Cliff cliff;
     Current current;
     GpInput gp_input;
     Hardware hardware; // requestable
     Firmware firmware; // requestable
     UniqueDeviceID unique_device_id; // requestable
     ThreeAxisGyro three_axis_gyro;
     ControllerInfo controller_info; // requestable
   
     ecl::Serial serial;
     PacketFinder packet_finder;
     PacketFinder::BufferType data_buffer;
     bool is_alive; // used as a flag set by the data stream watchdog
   
     int version_info_reminder;
     int controller_info_reminder;
   
     /*********************
     ** Commands
     **********************/
     void sendBaseControlCommand();
     void sendCommand(Command command);
     ecl::Mutex command_mutex; // protection against the user calling the command functions from multiple threads
     // data_mutex is protection against reading and writing data structures simultaneously as well as
     // ensuring multiple get*** calls are synchronised to the same data update
     // refer to https://github.com/yujinrobot/kobuki/issues/240
     ecl::Mutex data_mutex;
     Command kobuki_command; // used to maintain some state about the command history
     Command::Buffer command_buffer;
     std::vector<short> velocity_commands_debug;
   
     /*********************
     ** Events
     **********************/
     EventManager event_manager;
   
     /*********************
     ** Logging
     **********************/
     std::vector<std::string> log(std::string msg) { return log("", "", msg); }
     std::vector<std::string> log(std::string level, std::string msg) { return log(level, "", msg); }
     std::vector<std::string> log(std::string level, std::string name, std::string msg) {
       std::vector<std::string> ret;
       if( level != "" ) ret.push_back(level);
       if( name != "" ) ret.push_back(name);
       if( msg != "" ) ret.push_back(msg);
       return ret;
     }
   
     /*********************
     ** Signals
     **********************/
     ecl::Signal<> sig_stream_data, sig_controller_info;
     ecl::Signal<const VersionInfo&> sig_version_info;
     ecl::Signal<const std::string&> sig_debug, sig_info, sig_warn, sig_error;
     ecl::Signal<Command::Buffer&> sig_raw_data_command; // should be const, but pushnpop is not fully realised yet for const args in the formatters.
     ecl::Signal<PacketFinder::BufferType&> sig_raw_data_stream; // should be const, but pushnpop is not fully realised yet for const args in the formatters.
     ecl::Signal<const std::vector<short>&> sig_raw_control_command;
   
     /*********************
     ** Slots
     **********************/
     ecl::Slot<const std::string&> slot_log_debug, slot_log_info, slot_log_warning, slot_log_error;
   
   };
   
   } // namespace kobuki
   
   #endif /* KOBUKI_CORE_HPP_ */