.. _program_listing_file__tmp_ws_src_libcreate_include_create_create.h:

Program Listing for File create.h
=================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_libcreate_include_create_create.h>` (``/tmp/ws/src/libcreate/include/create/create.h``)

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

.. code-block:: cpp

   
   #ifndef CREATE_H
   #define CREATE_H
   
   #include <boost/numeric/ublas/matrix.hpp>
   #include <chrono>
   #include <memory>
   #include <string>
   #include <unistd.h>
   #include <deque>
   
   #include "create/serial_stream.h"
   #include "create/serial_query.h"
   #include "create/data.h"
   #include "create/types.h"
   #include "create/util.h"
   
   namespace create {
     class Create {
       private:
         typedef boost::numeric::ublas::matrix<float> Matrix;
   
         enum CreateLED {
           LED_DEBRIS = 1,
           LED_SPOT = 2,
           LED_DOCK = 4,
           LED_CHECK = 8
         };
   
         RobotModel model;
   
         uint8_t mainMotorPower;
         uint8_t sideMotorPower;
         uint8_t vacuumMotorPower;
   
         // LEDs
         uint8_t debrisLED;
         uint8_t spotLED;
         uint8_t dockLED;
         uint8_t checkLED;
         uint8_t powerLED;
         uint8_t powerLEDIntensity;
   
         CreateMode mode;
   
         create::Pose pose;
         create::Vel vel;
   
         uint32_t prevTicksLeft;
         uint32_t prevTicksRight;
         float totalLeftDist;
         float totalRightDist;
         bool firstOnData;
         std::chrono::time_point<std::chrono::steady_clock> prevOnDataTime;
         std::deque<float> dtHistory;
         uint8_t dtHistoryLength;
   
         Matrix poseCovar;
   
         float measuredLeftVel;
         float measuredRightVel;
         float requestedLeftVel;
         float requestedRightVel;
   
         void init(bool install_signal_handler);
         // Add two matrices and handle overflow case
         Matrix addMatrices(const Matrix &A, const Matrix &B) const;
         void onData();
         bool updateLEDs();
   
         // Flag to enable/disable the workaround for some 6xx incorrectly reporting OI mode
         // https://github.com/AutonomyLab/create_robot/issues/64
         bool modeReportWorkaround;
   
       protected:
         std::shared_ptr<create::Data> data;
         std::shared_ptr<create::Serial> serial;
   
       public:
         Create(RobotModel model = RobotModel::CREATE_2, bool install_signal_handler = true);
   
         Create(const std::string& port, const int& baud, RobotModel model = RobotModel::CREATE_2, bool install_signal_handler = true);
   
         ~Create();
   
         bool connect(const std::string& port, const int& baud);
   
         inline bool connected() const { return serial->connected(); };
   
         void disconnect();
   
         bool setMode(const create::CreateMode& mode);
   
         bool clean(const create::CleanMode& mode = CLEAN_DEFAULT);
   
         bool dock() const;
   
         bool setDate(const create::DayOfWeek& day, const uint8_t& hour, const uint8_t& min) const;
   
         bool driveRadius(const float& velocity, const float& radius);
   
         bool driveWheels(const float& leftWheel, const float& rightWheel);
   
         bool driveWheelsPwm(const float& leftWheel, const float& rightWheel);
   
         bool drive(const float& xVel, const float& angularVel);
   
         bool setSideMotor(const float& power);
   
         bool setMainMotor(const float& power);
   
         bool setVacuumMotor(const float& power);
   
         bool setAllMotors(const float& mainPower, const float& sidePower, const float& vacuumPower);
   
         bool enableDebrisLED(const bool& enable);
   
         bool enableSpotLED(const bool& enable);
   
         bool enableDockLED(const bool& enable);
   
         bool enableCheckRobotLED(const bool& enable);
   
         bool setPowerLED(const uint8_t& power, const uint8_t& intensity = 255);
   
         bool setDigits(const std::vector<bool>& segments) const;
   
         bool setDigitsASCII(const uint8_t& digit1, const uint8_t& digit2,
                             const uint8_t& digit3, const uint8_t& digit4) const;
   
         bool defineSong(const uint8_t& songNumber,
                         const uint8_t& songLength,
                         const uint8_t* notes,
                         const float* durations) const;
   
         bool playSong(const uint8_t& songNumber) const;
   
         void setDtHistoryLength(const uint8_t& dtHistoryLength);
   
         bool isWheeldrop() const;
   
         bool isLeftWheeldrop() const;
   
         bool isRightWheeldrop() const;
   
         bool isLeftBumper() const;
   
         bool isRightBumper() const;
   
         bool isWall() const;
   
         bool isCliff() const;
   
         bool isCliffLeft() const;
   
         bool isCliffFrontLeft() const;
   
         bool isCliffRight() const;
   
         bool isCliffFrontRight() const;
   
         bool isVirtualWall() const;
   
         bool isWheelOvercurrent() const;
   
         bool isMainBrushOvercurrent() const;
   
         bool isSideBrushOvercurrent() const;
   
         uint8_t getDirtDetect() const;
   
         uint8_t getIROmni() const;
   
         uint8_t getIRLeft() const;
   
         uint8_t getIRRight() const;
   
         bool isCleanButtonPressed() const;
   
         bool isClockButtonPressed() const;
   
         bool isScheduleButtonPressed() const;
   
         bool isDayButtonPressed() const;
   
         bool isHourButtonPressed() const;
   
         bool isMinButtonPressed() const;
   
         bool isDockButtonPressed() const;
   
         bool isSpotButtonPressed() const;
   
         float getVoltage() const;
   
         float getCurrent() const;
   
         int8_t getTemperature() const;
   
         float getBatteryCharge() const;
   
         float getBatteryCapacity() const;
   
         bool isLightBumperLeft() const;
   
         bool isLightBumperFrontLeft() const;
   
         bool isLightBumperCenterLeft() const;
   
         bool isLightBumperRight() const;
   
         bool isLightBumperFrontRight() const;
   
         bool isLightBumperCenterRight() const;
   
         uint16_t getLightSignalLeft() const;
   
         uint16_t getLightSignalFrontLeft() const;
   
         uint16_t getLightSignalCenterLeft() const;
   
         uint16_t getLightSignalRight() const;
   
         uint16_t getLightSignalFrontRight() const;
   
         uint16_t getLightSignalCenterRight() const;
   
         bool isMovingForward() const;
   
         float getLeftWheelDistance() const;
   
         float getRightWheelDistance() const;
   
         float getMeasuredLeftWheelVel() const;
   
         float getMeasuredRightWheelVel() const;
   
         float getRequestedLeftWheelVel() const;
   
         float getRequestedRightWheelVel() const;
   
         create::ChargingState getChargingState() const;
   
         create::CreateMode getMode();
   
         create::Pose getPose() const;
   
         create::Vel getVel() const;
   
         uint64_t getNumCorruptPackets() const;
   
         uint64_t getTotalPackets() const;
   
         void setModeReportWorkaround(const bool& enable);
   
         bool getModeReportWorkaround() const;
   
     };  // end Create class
   
   }  // namespace create
   #endif  // CREATE_DRIVER_H