Fawkes API  Fawkes Development Version
fawkes::RobotinoSensorInterface Class Reference

RobotinoSensorInterface Fawkes BlackBoard Interface. More...

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Inheritance diagram for fawkes::RobotinoSensorInterface:

Public Member Functions

virtual bool message_valid (const Message *message) const
 Check if message is valid and can be enqueued. More...
 
float * mot_velocity () const
 Get mot_velocity value. More...
 
float mot_velocity (unsigned int index) const
 Get mot_velocity value at given index. More...
 
void set_mot_velocity (unsigned int index, const float new_mot_velocity)
 Set mot_velocity value at given index. More...
 
void set_mot_velocity (const float *new_mot_velocity)
 Set mot_velocity value. More...
 
size_t maxlenof_mot_velocity () const
 Get maximum length of mot_velocity value. More...
 
int32_t * mot_position () const
 Get mot_position value. More...
 
int32_t mot_position (unsigned int index) const
 Get mot_position value at given index. More...
 
void set_mot_position (unsigned int index, const int32_t new_mot_position)
 Set mot_position value at given index. More...
 
void set_mot_position (const int32_t *new_mot_position)
 Set mot_position value. More...
 
size_t maxlenof_mot_position () const
 Get maximum length of mot_position value. More...
 
float * mot_current () const
 Get mot_current value. More...
 
float mot_current (unsigned int index) const
 Get mot_current value at given index. More...
 
void set_mot_current (unsigned int index, const float new_mot_current)
 Set mot_current value at given index. More...
 
void set_mot_current (const float *new_mot_current)
 Set mot_current value. More...
 
size_t maxlenof_mot_current () const
 Get maximum length of mot_current value. More...
 
bool is_bumper () const
 Get bumper value. More...
 
void set_bumper (const bool new_bumper)
 Set bumper value. More...
 
size_t maxlenof_bumper () const
 Get maximum length of bumper value. More...
 
float * distance () const
 Get distance value. More...
 
float distance (unsigned int index) const
 Get distance value at given index. More...
 
void set_distance (unsigned int index, const float new_distance)
 Set distance value at given index. More...
 
void set_distance (const float *new_distance)
 Set distance value. More...
 
size_t maxlenof_distance () const
 Get maximum length of distance value. More...
 
bool * is_digital_in () const
 Get digital_in value. More...
 
bool is_digital_in (unsigned int index) const
 Get digital_in value at given index. More...
 
void set_digital_in (unsigned int index, const bool new_digital_in)
 Set digital_in value at given index. More...
 
void set_digital_in (const bool *new_digital_in)
 Set digital_in value. More...
 
size_t maxlenof_digital_in () const
 Get maximum length of digital_in value. More...
 
float * analog_in () const
 Get analog_in value. More...
 
float analog_in (unsigned int index) const
 Get analog_in value at given index. More...
 
void set_analog_in (unsigned int index, const float new_analog_in)
 Set analog_in value at given index. More...
 
void set_analog_in (const float *new_analog_in)
 Set analog_in value. More...
 
size_t maxlenof_analog_in () const
 Get maximum length of analog_in value. More...
 
bool is_gyro_available () const
 Get gyro_available value. More...
 
void set_gyro_available (const bool new_gyro_available)
 Set gyro_available value. More...
 
size_t maxlenof_gyro_available () const
 Get maximum length of gyro_available value. More...
 
float gyro_angle () const
 Get gyro_angle value. More...
 
void set_gyro_angle (const float new_gyro_angle)
 Set gyro_angle value. More...
 
size_t maxlenof_gyro_angle () const
 Get maximum length of gyro_angle value. More...
 
float gyro_rate () const
 Get gyro_rate value. More...
 
void set_gyro_rate (const float new_gyro_rate)
 Set gyro_rate value. More...
 
size_t maxlenof_gyro_rate () const
 Get maximum length of gyro_rate value. More...
 
virtual Messagecreate_message (const char *type) const
 Create message based on type name. More...
 
virtual void copy_values (const Interface *other)
 Copy values from other interface. More...
 
virtual const char * enum_tostring (const char *enumtype, int val) const
 Convert arbitrary enum value to string. More...
 
- Public Member Functions inherited from fawkes::Interface
virtual ~Interface ()
 Destructor. More...
 
bool oftype (const char *interface_type) const
 Check if interface is of given type. More...
 
const void * datachunk () const
 Get data chunk. More...
 
unsigned int datasize () const
 Get data size. More...
 
const char * type () const
 Get type of interface. More...
 
const char * id () const
 Get identifier of interface. More...
 
const char * uid () const
 Get unique identifier of interface. More...
 
unsigned short serial () const
 Get instance serial of interface. More...
 
unsigned int mem_serial () const
 Get memory serial of interface. More...
 
bool operator== (Interface &comp) const
 Check equality of two interfaces. More...
 
const unsigned char * hash () const
 Get interface hash. More...
 
size_t hash_size () const
 Get size of interface hash. More...
 
const char * hash_printable () const
 Get printable interface hash. More...
 
bool is_writer () const
 Check if this is a writing instance. More...
 
void set_validity (bool valid)
 Mark this interface invalid. More...
 
bool is_valid () const
 Check validity of interface. More...
 
void set_from_chunk (void *chunk)
 Set from a raw data chunk. More...
 
void resize_buffers (unsigned int num_buffers)
 Resize buffer array. More...
 
unsigned int num_buffers () const
 Get number of buffers. More...
 
void copy_shared_to_buffer (unsigned int buffer)
 Copy data from private memory to buffer. More...
 
void copy_private_to_buffer (unsigned int buffer)
 Copy data from private memory to buffer. More...
 
void read_from_buffer (unsigned int buffer)
 Copy data from buffer to private memory. More...
 
int compare_buffers (unsigned int buffer)
 Compare buffer to private memory. More...
 
void read ()
 Read from BlackBoard into local copy. More...
 
void write ()
 Write from local copy into BlackBoard memory. More...
 
bool has_writer () const
 Check if there is a writer for the interface. More...
 
unsigned int num_readers () const
 Get the number of readers. More...
 
bool changed () const
 Check if data has been changed. More...
 
const Timetimestamp () const
 Get timestamp of last write. More...
 
void set_auto_timestamping (bool enabled)
 Enable or disable automated timestamping. More...
 
void set_timestamp (const Time *t=NULL)
 Set timestamp. More...
 
void set_clock (Clock *clock)
 Set clock to use for timestamping. More...
 
std::list< const char * > get_message_types ()
 Obtain a list of textual representations of the message types available for this interface. More...
 
unsigned int msgq_enqueue (Message *message)
 Enqueue message at end of queue. More...
 
unsigned int msgq_enqueue_copy (Message *message)
 Enqueue copy of message at end of queue. More...
 
void msgq_remove (Message *message)
 Remove message from queue. More...
 
void msgq_remove (unsigned int message_id)
 Remove message from queue. More...
 
unsigned int msgq_size ()
 Get size of message queue. More...
 
void msgq_flush ()
 Flush all messages. More...
 
void msgq_lock ()
 Lock message queue. More...
 
bool msgq_try_lock ()
 Try to lock message queue. More...
 
void msgq_unlock ()
 Unlock message queue. More...
 
void msgq_pop ()
 Erase first message from queue. More...
 
Messagemsgq_first ()
 Get the first message from the message queue. More...
 
bool msgq_empty ()
 Check if queue is empty. More...
 
template<class MessageType >
bool msgq_first_is ()
 Check if first message has desired type. More...
 
template<class MessageType >
MessageType * msgq_first ()
 Get first message casted to the desired type. More...
 
template<class MessageType >
MessageType * msgq_first (MessageType *&msg)
 Get first message casted to the desired type. More...
 
template<class MessageType >
MessageType * msgq_first_safe (MessageType *&msg) throw ()
 Get first message casted to the desired type without exceptions. More...
 
MessageQueue::MessageIterator msgq_begin ()
 Get start iterator for message queue. More...
 
MessageQueue::MessageIterator msgq_end ()
 Get end iterator for message queue. More...
 
InterfaceFieldIterator fields ()
 Get iterator over all fields of this interface instance. More...
 
InterfaceFieldIterator fields_end ()
 Invalid iterator. More...
 
unsigned int num_fields ()
 Get the number of fields in the interface. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from fawkes::Interface
static void parse_uid (const char *uid, char **type, char **id)
 Parse UID to type and ID strings. More...
 
- Protected Member Functions inherited from fawkes::Interface
 Interface ()
 Constructor. More...
 
void set_hash (unsigned char *ihash)
 Set hash. More...
 
void add_fieldinfo (interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0)
 Add an entry to the field info list. More...
 
void add_messageinfo (const char *name)
 Add an entry to the message info list. More...
 
- Protected Attributes inherited from fawkes::Interface
void * data_ptr
 Pointer to local memory storage. More...
 
unsigned int data_size
 Minimal data size to hold data storage. More...
 
bool data_changed
 Indicator if data has changed. More...
 
interface_data_ts_tdata_ts
 Pointer to data casted to timestamp struct. More...
 

Detailed Description

RobotinoSensorInterface Fawkes BlackBoard Interface.

Sensor information of a Robotino robot

Definition at line 33 of file RobotinoSensorInterface.h.

Member Function Documentation

float * fawkes::RobotinoSensorInterface::analog_in ( ) const

Get analog_in value.

Analog input values.

Returns
analog_in value

Definition at line 405 of file RobotinoSensorInterface.cpp.

float fawkes::RobotinoSensorInterface::analog_in ( unsigned int  index) const

Get analog_in value at given index.

Analog input values.

Parameters
indexindex of value
Returns
analog_in value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 417 of file RobotinoSensorInterface.cpp.

void fawkes::RobotinoSensorInterface::copy_values ( const Interface other)
virtual

Copy values from other interface.

Parameters
otherother interface to copy values from

Implements fawkes::Interface.

Definition at line 566 of file RobotinoSensorInterface.cpp.

References fawkes::Interface::type().

Message * fawkes::RobotinoSensorInterface::create_message ( const char *  type) const
virtual

Create message based on type name.

This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.

Parameters
typemessage type
Returns
message of the given type, empty
Exceptions
UnknownTypeExceptionthrown if this interface cannot create a message of the given type.

Implements fawkes::Interface.

Definition at line 555 of file RobotinoSensorInterface.cpp.

float * fawkes::RobotinoSensorInterface::distance ( ) const

Get distance value.

Distance sensor values.

Returns
distance value

Definition at line 285 of file RobotinoSensorInterface.cpp.

Referenced by RobotinoIrPclThread::loop().

float fawkes::RobotinoSensorInterface::distance ( unsigned int  index) const

Get distance value at given index.

Distance sensor values.

Parameters
indexindex of value
Returns
distance value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 297 of file RobotinoSensorInterface.cpp.

const char * fawkes::RobotinoSensorInterface::enum_tostring ( const char *  enumtype,
int  val 
) const
virtual

Convert arbitrary enum value to string.

Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.

Parameters
enumtypeenum type as string
valvalue to convert
Returns
string representation of value
Exceptions
UnknownTypeExceptionthrown if enumtype is not specified for interface.

Implements fawkes::Interface.

Definition at line 577 of file RobotinoSensorInterface.cpp.

float fawkes::RobotinoSensorInterface::gyro_angle ( ) const

Get gyro_angle value.

Gyro angle value; rad

Returns
gyro_angle value

Definition at line 496 of file RobotinoSensorInterface.cpp.

float fawkes::RobotinoSensorInterface::gyro_rate ( ) const

Get gyro_rate value.

Gyro rate value; rad/sec

Returns
gyro_rate value

Definition at line 527 of file RobotinoSensorInterface.cpp.

bool fawkes::RobotinoSensorInterface::is_bumper ( ) const

Get bumper value.

Bumper pressed indicator.

Returns
bumper value

Definition at line 254 of file RobotinoSensorInterface.cpp.

bool * fawkes::RobotinoSensorInterface::is_digital_in ( ) const

Get digital_in value.

Digital input values.

Returns
digital_in value

Definition at line 345 of file RobotinoSensorInterface.cpp.

bool fawkes::RobotinoSensorInterface::is_digital_in ( unsigned int  index) const

Get digital_in value at given index.

Digital input values.

Parameters
indexindex of value
Returns
digital_in value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 357 of file RobotinoSensorInterface.cpp.

bool fawkes::RobotinoSensorInterface::is_gyro_available ( ) const

Get gyro_available value.

True if gyro is available

Returns
gyro_available value

Definition at line 465 of file RobotinoSensorInterface.cpp.

Referenced by RobotinoSensorThread::loop().

size_t fawkes::RobotinoSensorInterface::maxlenof_analog_in ( ) const

Get maximum length of analog_in value.

Returns
length of analog_in value, can be length of the array or number of maximum number of characters for a string

Definition at line 430 of file RobotinoSensorInterface.cpp.

size_t fawkes::RobotinoSensorInterface::maxlenof_bumper ( ) const

Get maximum length of bumper value.

Returns
length of bumper value, can be length of the array or number of maximum number of characters for a string

Definition at line 264 of file RobotinoSensorInterface.cpp.

size_t fawkes::RobotinoSensorInterface::maxlenof_digital_in ( ) const

Get maximum length of digital_in value.

Returns
length of digital_in value, can be length of the array or number of maximum number of characters for a string

Definition at line 370 of file RobotinoSensorInterface.cpp.

size_t fawkes::RobotinoSensorInterface::maxlenof_distance ( ) const

Get maximum length of distance value.

Returns
length of distance value, can be length of the array or number of maximum number of characters for a string

Definition at line 310 of file RobotinoSensorInterface.cpp.

Referenced by RobotinoIrPclThread::init().

size_t fawkes::RobotinoSensorInterface::maxlenof_gyro_angle ( ) const

Get maximum length of gyro_angle value.

Returns
length of gyro_angle value, can be length of the array or number of maximum number of characters for a string

Definition at line 506 of file RobotinoSensorInterface.cpp.

size_t fawkes::RobotinoSensorInterface::maxlenof_gyro_available ( ) const

Get maximum length of gyro_available value.

Returns
length of gyro_available value, can be length of the array or number of maximum number of characters for a string

Definition at line 475 of file RobotinoSensorInterface.cpp.

size_t fawkes::RobotinoSensorInterface::maxlenof_gyro_rate ( ) const

Get maximum length of gyro_rate value.

Returns
length of gyro_rate value, can be length of the array or number of maximum number of characters for a string

Definition at line 537 of file RobotinoSensorInterface.cpp.

size_t fawkes::RobotinoSensorInterface::maxlenof_mot_current ( ) const

Get maximum length of mot_current value.

Returns
length of mot_current value, can be length of the array or number of maximum number of characters for a string

Definition at line 219 of file RobotinoSensorInterface.cpp.

size_t fawkes::RobotinoSensorInterface::maxlenof_mot_position ( ) const

Get maximum length of mot_position value.

Returns
length of mot_position value, can be length of the array or number of maximum number of characters for a string

Definition at line 159 of file RobotinoSensorInterface.cpp.

size_t fawkes::RobotinoSensorInterface::maxlenof_mot_velocity ( ) const

Get maximum length of mot_velocity value.

Returns
length of mot_velocity value, can be length of the array or number of maximum number of characters for a string

Definition at line 99 of file RobotinoSensorInterface.cpp.

bool fawkes::RobotinoSensorInterface::message_valid ( const Message message) const
virtual

Check if message is valid and can be enqueued.

Parameters
messageMessage to check
Returns
true if the message is valid, false otherwise.

Implements fawkes::Interface.

Definition at line 588 of file RobotinoSensorInterface.cpp.

float * fawkes::RobotinoSensorInterface::mot_current ( ) const

Get mot_current value.

Motor currents.

Returns
mot_current value

Definition at line 194 of file RobotinoSensorInterface.cpp.

float fawkes::RobotinoSensorInterface::mot_current ( unsigned int  index) const

Get mot_current value at given index.

Motor currents.

Parameters
indexindex of value
Returns
mot_current value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 206 of file RobotinoSensorInterface.cpp.

int32_t * fawkes::RobotinoSensorInterface::mot_position ( ) const

Get mot_position value.

Positions of the wheels.

Returns
mot_position value

Definition at line 134 of file RobotinoSensorInterface.cpp.

Referenced by RobotinoRosJointsThread::loop().

int32_t fawkes::RobotinoSensorInterface::mot_position ( unsigned int  index) const

Get mot_position value at given index.

Positions of the wheels.

Parameters
indexindex of value
Returns
mot_position value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 146 of file RobotinoSensorInterface.cpp.

float * fawkes::RobotinoSensorInterface::mot_velocity ( ) const

Get mot_velocity value.

Velocities of the wheels.

Returns
mot_velocity value

Definition at line 74 of file RobotinoSensorInterface.cpp.

Referenced by RobotinoRosJointsThread::loop().

float fawkes::RobotinoSensorInterface::mot_velocity ( unsigned int  index) const

Get mot_velocity value at given index.

Velocities of the wheels.

Parameters
indexindex of value
Returns
mot_velocity value
Exceptions
Exceptionthrown if index is out of bounds

Definition at line 86 of file RobotinoSensorInterface.cpp.

void fawkes::RobotinoSensorInterface::set_analog_in ( unsigned int  index,
const float  new_analog_in 
)

Set analog_in value at given index.

Analog input values.

Parameters
new_analog_innew analog_in value
indexindex for of the value

Definition at line 452 of file RobotinoSensorInterface.cpp.

Referenced by RobotinoSensorThread::loop().

void fawkes::RobotinoSensorInterface::set_analog_in ( const float *  new_analog_in)

Set analog_in value.

Analog input values.

Parameters
new_analog_innew analog_in value

Definition at line 440 of file RobotinoSensorInterface.cpp.

void fawkes::RobotinoSensorInterface::set_bumper ( const bool  new_bumper)

Set bumper value.

Bumper pressed indicator.

Parameters
new_bumpernew bumper value

Definition at line 274 of file RobotinoSensorInterface.cpp.

Referenced by RobotinoSensorThread::loop().

void fawkes::RobotinoSensorInterface::set_digital_in ( unsigned int  index,
const bool  new_digital_in 
)

Set digital_in value at given index.

Digital input values.

Parameters
new_digital_innew digital_in value
indexindex for of the value

Definition at line 392 of file RobotinoSensorInterface.cpp.

Referenced by RobotinoSensorThread::loop().

void fawkes::RobotinoSensorInterface::set_digital_in ( const bool *  new_digital_in)

Set digital_in value.

Digital input values.

Parameters
new_digital_innew digital_in value

Definition at line 380 of file RobotinoSensorInterface.cpp.

void fawkes::RobotinoSensorInterface::set_distance ( unsigned int  index,
const float  new_distance 
)

Set distance value at given index.

Distance sensor values.

Parameters
new_distancenew distance value
indexindex for of the value

Definition at line 332 of file RobotinoSensorInterface.cpp.

void fawkes::RobotinoSensorInterface::set_distance ( const float *  new_distance)

Set distance value.

Distance sensor values.

Parameters
new_distancenew distance value

Definition at line 320 of file RobotinoSensorInterface.cpp.

void fawkes::RobotinoSensorInterface::set_gyro_angle ( const float  new_gyro_angle)

Set gyro_angle value.

Gyro angle value; rad

Parameters
new_gyro_anglenew gyro_angle value

Definition at line 516 of file RobotinoSensorInterface.cpp.

Referenced by RobotinoSensorThread::loop().

void fawkes::RobotinoSensorInterface::set_gyro_available ( const bool  new_gyro_available)

Set gyro_available value.

True if gyro is available

Parameters
new_gyro_availablenew gyro_available value

Definition at line 485 of file RobotinoSensorInterface.cpp.

Referenced by RobotinoSensorThread::loop().

void fawkes::RobotinoSensorInterface::set_gyro_rate ( const float  new_gyro_rate)

Set gyro_rate value.

Gyro rate value; rad/sec

Parameters
new_gyro_ratenew gyro_rate value

Definition at line 547 of file RobotinoSensorInterface.cpp.

Referenced by RobotinoSensorThread::loop().

void fawkes::RobotinoSensorInterface::set_mot_current ( unsigned int  index,
const float  new_mot_current 
)

Set mot_current value at given index.

Motor currents.

Parameters
new_mot_currentnew mot_current value
indexindex for of the value

Definition at line 241 of file RobotinoSensorInterface.cpp.

Referenced by RobotinoSensorThread::loop().

void fawkes::RobotinoSensorInterface::set_mot_current ( const float *  new_mot_current)

Set mot_current value.

Motor currents.

Parameters
new_mot_currentnew mot_current value

Definition at line 229 of file RobotinoSensorInterface.cpp.

void fawkes::RobotinoSensorInterface::set_mot_position ( unsigned int  index,
const int32_t  new_mot_position 
)

Set mot_position value at given index.

Positions of the wheels.

Parameters
new_mot_positionnew mot_position value
indexindex for of the value

Definition at line 181 of file RobotinoSensorInterface.cpp.

Referenced by RobotinoSensorThread::loop().

void fawkes::RobotinoSensorInterface::set_mot_position ( const int32_t *  new_mot_position)

Set mot_position value.

Positions of the wheels.

Parameters
new_mot_positionnew mot_position value

Definition at line 169 of file RobotinoSensorInterface.cpp.

void fawkes::RobotinoSensorInterface::set_mot_velocity ( unsigned int  index,
const float  new_mot_velocity 
)

Set mot_velocity value at given index.

Velocities of the wheels.

Parameters
new_mot_velocitynew mot_velocity value
indexindex for of the value

Definition at line 121 of file RobotinoSensorInterface.cpp.

Referenced by RobotinoSensorThread::loop().

void fawkes::RobotinoSensorInterface::set_mot_velocity ( const float *  new_mot_velocity)

Set mot_velocity value.

Velocities of the wheels.

Parameters
new_mot_velocitynew mot_velocity value

Definition at line 109 of file RobotinoSensorInterface.cpp.


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