Fawkes API
Fawkes Development Version
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RobotinoSensorInterface Fawkes BlackBoard Interface. More...
#include <>>
Classes | |
class | SetBumperEStopEnabledMessage |
SetBumperEStopEnabledMessage Fawkes BlackBoard Interface Message. More... | |
class | SetDigitalOutputMessage |
SetDigitalOutputMessage Fawkes BlackBoard Interface Message. More... | |
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... | |
bool * | is_digital_out () const |
Get digital_out value. More... | |
bool | is_digital_out (unsigned int index) const |
Get digital_out value at given index. More... | |
void | set_digital_out (unsigned int index, const bool new_digital_out) |
Set digital_out value at given index. More... | |
void | set_digital_out (const bool *new_digital_out) |
Set digital_out value. More... | |
size_t | maxlenof_digital_out () const |
Get maximum length of digital_out 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_bumper_estop_enabled () const |
Get bumper_estop_enabled value. More... | |
void | set_bumper_estop_enabled (const bool new_bumper_estop_enabled) |
Set bumper_estop_enabled value. More... | |
size_t | maxlenof_bumper_estop_enabled () const |
Get maximum length of bumper_estop_enabled value. More... | |
virtual Message * | create_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... | |
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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... | |
const char * | owner () const |
Get owner 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... | |
Time | buffer_timestamp (unsigned int buffer) |
Get time of a buffer. More... | |
void | buffer_timestamp (unsigned int buffer, Time *timestamp) |
Get time of a buffer. 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... | |
std::string | writer () const |
Get owner name of writing interface instance. More... | |
std::list< std::string > | readers () const |
Get owner names of reading interface instances. More... | |
bool | changed () const |
Check if data has been changed. More... | |
const Time * | timestamp () 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... | |
void | mark_data_changed () |
Mark data as changed. 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... | |
Message * | msgq_first () |
Get the first message from the message queue. More... | |
bool | msgq_empty () |
Check if queue is empty. More... | |
void | msgq_append (Message *message) |
Enqueue message. 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 | |
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static void | parse_uid (const char *uid, std::string &type, std::string &id) |
Parse UID to type and ID strings. More... | |
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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, const interface_enum_map_t *enum_map=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... | |
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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_t * | data_ts |
Pointer to data casted to timestamp struct. More... | |
RobotinoSensorInterface Fawkes BlackBoard Interface.
Sensor information of a Robotino robot
Definition at line 33 of file RobotinoSensorInterface.h.
float * fawkes::RobotinoSensorInterface::analog_in | ( | ) | const |
Get analog_in value.
Analog input values.
Definition at line 468 of file RobotinoSensorInterface.cpp.
float fawkes::RobotinoSensorInterface::analog_in | ( | unsigned int | index | ) | const |
Get analog_in value at given index.
Analog input values.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 480 of file RobotinoSensorInterface.cpp.
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 577 of file RobotinoSensorInterface.cpp.
References fawkes::Interface::type().
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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.
type | message type |
UnknownTypeException | thrown if this interface cannot create a message of the given type. |
Implements fawkes::Interface.
Definition at line 560 of file RobotinoSensorInterface.cpp.
float * fawkes::RobotinoSensorInterface::distance | ( | ) | const |
Get distance value.
Distance sensor values.
Definition at line 288 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.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 300 of file RobotinoSensorInterface.cpp.
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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.
enumtype | enum type as string |
val | value to convert |
UnknownTypeException | thrown if enumtype is not specified for interface. |
Implements fawkes::Interface.
Definition at line 588 of file RobotinoSensorInterface.cpp.
bool fawkes::RobotinoSensorInterface::is_bumper | ( | ) | const |
Get bumper value.
Bumper pressed indicator.
Definition at line 257 of file RobotinoSensorInterface.cpp.
bool fawkes::RobotinoSensorInterface::is_bumper_estop_enabled | ( | ) | const |
Get bumper_estop_enabled value.
True if emergency stop on bumper contact is enabled, false otherwise.
Definition at line 530 of file RobotinoSensorInterface.cpp.
bool * fawkes::RobotinoSensorInterface::is_digital_in | ( | ) | const |
Get digital_in value.
Digital input values.
Definition at line 348 of file RobotinoSensorInterface.cpp.
bool fawkes::RobotinoSensorInterface::is_digital_in | ( | unsigned int | index | ) | const |
Get digital_in value at given index.
Digital input values.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 360 of file RobotinoSensorInterface.cpp.
bool * fawkes::RobotinoSensorInterface::is_digital_out | ( | ) | const |
Get digital_out value.
Digital output values.
Definition at line 408 of file RobotinoSensorInterface.cpp.
bool fawkes::RobotinoSensorInterface::is_digital_out | ( | unsigned int | index | ) | const |
Get digital_out value at given index.
Digital output values.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 420 of file RobotinoSensorInterface.cpp.
size_t fawkes::RobotinoSensorInterface::maxlenof_analog_in | ( | ) | const |
Get maximum length of analog_in value.
Definition at line 493 of file RobotinoSensorInterface.cpp.
size_t fawkes::RobotinoSensorInterface::maxlenof_bumper | ( | ) | const |
Get maximum length of bumper value.
Definition at line 267 of file RobotinoSensorInterface.cpp.
size_t fawkes::RobotinoSensorInterface::maxlenof_bumper_estop_enabled | ( | ) | const |
Get maximum length of bumper_estop_enabled value.
Definition at line 540 of file RobotinoSensorInterface.cpp.
size_t fawkes::RobotinoSensorInterface::maxlenof_digital_in | ( | ) | const |
Get maximum length of digital_in value.
Definition at line 373 of file RobotinoSensorInterface.cpp.
size_t fawkes::RobotinoSensorInterface::maxlenof_digital_out | ( | ) | const |
Get maximum length of digital_out value.
Definition at line 433 of file RobotinoSensorInterface.cpp.
size_t fawkes::RobotinoSensorInterface::maxlenof_distance | ( | ) | const |
Get maximum length of distance value.
Definition at line 313 of file RobotinoSensorInterface.cpp.
Referenced by RobotinoIrPclThread::init().
size_t fawkes::RobotinoSensorInterface::maxlenof_mot_current | ( | ) | const |
Get maximum length of mot_current value.
Definition at line 222 of file RobotinoSensorInterface.cpp.
size_t fawkes::RobotinoSensorInterface::maxlenof_mot_position | ( | ) | const |
Get maximum length of mot_position value.
Definition at line 162 of file RobotinoSensorInterface.cpp.
size_t fawkes::RobotinoSensorInterface::maxlenof_mot_velocity | ( | ) | const |
Get maximum length of mot_velocity value.
Definition at line 102 of file RobotinoSensorInterface.cpp.
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virtual |
Check if message is valid and can be enqueued.
message | Message to check |
Implements fawkes::Interface.
Definition at line 827 of file RobotinoSensorInterface.cpp.
float * fawkes::RobotinoSensorInterface::mot_current | ( | ) | const |
Get mot_current value.
Motor currents.
Definition at line 197 of file RobotinoSensorInterface.cpp.
float fawkes::RobotinoSensorInterface::mot_current | ( | unsigned int | index | ) | const |
Get mot_current value at given index.
Motor currents.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 209 of file RobotinoSensorInterface.cpp.
int32_t * fawkes::RobotinoSensorInterface::mot_position | ( | ) | const |
Get mot_position value.
Positions of the wheels.
Definition at line 137 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.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 149 of file RobotinoSensorInterface.cpp.
float * fawkes::RobotinoSensorInterface::mot_velocity | ( | ) | const |
Get mot_velocity value.
Velocities of the wheels.
Definition at line 77 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.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 89 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.
new_analog_in | new analog_in value |
index | index for of the value |
Definition at line 515 of file RobotinoSensorInterface.cpp.
Referenced by RobotinoSensorThread::loop(), and RobotinoSimThread::loop().
void fawkes::RobotinoSensorInterface::set_analog_in | ( | const float * | new_analog_in | ) |
Set analog_in value.
Analog input values.
new_analog_in | new analog_in value |
Definition at line 503 of file RobotinoSensorInterface.cpp.
void fawkes::RobotinoSensorInterface::set_bumper | ( | const bool | new_bumper | ) |
Set bumper value.
Bumper pressed indicator.
new_bumper | new bumper value |
Definition at line 277 of file RobotinoSensorInterface.cpp.
Referenced by RobotinoSensorThread::loop().
void fawkes::RobotinoSensorInterface::set_bumper_estop_enabled | ( | const bool | new_bumper_estop_enabled | ) |
Set bumper_estop_enabled value.
True if emergency stop on bumper contact is enabled, false otherwise.
new_bumper_estop_enabled | new bumper_estop_enabled value |
Definition at line 552 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.
new_digital_in | new digital_in value |
index | index for of the value |
Definition at line 395 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.
new_digital_in | new digital_in value |
Definition at line 383 of file RobotinoSensorInterface.cpp.
void fawkes::RobotinoSensorInterface::set_digital_out | ( | unsigned int | index, |
const bool | new_digital_out | ||
) |
Set digital_out value at given index.
Digital output values.
new_digital_out | new digital_out value |
index | index for of the value |
Definition at line 455 of file RobotinoSensorInterface.cpp.
Referenced by RobotinoSensorThread::loop().
void fawkes::RobotinoSensorInterface::set_digital_out | ( | const bool * | new_digital_out | ) |
Set digital_out value.
Digital output values.
new_digital_out | new digital_out value |
Definition at line 443 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.
new_distance | new distance value |
index | index for of the value |
Definition at line 335 of file RobotinoSensorInterface.cpp.
Referenced by RobotinoSensorThread::loop(), and RobotinoSimThread::loop().
void fawkes::RobotinoSensorInterface::set_distance | ( | const float * | new_distance | ) |
Set distance value.
Distance sensor values.
new_distance | new distance value |
Definition at line 323 of file RobotinoSensorInterface.cpp.
void fawkes::RobotinoSensorInterface::set_mot_current | ( | unsigned int | index, |
const float | new_mot_current | ||
) |
Set mot_current value at given index.
Motor currents.
new_mot_current | new mot_current value |
index | index for of the value |
Definition at line 244 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.
new_mot_current | new mot_current value |
Definition at line 232 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.
new_mot_position | new mot_position value |
index | index for of the value |
Definition at line 184 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.
new_mot_position | new mot_position value |
Definition at line 172 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.
new_mot_velocity | new mot_velocity value |
index | index for of the value |
Definition at line 124 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.
new_mot_velocity | new mot_velocity value |
Definition at line 112 of file RobotinoSensorInterface.cpp.