kobuki::Command Class Reference

Inheritance diagram for kobuki::Command:

Collaboration diagram for kobuki::Command:

Classes
struct	Data
	Data structure containing data for commands. More...

Public Types
enum	Name {   BaseControl = 1 , Sound = 3 , SoundSequence = 4 , RequestExtra = 9 ,   ChangeFrame = 10 , RequestEeprom = 11 , SetDigitalOut = 12 , SetController = 13 ,   GetController = 14 }
enum	VersionFlag { HardwareVersion = 0x01 , FirmwareVersion = 0x02 , UniqueDeviceID = 0x08 }
typedef ecl::PushAndPop< unsigned char >	Buffer
typedef ecl::Stencil< Buffer >	BufferStencil

Public Member Functions
void	resetBuffer (Buffer &buffer)
bool	serialise (ecl::PushAndPop< unsigned char > &byteStream)
bool	deserialise (ecl::PushAndPop< unsigned char > &)
Public Member Functions inherited from packet_handler::payloadBase
	payloadBase (const bool is_dynamic_=false, const unsigned char length_=0)

Static Public Member Functions
static Command	SetLedArray (const enum LedNumber &number, const enum LedColour &colour, Command::Data &current_data)
static Command	SetDigitalOutput (const DigitalOutput &digital_output, Command::Data &current_data)
static Command	SetExternalPower (const DigitalOutput &digital_output, Command::Data &current_data)
static Command	PlaySoundSequence (const enum SoundSequences &number)
static Command	GetVersionInfo ()
static Command	SetVelocityControl (DiffDrive &diff_drive)
static Command	SetVelocityControl (const int16_t &speed, const int16_t &radius)
static Command	SetControllerGain (const unsigned char &type, const unsigned int &p_gain, const unsigned int &i_gain, const unsigned int &d_gain)
static Command	GetControllerGain ()

Public Attributes
Data	data
Public Attributes inherited from packet_handler::payloadBase
bool	yes
const bool	is_dynamic
const unsigned char	length

Additional Inherited Members
Protected Member Functions inherited from packet_handler::payloadBase
template<typename T >
void	buildVariable (T &V, ecl::PushAndPop< unsigned char > &buffer)
template<typename T >
void	buildBytes (const T &V, ecl::PushAndPop< unsigned char > &buffer)

Member Enumeration Documentation

Name

enum kobuki::Command::Name

These values are used to detect the type of sub-payload that is ensuing.

Member Function Documentation

deserialise()

bool kobuki::Command::deserialise ( ecl::PushAndPop< unsigned char > &  )

inlinevirtual

Unused

Implements packet_handler::payloadBase.

resetBuffer()

void kobuki::Command::resetBuffer

(

Buffer &

buffer

)

Clears the command buffer and resets the header.

serialise()

bool kobuki::Command::serialise ( ecl::PushAndPop< unsigned char > &  byteStream )

virtual

Implements packet_handler::payloadBase.

SetDigitalOutput()

Command kobuki::Command::SetDigitalOutput ( const DigitalOutput &  digital_output, Command::Data &  current_data  )

static

Set one of the digital out pins available to the user.

They set the last 4 bits on the data.gp_out variable.

Parameters

digital_output	: mask and value to send
current_data	: need to store settings as the gp_output command is a combo command

Returns

Command : the command to send down the wire.

SetExternalPower()

Command kobuki::Command::SetExternalPower ( const DigitalOutput &  digital_output, Command::Data &  current_data  )

static

Set one of the external power sources available to the user.

They set the second 4 bits(0x00f0) on the data.gp_out variable.

Parameters

digital_output	: mask and value to send
current_data	: need to store settings as the gp_output command is a combo command

Returns

Command : the command to send down the wire.

SetLedArray()

Command kobuki::Command::SetLedArray ( const enum LedNumber &  number, const enum LedColour &  colour, Command::Data &  current_data  )

static

Update the gp_out bits and get ready for sending as a SetDigitalOut command.

The led arrays are obtained from the gp_outputs with a 0x0f00 mask.

• Led1 Red : 0x0100
• Led1 Green : 0x0200
• Led1 Orange : 0x0300
• Led2 Red : 0x0400
• Led2 Green : 0x0800
• Led2 Orange : 0x0c00

Important to overlay this on top of the existing gp_out configuration.

Parameters

number	: led enumerated number
colour	: green, orange, red or black
current_data	: need to store settings as the gp_output command is a combo command

Returns

Command : the command to send down the wire.

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

• /github/workspace/include/kobuki_core/command.hpp
• /github/workspace/src/driver/command.cpp