RFlex Class Reference

List of all members.

Detailed Description

Definition at line 15 of file RFlex.H.

Public Member Functions

 RFlex (const std::string &filename, const std::string &robotType)
 ~RFlex ()
bool systemUpdate ()
bool systemLCDDump ()
bool motionSetDefaults ()
bool setBrake ()
bool releaseBrake ()
void motorSetTranslateVelocity (const double velocity)
void motorSetRotateVelocity (const double velocity)
void motorSetVelocity (const double translate, const double rotate)
bool odometryOn (const int period=100)
bool odometryOff ()
bool digitalIOOn (const int period=100)
bool digitalIOOff ()
bool joystickReport ()
bool sonarOn ()
bool sonarOff ()
int getNumSonars ()
double getSonar (int i)
float batteryVoltage ()
bool brakeOn ()
bool brakeOff ()
double x ()
double y ()
double heading ()
double translateVelocity ()
double translateAcceleration ()
double translateTorque ()
double rotateVelocity ()
double rotateAcceleration ()
double rotateTorque ()
void zero ()

Private Member Functions

bool motorSendTranslateVelocity (const double velocity)
bool motorSendRotateVelocity (const double velocity)
bool sendCommand (const unsigned char port, const unsigned char id, const unsigned char opcode, const int length)
bool writePacket (const int size) const
void readPacket ()
int readData ()
void parseSystemReport ()
void parseMotorReport ()
void parseJoystickReport ()
void parseSonarReport ()
void parseDigitalIOReport ()
void parseIRReport ()
unsigned char convertChar (const int offset) const
unsigned short convertShort (const int offset) const
unsigned long convertLong (const int offset) const
void insertChar (const unsigned char value, const int offset)
void insertLong (const long value, const int offset)
template<typename T>
T lockedValue (T &value, pthread_mutex_t &mutex)
 RFlex (const RFlex &rflex)
RFlex & operator= (const RFlex &rflex)

Static Private Member Functions

static unsigned char computeCRC (const unsigned char *buffer, const int n)
static void * rFlexReadThread (void *ptr)
static void * rFlexPeriodicThread (void *ptr)

Private Attributes

SerialPort m_port
unsigned char m_type
 The type of RFlex based robot to access.
double m_magicDistance
double m_magicAngle
double m_magicTorque
double m_sonars [MAX_SONAR]
int m_numSonar
bool m_found
int m_offset
unsigned char m_read_buffer [s_buffer_size]
unsigned char m_write_buffer [s_buffer_size]
pthread_mutex_t m_write_mutex
pthread_mutex_t m_motor_mutex
pthread_mutex_t m_command_mutex
pthread_t m_read_thread
pthread_t m_periodic_thread
double m_translate_command
double m_rotate_command
float m_battery_voltage
bool m_brake
double m_x
double m_y
Angle m_theta
double m_trans_velocity
double m_trans_acceleration
double m_trans_torque
double m_rot_velocity
double m_rot_acceleration
double m_rot_torque
long m_last_distance
long m_last_angdistance
bool m_last_distance_set
bool m_last_angdistance_set

Static Private Attributes

static const int s_buffer_size = 1024

Constructor & Destructor Documentation

RFlex ( const std::string &  filename,
const std::string &  robotType 
)

Definition at line 112 of file RFlex.cpp.

References ATRVJR_MAGIC_ANGLE, ATRVJR_MAGIC_DISTANCE, ATRVJR_MAGIC_TORQUE, B21_MAGIC_ANGLE, B21_MAGIC_DISTANCE, B21_MAGIC_TORQUE, m_command_mutex, m_last_angdistance, m_last_angdistance_set, m_last_distance, m_last_distance_set, m_magicAngle, m_magicDistance, m_magicTorque, m_motor_mutex, m_numSonar, m_periodic_thread, m_read_thread, m_rot_velocity, m_sonars, m_theta, m_trans_velocity, m_type, m_write_mutex, m_x, m_y, MAX_SONAR, odometryOn(), RFLEX_ATRVJR, RFLEX_B21R, rFlexPeriodicThread(), rFlexReadThread(), and systemUpdate().

~RFlex (  ) 

Definition at line 158 of file RFlex.cpp.

References digitalIOOff(), m_motor_mutex, m_write_mutex, motorSetRotateVelocity(), motorSetTranslateVelocity(), odometryOff(), and sonarOff().

RFlex ( const RFlex &  rflex  )  [private]

Member Function Documentation

bool systemUpdate (  ) 

Definition at line 174 of file RFlex.cpp.

References m_write_mutex, sendCommand(), SYSTEM_PORT, and SYSTEM_STATUS.

Referenced by main(), RFlex(), and rFlexPeriodicThread().

bool systemLCDDump (  ) 

Definition at line 184 of file RFlex.cpp.

References m_write_mutex, sendCommand(), SYSTEM_LCD_DUMP, and SYSTEM_PORT.

bool motionSetDefaults (  ) 

Definition at line 193 of file RFlex.cpp.

References m_write_mutex.

bool setBrake (  ) 

Definition at line 203 of file RFlex.cpp.

References m_write_mutex, MOTOR_BRAKE_SET, MOTOR_PORT, and sendCommand().

Referenced by main().

bool releaseBrake (  ) 

Definition at line 213 of file RFlex.cpp.

References m_write_mutex, MOTOR_BRAKE_RELEASE, MOTOR_PORT, and sendCommand().

void motorSetTranslateVelocity ( const double  velocity  ) 

Definition at line 222 of file RFlex.cpp.

References m_command_mutex, and m_translate_command.

Referenced by main(), and ~RFlex().

void motorSetRotateVelocity ( const double  velocity  ) 

Definition at line 229 of file RFlex.cpp.

References m_command_mutex, and m_rotate_command.

Referenced by main(), and ~RFlex().

void motorSetVelocity ( const double  translate,
const double  rotate 
)

Definition at line 236 of file RFlex.cpp.

References m_command_mutex, m_rotate_command, and m_translate_command.

Referenced by main().

bool odometryOn ( const int  period = 100  ) 

Definition at line 244 of file RFlex.cpp.

References insertLong(), m_write_mutex, MOTOR_PORT, MOTOR_SYSTEM_REPORT_REQUEST, and sendCommand().

Referenced by main(), and RFlex().

bool odometryOff (  ) 

Definition at line 256 of file RFlex.cpp.

References insertLong(), m_write_mutex, MOTOR_PORT, MOTOR_SYSTEM_REPORT_REQUEST, and sendCommand().

Referenced by ~RFlex().

bool digitalIOOn ( const int  period = 100  ) 

Definition at line 268 of file RFlex.cpp.

References DIGITAL_IO_PORT, DIGITAL_IO_REPORT_REQUEST, insertLong(), m_write_mutex, and sendCommand().

bool digitalIOOff (  ) 

Definition at line 279 of file RFlex.cpp.

References DIGITAL_IO_PORT, DIGITAL_IO_REPORT_REQUEST, insertLong(), m_write_mutex, and sendCommand().

Referenced by ~RFlex().

bool joystickReport (  ) 

Definition at line 290 of file RFlex.cpp.

References JOYSTICK_GET_STATE, JOYSTICK_PORT, m_write_mutex, and sendCommand().

bool sonarOn (  ) 

Definition at line 299 of file RFlex.cpp.

References insertChar(), insertLong(), m_write_mutex, sendCommand(), SONAR_CONTINUOUS_REPORT, SONAR_PORT, and SONAR_RUN.

Referenced by main().

bool sonarOff (  ) 

Definition at line 313 of file RFlex.cpp.

References m_write_buffer, m_write_mutex, PACKET_DATA_START_BYTE, sendCommand(), SONAR_PORT, and SONAR_RUN.

Referenced by main(), and ~RFlex().

int getNumSonars (  )  [inline]

Definition at line 50 of file RFlex.H.

References m_numSonar.

Referenced by main().

double getSonar ( int  i  )  [inline]

Definition at line 51 of file RFlex.H.

References m_numSonar, and m_sonars.

Referenced by main().

float batteryVoltage (  )  [inline]

Definition at line 54 of file RFlex.H.

References m_battery_voltage.

Referenced by main().

bool brakeOn (  )  [inline]

Definition at line 57 of file RFlex.H.

References m_brake.

Referenced by brakeOff(), and main().

bool brakeOff (  )  [inline]

Definition at line 58 of file RFlex.H.

References brakeOn().

Referenced by main().

double x (  )  [inline]

Definition at line 61 of file RFlex.H.

References lockedValue(), m_motor_mutex, and m_x.

Referenced by main(), and parseJoystickReport().

double y (  )  [inline]

Definition at line 62 of file RFlex.H.

References lockedValue(), m_motor_mutex, and m_y.

Referenced by main(), and parseJoystickReport().

double heading (  )  [inline]

Definition at line 63 of file RFlex.H.

References lockedValue(), m_motor_mutex, and m_theta.

Referenced by main().

double translateVelocity (  )  [inline]

Definition at line 66 of file RFlex.H.

References lockedValue(), m_motor_mutex, and m_trans_velocity.

Referenced by main().

double translateAcceleration (  )  [inline]

Definition at line 67 of file RFlex.H.

References lockedValue(), m_motor_mutex, and m_trans_acceleration.

Referenced by main().

double translateTorque (  )  [inline]

Definition at line 68 of file RFlex.H.

References lockedValue(), m_motor_mutex, and m_trans_torque.

Referenced by main().

double rotateVelocity (  )  [inline]

Definition at line 70 of file RFlex.H.

References lockedValue(), m_motor_mutex, and m_rot_velocity.

Referenced by main().

double rotateAcceleration (  )  [inline]

Definition at line 71 of file RFlex.H.

References lockedValue(), m_motor_mutex, and m_rot_acceleration.

Referenced by main().

double rotateTorque (  )  [inline]

Definition at line 72 of file RFlex.H.

References lockedValue(), m_motor_mutex, and m_rot_torque.

Referenced by main().

void zero (  )  [inline]

Definition at line 74 of file RFlex.H.

References m_last_angdistance_set, m_last_distance_set, m_theta, m_x, and m_y.

bool motorSendTranslateVelocity ( const double  velocity  )  [private]

Definition at line 325 of file RFlex.cpp.

References insertChar(), insertLong(), m_magicDistance, m_magicTorque, m_write_mutex, MOTOR_AXIS_SET_DIR, MOTOR_PORT, and sendCommand().

Referenced by rFlexPeriodicThread().

bool motorSendRotateVelocity ( const double  velocity  )  [private]

Definition at line 344 of file RFlex.cpp.

References insertChar(), insertLong(), m_magicAngle, m_magicDistance, m_magicTorque, m_write_mutex, MOTOR_AXIS_SET_DIR, MOTOR_PORT, and sendCommand().

Referenced by rFlexPeriodicThread().

bool sendCommand ( const unsigned char  port,
const unsigned char  id,
const unsigned char  opcode,
const int  length 
) [private]

Definition at line 363 of file RFlex.cpp.

References computeCRC(), ESC, ETX, m_write_buffer, PACKET_CRC_OFFSET, PACKET_CRC_START, PACKET_DATA_START_BYTE, PACKET_ID_BYTE, PACKET_OPCODE_BYTE, PACKET_PORT_BYTE, PACKET_SIZE_BYTE, PROTOCOL_SIZE, s_buffer_size, STX, and writePacket().

Referenced by digitalIOOff(), digitalIOOn(), joystickReport(), motorSendRotateVelocity(), motorSendTranslateVelocity(), odometryOff(), odometryOn(), releaseBrake(), setBrake(), sonarOff(), sonarOn(), systemLCDDump(), and systemUpdate().

bool writePacket ( const int  size  )  const [private]

Definition at line 384 of file RFlex.cpp.

References SerialPort::fail(), m_port, and m_write_buffer.

Referenced by sendCommand().

void readPacket (  )  [private]

Definition at line 405 of file RFlex.cpp.

References computeCRC(), DIGITAL_IO_PORT, ETX, IR_PORT, JOYSTICK_PORT, m_port, m_read_buffer, MOTOR_PORT, PACKET_CRC_OFFSET, PACKET_CRC_START, PACKET_DATA_START_BYTE, PACKET_PORT_BYTE, PACKET_SIZE_BYTE, parseDigitalIOReport(), parseIRReport(), parseJoystickReport(), parseMotorReport(), parseSonarReport(), parseSystemReport(), PROTOCOL_SIZE, readData(), s_buffer_size, SONAR_PORT, and SYSTEM_PORT.

Referenced by rFlexReadThread().

int readData (  )  [private]

Definition at line 473 of file RFlex.cpp.

References ESC, ETX, m_found, m_offset, m_port, m_read_buffer, NUL, SOH, and STX.

Referenced by readPacket().

void parseSystemReport (  )  [private]

Definition at line 535 of file RFlex.cpp.

References convertChar(), convertLong(), m_battery_voltage, m_read_buffer, PACKET_OPCODE_BYTE, PACKET_PORT_BYTE, SYSTEM_LCD_DUMP, SYSTEM_PORT, SYSTEM_STATUS, and timestamp.

Referenced by readPacket().

void parseMotorReport (  )  [private]

Definition at line 573 of file RFlex.cpp.

References convertLong(), m_last_angdistance, m_last_angdistance_set, m_last_distance, m_last_distance_set, m_magicAngle, m_magicDistance, m_motor_mutex, m_read_buffer, m_rot_acceleration, m_rot_torque, m_rot_velocity, m_theta, m_trans_acceleration, m_trans_torque, m_trans_velocity, m_x, m_y, MOTOR_AXIS_SET_DIR, MOTOR_PORT, MOTOR_SYSTEM_REPORT, PACKET_OPCODE_BYTE, PACKET_PORT_BYTE, and timestamp.

Referenced by readPacket().

void parseJoystickReport (  )  [private]

Definition at line 644 of file RFlex.cpp.

References convertChar(), convertLong(), JOYSTICK_GET_STATE, JOYSTICK_PORT, m_read_buffer, PACKET_OPCODE_BYTE, PACKET_PORT_BYTE, timestamp, x(), and y().

Referenced by readPacket().

void parseSonarReport (  )  [private]

Definition at line 672 of file RFlex.cpp.

References convertChar(), convertLong(), convertShort(), m_read_buffer, m_sonars, m_type, PACKET_OPCODE_BYTE, PACKET_PORT_BYTE, RFLEX_ATRVJR, SONAR_PORT, SONAR_REPORT, and timestamp.

Referenced by readPacket().

void parseDigitalIOReport (  )  [private]

Definition at line 762 of file RFlex.cpp.

References DIGITAL_IO_PORT, m_read_buffer, and PACKET_PORT_BYTE.

Referenced by readPacket().

void parseIRReport (  )  [private]

Definition at line 769 of file RFlex.cpp.

References IR_PORT, m_read_buffer, and PACKET_PORT_BYTE.

Referenced by readPacket().

unsigned char convertChar ( const int  offset  )  const [private]

Definition at line 775 of file RFlex.cpp.

References m_read_buffer.

Referenced by parseJoystickReport(), parseSonarReport(), and parseSystemReport().

unsigned short convertShort ( const int  offset  )  const [private]

Definition at line 784 of file RFlex.cpp.

References m_read_buffer.

Referenced by parseSonarReport().

unsigned long convertLong ( const int  offset  )  const [private]

Definition at line 793 of file RFlex.cpp.

References m_read_buffer.

Referenced by parseJoystickReport(), parseMotorReport(), parseSonarReport(), and parseSystemReport().

void insertChar ( const unsigned char  value,
const int  offset 
) [private]

Definition at line 802 of file RFlex.cpp.

References m_write_buffer, and PACKET_DATA_START_BYTE.

Referenced by motorSendRotateVelocity(), motorSendTranslateVelocity(), and sonarOn().

void insertLong ( const long  value,
const int  offset 
) [private]

Definition at line 810 of file RFlex.cpp.

References m_write_buffer, and PACKET_DATA_START_BYTE.

Referenced by digitalIOOff(), digitalIOOn(), motorSendRotateVelocity(), motorSendTranslateVelocity(), odometryOff(), odometryOn(), and sonarOn().

unsigned char computeCRC ( const unsigned char *  buffer,
const int  n 
) [static, private]

Definition at line 819 of file RFlex.cpp.

Referenced by readPacket(), and sendCommand().

void * rFlexReadThread ( void *  ptr  )  [static, private]

Definition at line 831 of file RFlex.cpp.

References m_port, and readPacket().

Referenced by RFlex().

void * rFlexPeriodicThread ( void *  ptr  )  [static, private]

Definition at line 850 of file RFlex.cpp.

References m_command_mutex, m_rotate_command, m_translate_command, motorSendRotateVelocity(), motorSendTranslateVelocity(), and systemUpdate().

Referenced by RFlex().

T lockedValue ( T &  value,
pthread_mutex_t &  mutex 
) [inline, private]

Definition at line 161 of file RFlex.H.

Referenced by heading(), rotateAcceleration(), rotateTorque(), rotateVelocity(), translateAcceleration(), translateTorque(), translateVelocity(), x(), and y().

RFlex& operator= ( const RFlex &  rflex  )  [private]

Member Data Documentation

SerialPort m_port [private]

Definition at line 77 of file RFlex.H.

Referenced by readData(), readPacket(), rFlexReadThread(), and writePacket().

unsigned char m_type [private]

The type of RFlex based robot to access.

Valid values at init are B21r, ATRVJr . Case sensitive.

Definition at line 82 of file RFlex.H.

Referenced by parseSonarReport(), and RFlex().

double m_magicDistance [private]

Definition at line 85 of file RFlex.H.

Referenced by motorSendRotateVelocity(), motorSendTranslateVelocity(), parseMotorReport(), and RFlex().

double m_magicAngle [private]

Definition at line 86 of file RFlex.H.

Referenced by motorSendRotateVelocity(), parseMotorReport(), and RFlex().

double m_magicTorque [private]

Definition at line 87 of file RFlex.H.

Referenced by motorSendRotateVelocity(), motorSendTranslateVelocity(), and RFlex().

double m_sonars[MAX_SONAR] [private]

Definition at line 89 of file RFlex.H.

Referenced by getSonar(), parseSonarReport(), and RFlex().

int m_numSonar [private]

Definition at line 90 of file RFlex.H.

Referenced by getNumSonars(), getSonar(), and RFlex().

const int s_buffer_size = 1024 [static, private]

Definition at line 93 of file RFlex.H.

Referenced by readPacket(), and sendCommand().

bool m_found [private]

Definition at line 94 of file RFlex.H.

Referenced by readData().

int m_offset [private]

Definition at line 95 of file RFlex.H.

Referenced by readData().

unsigned char m_read_buffer[s_buffer_size] [private]

Definition at line 96 of file RFlex.H.

Referenced by convertChar(), convertLong(), convertShort(), parseDigitalIOReport(), parseIRReport(), parseJoystickReport(), parseMotorReport(), parseSonarReport(), parseSystemReport(), readData(), and readPacket().

unsigned char m_write_buffer[s_buffer_size] [private]

Definition at line 97 of file RFlex.H.

Referenced by insertChar(), insertLong(), sendCommand(), sonarOff(), and writePacket().

pthread_mutex_t m_write_mutex [private]

Definition at line 100 of file RFlex.H.

Referenced by digitalIOOff(), digitalIOOn(), joystickReport(), motionSetDefaults(), motorSendRotateVelocity(), motorSendTranslateVelocity(), odometryOff(), odometryOn(), releaseBrake(), RFlex(), setBrake(), sonarOff(), sonarOn(), systemLCDDump(), systemUpdate(), and ~RFlex().

pthread_mutex_t m_motor_mutex [private]

Definition at line 101 of file RFlex.H.

Referenced by heading(), parseMotorReport(), RFlex(), rotateAcceleration(), rotateTorque(), rotateVelocity(), translateAcceleration(), translateTorque(), translateVelocity(), x(), y(), and ~RFlex().

pthread_mutex_t m_command_mutex [private]

Definition at line 102 of file RFlex.H.

Referenced by motorSetRotateVelocity(), motorSetTranslateVelocity(), motorSetVelocity(), RFlex(), and rFlexPeriodicThread().

pthread_t m_read_thread [private]

Definition at line 105 of file RFlex.H.

Referenced by RFlex().

pthread_t m_periodic_thread [private]

Definition at line 106 of file RFlex.H.

Referenced by RFlex().

double m_translate_command [private]

Definition at line 109 of file RFlex.H.

Referenced by motorSetTranslateVelocity(), motorSetVelocity(), and rFlexPeriodicThread().

double m_rotate_command [private]

Definition at line 110 of file RFlex.H.

Referenced by motorSetRotateVelocity(), motorSetVelocity(), and rFlexPeriodicThread().

float m_battery_voltage [private]

Definition at line 113 of file RFlex.H.

Referenced by batteryVoltage(), and parseSystemReport().

bool m_brake [private]

Definition at line 114 of file RFlex.H.

Referenced by brakeOn().

double m_x [private]

Definition at line 117 of file RFlex.H.

Referenced by parseMotorReport(), RFlex(), x(), and zero().

double m_y [private]

Definition at line 118 of file RFlex.H.

Referenced by parseMotorReport(), RFlex(), y(), and zero().

Angle m_theta [private]

Definition at line 119 of file RFlex.H.

Referenced by heading(), parseMotorReport(), RFlex(), and zero().

double m_trans_velocity [private]

Definition at line 121 of file RFlex.H.

Referenced by parseMotorReport(), RFlex(), and translateVelocity().

double m_trans_acceleration [private]

Definition at line 122 of file RFlex.H.

Referenced by parseMotorReport(), and translateAcceleration().

double m_trans_torque [private]

Definition at line 123 of file RFlex.H.

Referenced by parseMotorReport(), and translateTorque().

double m_rot_velocity [private]

Definition at line 125 of file RFlex.H.

Referenced by parseMotorReport(), RFlex(), and rotateVelocity().

double m_rot_acceleration [private]

Definition at line 126 of file RFlex.H.

Referenced by parseMotorReport(), and rotateAcceleration().

double m_rot_torque [private]

Definition at line 127 of file RFlex.H.

Referenced by parseMotorReport(), and rotateTorque().

long m_last_distance [private]

Definition at line 129 of file RFlex.H.

Referenced by parseMotorReport(), and RFlex().

long m_last_angdistance [private]

Definition at line 130 of file RFlex.H.

Referenced by parseMotorReport(), and RFlex().

bool m_last_distance_set [private]

Definition at line 131 of file RFlex.H.

Referenced by parseMotorReport(), RFlex(), and zero().

bool m_last_angdistance_set [private]

Definition at line 132 of file RFlex.H.

Referenced by parseMotorReport(), RFlex(), and zero().

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