RobotFlow::Pioneer2PacketManager Class Reference

#include <Pioneer2PacketManager.h>

Collaboration diagram for RobotFlow::Pioneer2PacketManager:

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Public Member Functions
	Pioneer2PacketManager ()
virtual	~Pioneer2PacketManager ()
void	initialize (const std::string &tty)
unsigned char	get_status ()
float	get_Xpos ()
float	get_Ypos ()
float	get_Thpos ()
float	get_Lvel ()
float	get_Rvel ()
float	get_battery ()
unsigned short	get_bumpers ()
float	get_control ()
unsigned short	get_ptu ()
float	get_compass ()
float	get_sonar (int s_number)
unsigned short	get_timer ()
float	get_analog ()
unsigned char	get_digin ()
unsigned char	get_digout ()
void	get_all (Pioneer2Data &data)
void	send_motor_command (short command)
void	send_reset_translational_acc (short command)
void	send_reset_translational_vel (short command)
void	send_reset_server ()
void	send_reset_rotational_vel (short command)
void	send_velocity_command (short command)
void	send_heading_command (short command)
void	send_rel_heading_command (short command)
void	send_say_command (const std::string &command)
void	send_config_command (short command)
void	send_encoder_command (short command)
void	send_rotational_vel (short command)
void	send_colbert_relative_heading (short command)
void	send_rotational_acc (short command)
void	send_sonar_command (short command)
void	send_front_sonar_command ()
void	send_rear_sonar_command ()
void	send_stop_command ()
void	send_digout_command (short command)
void	send_velocity2_command (short command)
void	send_gripper_command (short command)
void	send_ad_select_command (short command)
void	send_gripper_val_command (short command)
void	send_ptupos_command (short command)
void	send_tty2_command (const std::string &data)
void	send_tty2_command (const unsigned char *data, int size)
void	send_getaux_command (short command)
void	send_bumpstall_command (short command)
void	send_tcm2_command (short command)
void	send_emergency_stop ()
void	send_pulse ()
void	send_step ()
Static Public Member Functions
static Pioneer2PacketManager *	instance ()
static void	destroyInstance ()
Static Public Attributes
static const unsigned char	SYNC0 = 0
static const unsigned char	SYNC1 = 1
static const unsigned char	SYNC2 = 2
static const unsigned char	PULSE = 0
static const unsigned char	OPEN = 1
static const unsigned char	CLOSE = 2
static const unsigned char	POLLING = 3
static const unsigned char	ENABLE = 4
static const unsigned char	SETA = 5
static const unsigned char	SETV = 6
static const unsigned char	SET0 = 7
static const unsigned char	SETRV = 10
static const unsigned char	VEL = 11
static const unsigned char	HEAD = 12
static const unsigned char	DHEAD = 13
static const unsigned char	SAY = 15
static const unsigned char	CONFIG = 18
static const unsigned char	ENCODER = 19
static const unsigned char	RVEL = 21
static const unsigned char	DCHEAD = 22
static const unsigned char	SETRA = 23
static const unsigned char	SONAR = 28
static const unsigned char	STOP = 29
static const unsigned char	DIGOUT = 30
static const unsigned char	VEL2 = 32
static const unsigned char	GRIPPER = 33
static const unsigned char	ADSEL = 35
static const unsigned char	GRIPPERVAL = 36
static const unsigned char	PTUPOS = 41
static const unsigned char	TTY2 = 42
static const unsigned char	GETAUX = 43
static const unsigned char	BUMPSTALL = 44
static const unsigned char	TCM2 = 45
static const unsigned char	E_STOP = 55
static const unsigned char	STEP = 64
static const short	GRIPOPEN = 1
static const short	GRIPCLOSE = 2
static const short	GRIPSTOP = 3
static const short	LIFTUP = 4
static const short	LIFTDOWN = 5
static const short	LIFTSTOP = 6
static const short	GRIPSTORE = 7
static const short	GRIPDEPLOY = 8
static const short	GRIPHALT = 15
static const short	GRIPPRESS = 16
static const short	LIFTCARRY = 17
static const int	MAX_QUEUE_SIZE = 20
Protected Attributes
unsigned char	m_status
unsigned short	m_xpos
unsigned short	m_ypos
short	m_thpos
short	m_lvel
short	m_rvel
unsigned char	m_battery
short	m_bumpers
short	m_control
unsigned short	m_ptu
unsigned char	m_compass
unsigned short	m_sonars [16]
unsigned short	m_timer
unsigned char	m_analog
unsigned char	m_digin
unsigned char	m_digout
float	m_AngleConvFactor
float	m_DistConvFactor
float	m_VelConvFactor
float	m_RobotRadius
float	m_RobotDiagonal
bool	m_Holonomic
float	m_RangeConvFactor
float	m_RobotAxleLength
Private Types
enum	{ NO_SYNC, AFTER_FIRST_SYNC, AFTER_SECOND_SYNC, READY }
Private Member Functions
int	open_serial (const char *tty)
void	lock_send_thread ()
void	unlock_send_thread ()
void	lock_recv_thread ()
void	unlock_recv_thread ()
void	send_int_command (unsigned char command, short value)
void	send_signed_int_command (unsigned char command, short value)
void	send_noarg_command (unsigned char command)
void	send_string_command (unsigned char command, const std::string &data)
void	send_unsigned_char_command (unsigned char command, const unsigned char *data, int size)
void	configure_parameters (const std::string &robotType, const std::string &robotSubType)
void	reinitialize ()
Private Attributes
pseudosem_t	m_semaphore
pthread_t	m_send_thread
pthread_t	m_recv_thread
pthread_mutex_t	m_send_mutex
pthread_mutex_t	m_recv_mutex
volatile bool	m_send_running
volatile bool	m_recv_running
int	m_file_descriptor
std::list< PSOSPacket >	m_send_list
enum RobotFlow::Pioneer2PacketManager:: { ... }	m_psos_state
Static Private Attributes
static Pioneer2PacketManager *	m_instance = NULL
Friends
void *	Pioneer2PacketManager_recv_thread (void *user_data)
void *	Pioneer2PacketManager_send_thread (void *user_data)

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Member Enumeration Documentation

anonymous enum [private]

Enumerator: NO_SYNC  AFTER_FIRST_SYNC  AFTER_SECOND_SYNC  READY

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Constructor & Destructor Documentation

RobotFlow::Pioneer2PacketManager::Pioneer2PacketManager (   )

RobotFlow::Pioneer2PacketManager::~Pioneer2PacketManager (   )  [virtual]

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Member Function Documentation

void RobotFlow::Pioneer2PacketManager::configure_parameters (  const std::string &  robotType, const std::string &  robotSubType )  [private]

void RobotFlow::Pioneer2PacketManager::destroyInstance (   )  [static]

void RobotFlow::Pioneer2PacketManager::get_all (  Pioneer2Data &  data  )

float RobotFlow::Pioneer2PacketManager::get_analog (   )

float RobotFlow::Pioneer2PacketManager::get_battery (   )

unsigned short RobotFlow::Pioneer2PacketManager::get_bumpers (   )

float RobotFlow::Pioneer2PacketManager::get_compass (   )

float RobotFlow::Pioneer2PacketManager::get_control (   )

unsigned char RobotFlow::Pioneer2PacketManager::get_digin (   )

unsigned char RobotFlow::Pioneer2PacketManager::get_digout (   )

float RobotFlow::Pioneer2PacketManager::get_Lvel (   )

unsigned short RobotFlow::Pioneer2PacketManager::get_ptu (   )

float RobotFlow::Pioneer2PacketManager::get_Rvel (   )

float RobotFlow::Pioneer2PacketManager::get_sonar (  int  s_number  )

unsigned char RobotFlow::Pioneer2PacketManager::get_status (   )

float RobotFlow::Pioneer2PacketManager::get_Thpos (   )

unsigned short RobotFlow::Pioneer2PacketManager::get_timer (   )

float RobotFlow::Pioneer2PacketManager::get_Xpos (   )

float RobotFlow::Pioneer2PacketManager::get_Ypos (   )

void RobotFlow::Pioneer2PacketManager::initialize (  const std::string &  tty  )

Pioneer2PacketManager * RobotFlow::Pioneer2PacketManager::instance (   )  [static]

void RobotFlow::Pioneer2PacketManager::lock_recv_thread (   )  [private]

void RobotFlow::Pioneer2PacketManager::lock_send_thread (   )  [private]

int RobotFlow::Pioneer2PacketManager::open_serial (  const char *  tty  )  [private]

void RobotFlow::Pioneer2PacketManager::reinitialize (   )  [private]

void RobotFlow::Pioneer2PacketManager::send_ad_select_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_bumpstall_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_colbert_relative_heading (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_config_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_digout_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_emergency_stop (   )

void RobotFlow::Pioneer2PacketManager::send_encoder_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_front_sonar_command (   )

void RobotFlow::Pioneer2PacketManager::send_getaux_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_gripper_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_gripper_val_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_heading_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_int_command (  unsigned char  command, short  value )  [private]

void RobotFlow::Pioneer2PacketManager::send_motor_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_noarg_command (  unsigned char  command  )  [private]

void RobotFlow::Pioneer2PacketManager::send_ptupos_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_pulse (   )

void RobotFlow::Pioneer2PacketManager::send_rear_sonar_command (   )

void RobotFlow::Pioneer2PacketManager::send_rel_heading_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_reset_rotational_vel (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_reset_server (   )

void RobotFlow::Pioneer2PacketManager::send_reset_translational_acc (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_reset_translational_vel (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_rotational_acc (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_rotational_vel (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_say_command (  const std::string &  command  )

void RobotFlow::Pioneer2PacketManager::send_signed_int_command (  unsigned char  command, short  value )  [private]

void RobotFlow::Pioneer2PacketManager::send_sonar_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_step (   )

void RobotFlow::Pioneer2PacketManager::send_stop_command (   )

void RobotFlow::Pioneer2PacketManager::send_string_command (  unsigned char  command, const std::string &  data )  [private]

void RobotFlow::Pioneer2PacketManager::send_tcm2_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_tty2_command (  const unsigned char *  data, int  size )

void RobotFlow::Pioneer2PacketManager::send_tty2_command (  const std::string &  data  )

void RobotFlow::Pioneer2PacketManager::send_unsigned_char_command (  unsigned char  command, const unsigned char *  data, int  size )  [private]

void RobotFlow::Pioneer2PacketManager::send_velocity2_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::send_velocity_command (  short  command  )

void RobotFlow::Pioneer2PacketManager::unlock_recv_thread (   )  [private]

void RobotFlow::Pioneer2PacketManager::unlock_send_thread (   )  [private]

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Friends And Related Function Documentation

void* Pioneer2PacketManager_recv_thread (  void *  user_data  )  [friend]

void* Pioneer2PacketManager_send_thread (  void *  user_data  )  [friend]

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Field Documentation

const unsigned char RobotFlow::Pioneer2PacketManager::ADSEL = 35 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::BUMPSTALL = 44 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::CLOSE = 2 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::CONFIG = 18 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::DCHEAD = 22 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::DHEAD = 13 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::DIGOUT = 30 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::E_STOP = 55 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::ENABLE = 4 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::ENCODER = 19 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::GETAUX = 43 [static]

const short RobotFlow::Pioneer2PacketManager::GRIPCLOSE = 2 [static]

const short RobotFlow::Pioneer2PacketManager::GRIPDEPLOY = 8 [static]

const short RobotFlow::Pioneer2PacketManager::GRIPHALT = 15 [static]

const short RobotFlow::Pioneer2PacketManager::GRIPOPEN = 1 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::GRIPPER = 33 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::GRIPPERVAL = 36 [static]

const short RobotFlow::Pioneer2PacketManager::GRIPPRESS = 16 [static]

const short RobotFlow::Pioneer2PacketManager::GRIPSTOP = 3 [static]

const short RobotFlow::Pioneer2PacketManager::GRIPSTORE = 7 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::HEAD = 12 [static]

const short RobotFlow::Pioneer2PacketManager::LIFTCARRY = 17 [static]

const short RobotFlow::Pioneer2PacketManager::LIFTDOWN = 5 [static]

const short RobotFlow::Pioneer2PacketManager::LIFTSTOP = 6 [static]

const short RobotFlow::Pioneer2PacketManager::LIFTUP = 4 [static]

unsigned char RobotFlow::Pioneer2PacketManager::m_analog [protected]

float RobotFlow::Pioneer2PacketManager::m_AngleConvFactor [protected]

unsigned char RobotFlow::Pioneer2PacketManager::m_battery [protected]

short RobotFlow::Pioneer2PacketManager::m_bumpers [protected]

unsigned char RobotFlow::Pioneer2PacketManager::m_compass [protected]

short RobotFlow::Pioneer2PacketManager::m_control [protected]

unsigned char RobotFlow::Pioneer2PacketManager::m_digin [protected]

unsigned char RobotFlow::Pioneer2PacketManager::m_digout [protected]

float RobotFlow::Pioneer2PacketManager::m_DistConvFactor [protected]

int RobotFlow::Pioneer2PacketManager::m_file_descriptor [private]

bool RobotFlow::Pioneer2PacketManager::m_Holonomic [protected]

Pioneer2PacketManager * RobotFlow::Pioneer2PacketManager::m_instance = NULL [static, private]

short RobotFlow::Pioneer2PacketManager::m_lvel [protected]

enum { ... } RobotFlow::Pioneer2PacketManager::m_psos_state [private]

unsigned short RobotFlow::Pioneer2PacketManager::m_ptu [protected]

float RobotFlow::Pioneer2PacketManager::m_RangeConvFactor [protected]

pthread_mutex_t RobotFlow::Pioneer2PacketManager::m_recv_mutex [private]

volatile bool RobotFlow::Pioneer2PacketManager::m_recv_running [private]

pthread_t RobotFlow::Pioneer2PacketManager::m_recv_thread [private]

float RobotFlow::Pioneer2PacketManager::m_RobotAxleLength [protected]

float RobotFlow::Pioneer2PacketManager::m_RobotDiagonal [protected]

float RobotFlow::Pioneer2PacketManager::m_RobotRadius [protected]

short RobotFlow::Pioneer2PacketManager::m_rvel [protected]

pseudosem_t RobotFlow::Pioneer2PacketManager::m_semaphore [private]

std::list<PSOSPacket> RobotFlow::Pioneer2PacketManager::m_send_list [private]

pthread_mutex_t RobotFlow::Pioneer2PacketManager::m_send_mutex [private]

volatile bool RobotFlow::Pioneer2PacketManager::m_send_running [private]

pthread_t RobotFlow::Pioneer2PacketManager::m_send_thread [private]

unsigned short RobotFlow::Pioneer2PacketManager::m_sonars[16] [protected]

unsigned char RobotFlow::Pioneer2PacketManager::m_status [protected]

short RobotFlow::Pioneer2PacketManager::m_thpos [protected]

unsigned short RobotFlow::Pioneer2PacketManager::m_timer [protected]

float RobotFlow::Pioneer2PacketManager::m_VelConvFactor [protected]

unsigned short RobotFlow::Pioneer2PacketManager::m_xpos [protected]

unsigned short RobotFlow::Pioneer2PacketManager::m_ypos [protected]

const int RobotFlow::Pioneer2PacketManager::MAX_QUEUE_SIZE = 20 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::OPEN = 1 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::POLLING = 3 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::PTUPOS = 41 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::PULSE = 0 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::RVEL = 21 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::SAY = 15 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::SET0 = 7 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::SETA = 5 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::SETRA = 23 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::SETRV = 10 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::SETV = 6 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::SONAR = 28 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::STEP = 64 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::STOP = 29 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::SYNC0 = 0 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::SYNC1 = 1 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::SYNC2 = 2 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::TCM2 = 45 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::TTY2 = 42 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::VEL = 11 [static]

const unsigned char RobotFlow::Pioneer2PacketManager::VEL2 = 32 [static]

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

• Pioneer2/include/Pioneer2PacketManager.h
• Pioneer2/src/Pioneer2PacketManager.cc

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