ArRobotConfigPacketReader.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004,2005 ActivMedia Robotics LLC
Copyright (C) 2006 MobileRobots, Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARROBOTCONFIGPACKETREADER_H
#define ARROBOTCONFIGPACKETREADER_H

#include "ariaTypedefs.h"
#include "ariaUtil.h"
#include "ArFunctor.h"

class ArRobot;
class ArRobotPacket;

class ArRobotConfigPacketReader
{
public:
  AREXPORT ArRobotConfigPacketReader(ArRobot *robot, 
                     bool onlyOneRequest = false,
                     ArFunctor *packetedArrivedCB = NULL);
  AREXPORT ~ArRobotConfigPacketReader();
  AREXPORT bool requestPacket(void);
  bool hasPacketBeenRequested(void) const { return myPacketRequested; }
  bool hasPacketArrived(void) const { return myPacketArrived; }
  AREXPORT void log(void) const;
  AREXPORT std::string buildString(void) const;
  const char *getType(void) const { return myType.c_str(); }
  const char *getSubType(void) const { return mySubType.c_str(); }
  const char *getSerialNumber(void) const { return mySerialNumber.c_str(); }
  int getRotVelTop(void) const { return myRotVelTop; }
  int getTransVelTop(void) const { return myTransVelTop; }
  int getRotAccelTop(void) const { return myRotAccelTop; }
  int getTransAccelTop(void) const { return myTransAccelTop; }
  int getPwmMax(void) const { return myPwmMax; }
  const char *getName(void) const { return myName.c_str(); }
  int getSipCycleTime(void) const { return mySipCycleTime; }
  int getHostBaud(void) const { return myHostBaud; }
  int getAux1Baud(void) const { return myAux1Baud; }
  bool getHasGripper(void) const { return myHasGripper; }
  bool getFrontSonar(void) const { return myFrontSonar; }
  bool getRearSonar(void) const { return myRearSonar; }
  int getLowBattery(void) const { return myLowBattery; }
  int getRevCount(void) const { return myRevCount; }
  int getWatchdog(void) const { return myWatchdog; }
  bool getNormalMPacs(void) const { return myNormalMPacs; }
  int getStallVal(void) const { return myStallVal; }
  int getStallCount(void) const { return myStallCount; }
  int getJoyVel(void) const { return myJoyVel; }
  int getJoyRotVel(void) const { return myJoyRotVel; }
  int getRotVelMax(void) const { return myRotVelMax; } 
  int getTransVelMax(void) const { return myTransVelMax; } 
  int getRotAccel(void) const { return myRotAccel; }
  int getRotDecel(void) const { return myRotDecel; }
  int getRotKP(void) const { return myRotKP; }
  int getRotKV(void) const { return myRotKV; }
  int getRotKI(void) const { return myRotKI; }
  int getTransAccel(void) const { return myTransAccel; }
  int getTransDecel(void) const { return myTransDecel; }
  int getTransKP(void) const { return myTransKP; }
  int getTransKV(void) const { return myTransKV; }
  int getTransKI(void) const { return myTransKI; }
  int getFrontBumps(void) const { return myFrontBumps; }
  int getRearBumps(void) const { return myRearBumps; }
  int getHasCharger(void) const { return myHasCharger; }
  int getSonarCycle(void) const { return mySonarCycle; }
  bool getResetBaud(void) const { return myResetBaud; }
  bool getHasGyro(void) const { return myHasGyro; }
  int getDriftFactor(void) const { return myDriftFactor; }
  int getAux2Baud(void) const { return myAux2Baud; }
  int getAux3Baud(void) const { return myAux3Baud; }
  int getTicksMM(void) const { return myTicksMM; }
  int getShutdownVoltage(void) const { return myShutdownVoltage; }
  AREXPORT bool packetHandler(ArRobotPacket *packet);
  AREXPORT void connected(void);
protected:
  // the different parameters from the robot
  std::string myType;
  std::string mySubType;
  std::string mySerialNumber;
  int myRotVelTop;
  int myTransVelTop;
  int myRotAccelTop;
  int myTransAccelTop;
  int myPwmMax;
  std::string myName;
  int mySipCycleTime;
  int myHostBaud;
  int myAux1Baud;
  bool myHasGripper;
  bool myFrontSonar;
  bool myRearSonar;
  int myLowBattery;
  int myRevCount;
  int myWatchdog;
  bool myNormalMPacs;
  int myStallVal;
  int myStallCount;
  int myJoyVel;
  int myJoyRotVel;
  int myRotVelMax;
  int myTransVelMax;
  int myRotAccel;
  int myRotDecel;
  int myRotKP;
  int myRotKV;
  int myRotKI;
  int myTransAccel;
  int myTransDecel;
  int myTransKP;
  int myTransKV;
  int myTransKI;
  int myFrontBumps;
  int myRearBumps;
  int myHasCharger;
  int mySonarCycle;
  bool myResetBaud;
  bool myHasGyro;
  int myDriftFactor;
  int myAux2Baud;
  int myAux3Baud;
  int myTicksMM;
  int myShutdownVoltage;

  // the robot
  ArRobot *myRobot;
  // whether only one request can be done or not
  bool myOnlyOneRequest;
  // whether a request has been made or not
  bool myPacketRequested;
  // whether our data has been received or not
  bool myPacketArrived;
  // last time we requested a packet (we'll only ask every 200 ms)
  ArTime myLastPacketRequest;
  // the callback
  ArRetFunctor1C<bool, ArRobotConfigPacketReader, ArRobotPacket *> myPacketHandlerCB;
  // callback for connectiosn in case we need to request a config packet
  ArFunctorC<ArRobotConfigPacketReader> myConnectedCB;
  // callback for when we get a packet
  ArFunctor *myPacketArrivedCB;
  
};

#endif // ARROBOTCONFIGPACKETREADER_H

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