The core kobuki driver class. More...

#include <kobuki.hpp>

Public Member Functions
Battery	batteryStatus () const

bool	disable ()

bool	enable ()

void	fixPayload (ecl::PushAndPop< unsigned char > &byteStream)

double	getAngularVelocity () const

Cliff::Data	getCliffData () const

bool	getControllerGain ()

ControllerInfo::Data	getControllerInfoData () const

CoreSensors::Data	getCoreSensorData () const

Current::Data	getCurrentData () const

DockIR::Data	getDockIRData () const

GpInput::Data	getGpInputData () const

ecl::Angle< double >	getHeading () const

Inertia::Data	getInertiaData () const

ThreeAxisGyro::Data	getRawInertiaData () const

void	getWheelJointStates (double &wheel_left_angle, double &wheel_left_angle_rate, double &wheel_right_angle, double &wheel_right_angle_rate)

void	init (Parameters &parameters) throw (ecl::StandardException)

bool	isAlive () const

bool	isEnabled () const

bool	isShutdown () const

	Kobuki ()

void	lockDataAccess ()

void	playSoundSequence (const enum SoundSequences &number)

void	printSigSlotConnections () const
	Print a list of all relevant sigslot connections. More...

void	resetOdometry ()

void	setBaseControl (const double &linear_velocity, const double &angular_velocity)

bool	setControllerGain (const unsigned char &type, const unsigned int &p_gain, const unsigned int &i_gain, const unsigned int &d_gain)

void	setDigitalOutput (const DigitalOutput &digital_output)

void	setExternalPower (const DigitalOutput &digital_output)

void	setLed (const enum LedNumber &number, const enum LedColour &colour)

void	shutdown ()

void	spin ()
	Performs a scan looking for incoming data packets. More...

void	unlockDataAccess ()

void	updateOdometry (ecl::LegacyPose2D< double > &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates)
	Use the current sensor data (encoders and gyro) to calculate an update for the odometry. More...

VersionInfo	versionInfo () const

	~Kobuki ()

Private Member Functions
std::vector< std::string >	log (std::string msg)

std::vector< std::string >	log (std::string level, std::string msg)

std::vector< std::string >	log (std::string level, std::string name, std::string msg)

void	sendBaseControlCommand ()

void	sendCommand (Command command)
	Send the prepared command to the serial port. More...

Private Attributes
AccelerationLimiter	acceleration_limiter

Cliff	cliff

Command::Buffer	command_buffer

ecl::Mutex	command_mutex

ControllerInfo	controller_info

int	controller_info_reminder

CoreSensors	core_sensors

Current	current

PacketFinder::BufferType	data_buffer

ecl::Mutex	data_mutex

DiffDrive	diff_drive

DockIR	dock_ir

EventManager	event_manager

Firmware	firmware

GpInput	gp_input

Hardware	hardware

double	heading_offset

Inertia	inertia

bool	is_alive

bool	is_connected

bool	is_enabled

Command	kobuki_command

PacketFinder	packet_finder

Parameters	parameters

ecl::Serial	serial

bool	shutdown_requested

ecl::Signal	sig_controller_info

ecl::Signal< const std::string & >	sig_debug

ecl::Signal< const std::string & >	sig_error

ecl::Signal< const std::string & >	sig_info

ecl::Signal< const std::vector< std::string > & >	sig_named

ecl::Signal< const std::vector< short > & >	sig_raw_control_command

ecl::Signal< Command::Buffer & >	sig_raw_data_command

ecl::Signal< PacketFinder::BufferType & >	sig_raw_data_stream

ecl::Signal	sig_stream_data

ecl::Signal< const VersionInfo & >	sig_version_info

ecl::Signal< const std::string & >	sig_warn

ecl::Thread	thread

ThreeAxisGyro	three_axis_gyro

UniqueDeviceID	unique_device_id

std::vector< short >	velocity_commands_debug

int	version_info_reminder

Detailed Description

The core kobuki driver class.

This connects to the outside world via sigslots and get accessors.

Definition at line 87 of file kobuki.hpp.

Constructor & Destructor Documentation

kobuki::Kobuki::Kobuki ( )

Definition at line 51 of file kobuki.cpp.

kobuki::Kobuki::~Kobuki ( )

Shutdown the driver - make sure we wait for the thread to finish.

Definition at line 66 of file kobuki.cpp.

Member Function Documentation

Battery kobuki::Kobuki::batteryStatus ( ) const

inline

Definition at line 124 of file kobuki.hpp.

bool kobuki::Kobuki::disable ( )

Disable power to the motors.

Definition at line 595 of file kobuki.cpp.

bool kobuki::Kobuki::enable ( )

Enable power to the motors.

Definition at line 589 of file kobuki.cpp.

void kobuki::Kobuki::fixPayload ( ecl::PushAndPop< unsigned char > & byteStream )

Definition at line 380 of file kobuki.cpp.

double kobuki::Kobuki::getAngularVelocity ( ) const

Definition at line 427 of file kobuki.cpp.

Cliff::Data kobuki::Kobuki::getCliffData ( ) const

inline

Definition at line 133 of file kobuki.hpp.

bool kobuki::Kobuki::getControllerGain ( )

Definition at line 510 of file kobuki.cpp.

ControllerInfo::Data kobuki::Kobuki::getControllerInfoData ( ) const

inline

Definition at line 138 of file kobuki.hpp.

CoreSensors::Data kobuki::Kobuki::getCoreSensorData ( ) const

inline

Definition at line 131 of file kobuki.hpp.

Current::Data kobuki::Kobuki::getCurrentData ( ) const

inline

Definition at line 134 of file kobuki.hpp.

DockIR::Data kobuki::Kobuki::getDockIRData ( ) const

inline

Definition at line 132 of file kobuki.hpp.

GpInput::Data kobuki::Kobuki::getGpInputData ( ) const

inline

Definition at line 136 of file kobuki.hpp.

ecl::Angle< double > kobuki::Kobuki::getHeading ( ) const

Definition at line 419 of file kobuki.cpp.

Inertia::Data kobuki::Kobuki::getInertiaData ( ) const

inline

Definition at line 135 of file kobuki.hpp.

ThreeAxisGyro::Data kobuki::Kobuki::getRawInertiaData ( ) const

inline

Definition at line 137 of file kobuki.hpp.

void kobuki::Kobuki::getWheelJointStates	(	double &	wheel_left_angle,
		double &	wheel_left_angle_rate,
		double &	wheel_right_angle,
		double &	wheel_right_angle_rate
	)

Definition at line 445 of file kobuki.cpp.

void kobuki::Kobuki::init	(	Parameters &	parameters	)
throw	(	ecl::StandardException
	)

Definition at line 74 of file kobuki.cpp.

bool kobuki::Kobuki::isAlive ( ) const

inline

Whether the connection to the robot is alive and currently streaming.

Definition at line 97 of file kobuki.hpp.

bool kobuki::Kobuki::isEnabled ( ) const

inline

Whether the motor power is enabled or disabled.

Definition at line 99 of file kobuki.hpp.

bool kobuki::Kobuki::isShutdown ( ) const

inline

Whether the worker thread is alive or not.

Definition at line 98 of file kobuki.hpp.

void kobuki::Kobuki::lockDataAccess ( )

Usually you should call the getXXX functions from within slot callbacks connected to this driver's signals. This ensures that data is not overwritten inbetween getXXX calls as it all happens in the serial device's reading thread (aye, convoluted - apologies for the multiple robot and multiple developer adhoc hacking over 4-5 years for hasty demos on pre-kobuki robots. This has generated such wonderful spaghetti ;).

If instead you just want to poll kobuki, then you should lock and unlock the data access around any getXXX calls.

Definition at line 156 of file kobuki.cpp.

std::vector<std::string> kobuki::Kobuki::log ( std::string msg )

inlineprivate

Definition at line 244 of file kobuki.hpp.

std::vector<std::string> kobuki::Kobuki::log	(	std::string	level,
		std::string	msg
	)

inlineprivate

Definition at line 245 of file kobuki.hpp.

std::vector<std::string> kobuki::Kobuki::log	(	std::string	level,
		std::string	name,
		std::string	msg
	)

inlineprivate

Definition at line 246 of file kobuki.hpp.

void kobuki::Kobuki::playSoundSequence ( const enum SoundSequences & number )

Definition at line 490 of file kobuki.cpp.

void kobuki::Kobuki::printSigSlotConnections ( ) const

Print a list of all relevant sigslot connections.

This includes both the kobuki driver signals as well as externally connected slots. Useful for when you need to check if any of your connections are dangling (often happens when you typo the name of the sigslots connection).

Definition at line 611 of file kobuki.cpp.

void kobuki::Kobuki::resetOdometry ( )

Definition at line 437 of file kobuki.cpp.

void kobuki::Kobuki::sendBaseControlCommand ( )

private

Definition at line 529 of file kobuki.cpp.

void kobuki::Kobuki::sendCommand ( Command command )

private

Send the prepared command to the serial port.

Need to be a bit careful here, because we have no control over how the user is calling this - they may be calling from different threads (this is so for kobuki_node), so we mutex protect it here rather than relying on the user to do so above.

Parameters

command : prepared command template (see Command's static member functions).

Definition at line 559 of file kobuki.cpp.

void kobuki::Kobuki::setBaseControl	(	const double &	linear_velocity,
		const double &	angular_velocity
	)

Definition at line 524 of file kobuki.cpp.

bool kobuki::Kobuki::setControllerGain	(	const unsigned char &	type,
		const unsigned int &	p_gain,
		const unsigned int &	i_gain,
		const unsigned int &	d_gain
	)

Definition at line 495 of file kobuki.cpp.

void kobuki::Kobuki::setDigitalOutput ( const DigitalOutput & digital_output )

Definition at line 477 of file kobuki.cpp.

void kobuki::Kobuki::setExternalPower ( const DigitalOutput & digital_output )

Definition at line 481 of file kobuki.cpp.

void kobuki::Kobuki::setLed	(	const enum LedNumber &	number,
		const enum LedColour &	colour
	)

Definition at line 472 of file kobuki.cpp.

void kobuki::Kobuki::shutdown ( )

inline

Gently terminate the worker thread.

Definition at line 102 of file kobuki.hpp.

void kobuki::Kobuki::spin ( )

Performs a scan looking for incoming data packets.

Sits on the device waiting for incoming and then parses it, and signals that an update has occured.

Or, if in simulation, just loopsback the motor devices.

Definition at line 177 of file kobuki.cpp.

void kobuki::Kobuki::unlockDataAccess ( )

Unlock a previously locked data access privilege.

See also: lockDataAccess()

Definition at line 164 of file kobuki.cpp.

void kobuki::Kobuki::updateOdometry	(	ecl::LegacyPose2D< double > &	pose_update,
		ecl::linear_algebra::Vector3d &	pose_update_rates
	)

Use the current sensor data (encoders and gyro) to calculate an update for the odometry.

This fuses current sensor data with the last updated odometry state to produce the new odometry state. This will be usually done in the slot callback to the stream_data signal.

It is important that this is called every time a data packet is received from the robot.

Parameters

pose_update	: return the pose updates in this variable.
pose_update_rates	: return the pose update rates in this variable.

Definition at line 462 of file kobuki.cpp.

VersionInfo kobuki::Kobuki::versionInfo ( ) const

inline

Definition at line 123 of file kobuki.hpp.

Member Data Documentation

AccelerationLimiter kobuki::Kobuki::acceleration_limiter

private

Definition at line 197 of file kobuki.hpp.

Cliff kobuki::Kobuki::cliff

private

Definition at line 205 of file kobuki.hpp.

Command::Buffer kobuki::Kobuki::command_buffer

private

Definition at line 233 of file kobuki.hpp.

ecl::Mutex kobuki::Kobuki::command_mutex

private

Definition at line 227 of file kobuki.hpp.

ControllerInfo kobuki::Kobuki::controller_info

private

Definition at line 212 of file kobuki.hpp.

int kobuki::Kobuki::controller_info_reminder

private

Definition at line 220 of file kobuki.hpp.

CoreSensors kobuki::Kobuki::core_sensors

private

Definition at line 202 of file kobuki.hpp.

Current kobuki::Kobuki::current

private

Definition at line 206 of file kobuki.hpp.

PacketFinder::BufferType kobuki::Kobuki::data_buffer

private

Definition at line 216 of file kobuki.hpp.

ecl::Mutex kobuki::Kobuki::data_mutex

private

Definition at line 231 of file kobuki.hpp.

DiffDrive kobuki::Kobuki::diff_drive

private

Definition at line 180 of file kobuki.hpp.

DockIR kobuki::Kobuki::dock_ir

private

Definition at line 204 of file kobuki.hpp.

EventManager kobuki::Kobuki::event_manager

private

Definition at line 239 of file kobuki.hpp.

Firmware kobuki::Kobuki::firmware

private

Definition at line 209 of file kobuki.hpp.

GpInput kobuki::Kobuki::gp_input

private

Definition at line 207 of file kobuki.hpp.

Hardware kobuki::Kobuki::hardware

private

Definition at line 208 of file kobuki.hpp.

double kobuki::Kobuki::heading_offset

private

Definition at line 186 of file kobuki.hpp.

Inertia kobuki::Kobuki::inertia

private

Definition at line 203 of file kobuki.hpp.

bool kobuki::Kobuki::is_alive

private

Definition at line 217 of file kobuki.hpp.

bool kobuki::Kobuki::is_connected

private

Definition at line 192 of file kobuki.hpp.

bool kobuki::Kobuki::is_enabled

private

Definition at line 181 of file kobuki.hpp.

Command kobuki::Kobuki::kobuki_command

private

Definition at line 232 of file kobuki.hpp.

PacketFinder kobuki::Kobuki::packet_finder

private

Definition at line 215 of file kobuki.hpp.

Parameters kobuki::Kobuki::parameters

private

Definition at line 191 of file kobuki.hpp.

ecl::Serial kobuki::Kobuki::serial

private

Definition at line 214 of file kobuki.hpp.

bool kobuki::Kobuki::shutdown_requested

private

Definition at line 175 of file kobuki.hpp.

ecl::Signal kobuki::Kobuki::sig_controller_info

private

Definition at line 257 of file kobuki.hpp.

ecl::Signal<const std::string&> kobuki::Kobuki::sig_debug

private

Definition at line 259 of file kobuki.hpp.

ecl::Signal<const std::string&> kobuki::Kobuki::sig_error

private

Definition at line 259 of file kobuki.hpp.

ecl::Signal<const std::string&> kobuki::Kobuki::sig_info

private

Definition at line 259 of file kobuki.hpp.

ecl::Signal<const std::vector<std::string>&> kobuki::Kobuki::sig_named

private

Definition at line 260 of file kobuki.hpp.

ecl::Signal<const std::vector<short>&> kobuki::Kobuki::sig_raw_control_command

private

Definition at line 263 of file kobuki.hpp.

ecl::Signal<Command::Buffer&> kobuki::Kobuki::sig_raw_data_command

private

Definition at line 261 of file kobuki.hpp.

ecl::Signal<PacketFinder::BufferType&> kobuki::Kobuki::sig_raw_data_stream

private

Definition at line 262 of file kobuki.hpp.

ecl::Signal kobuki::Kobuki::sig_stream_data

private

Definition at line 257 of file kobuki.hpp.

ecl::Signal<const VersionInfo&> kobuki::Kobuki::sig_version_info

private

Definition at line 258 of file kobuki.hpp.

ecl::Signal<const std::string&> kobuki::Kobuki::sig_warn

private

Definition at line 259 of file kobuki.hpp.

ecl::Thread kobuki::Kobuki::thread

private

Definition at line 174 of file kobuki.hpp.

ThreeAxisGyro kobuki::Kobuki::three_axis_gyro

private

Definition at line 211 of file kobuki.hpp.

UniqueDeviceID kobuki::Kobuki::unique_device_id

private

Definition at line 210 of file kobuki.hpp.

std::vector<short> kobuki::Kobuki::velocity_commands_debug

private

Definition at line 234 of file kobuki.hpp.

int kobuki::Kobuki::version_info_reminder

private

Definition at line 219 of file kobuki.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation