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commandhistory.h
00001 #ifndef COMMANDHISTORY_SEGWAYRMP_H 00002 #define COMMANDHISTORY_SEGWAYRMP_H 00003 00004 #include <sys/types.h> 00005 #include <deque> 00006 #include <string> 00007 00008 namespace segwayrmpacfr { 00009 00010 // 00011 // @brief remembers the history of commands sent to the Segway, so 00012 // we can check that the last command it received was recently sent by us. 00013 // 00014 // @author Alex Brooks 00015 // 00016 class CommandHistory 00017 { 00018 00019 public: 00020 00021 CommandHistory( int historyLength ); 00022 00023 void setCommand( int16_t speed, int16_t turnrate ); 00024 void checkReceivedCommandWasRecentlySent( int16_t rxSpeed, int16_t rxTurnrate, 00025 bool &speedRecentlySent, bool &turnrateRecentlySent ); 00026 00027 std::string recentlySentSpeeds() const { return dequeAsString( sentSpeeds_ ); } 00028 std::string recentlySentTurnrates() const { return dequeAsString( sentTurnrates_ ); } 00029 00030 private: 00031 00032 std::string dequeAsString( const std::deque<int16_t> &d ) const; 00033 00034 const int historyLength_; 00035 00036 std::deque<int16_t> sentSpeeds_; 00037 std::deque<int16_t> sentTurnrates_; 00038 00039 }; 00040 00041 } 00042 00043 #endif
