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rxdata.h /* * Orca-Robotics Project: Components for robotics * http://orca-robotics.sf.net/ * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp * * This copy of Orca is licensed to you under the terms described in * the LICENSE file included in this distribution. * */ #ifndef SEGWAYRMP_RXDATA_H #define SEGWAYRMP_RXDATA_H #include <vector> #include "rawrxdata.h" #include "unitconverter.h" namespace segwayrmpacfr { class CanPacket; // // @brief Holds data received by the host from the RMP. // The actual data is stored in a RmpRawData structure. // Public member functions return the data in sane units. // // This thing is supposed to have a lifetime longer than an individual CAN packet. // Since different CAN packets hold different kinds of data, this thing acts // as an accumulator. // class RxData { public: // Data is empty on construction. RxData( RmpModel rmpModel ); // Adds the information contained in a single CAN packet void addPacket( const CanPacket &pkt ) { rawData_.addPacket(pkt); } // Did all the packets arrive? bool isComplete() const { return rawData_.isComplete(); } // // Functions for retreiving the data in sane units. // Should only be called when the data structure is full. // // All units are S.I. // // Get all status flags std::vector<StatusFlag> statusFlags() const; // Is there a warning condition? bool isWarn() const; // Is there an error condition? bool isFault() const; // Not sure how to interpret the build ID, so just report it as-is. int16_t buildId() const { return rawData_.build_id; } // roll/pitch/yaw double pitchAngle() const { return converter_.angleInRadians(rawData_.pitch); } double pitchRate() const { return converter_.angularRateInRadians(rawData_.pitch_dot); } double rollAngle() const { return converter_.angleInRadians(rawData_.roll); } double rollRate() const { return converter_.angularRateInRadians(rawData_.roll_dot); } double yaw() const { // Note special case: angle specified in revolutions return converter_.angleInRadiansFromRevCounts(rawData_.yaw); } double yawRate() const { // take the additive inverse, since the RMP reports // clockwise angular velocity as positive. return -converter_.angularRateInRadians(rawData_.yaw_dot); } // wheels double leftWheelDisplacement() const { return converter_.distanceInM(rawData_.left_wheel_displacement); } double rightWheelDisplacement() const { return converter_.distanceInM(rawData_.right_wheel_displacement); } double leftWheelVelocity() const { return converter_.speedInMperS(rawData_.left_wheel_velocity); } double rightWheelVelocity() const { return converter_.speedInMperS(rawData_.right_wheel_velocity); } // values based on wheels double foreAftDisplacement() const { return converter_.distanceInM(rawData_.foreaft_displacement); } double leftMotorTorque() const { return converter_.torqueInNM(rawData_.left_torque); } double rightMotorTorque() const { return converter_.torqueInNM(rawData_.right_torque); } // other gear int servoFrames() { return rawData_.servo_frames; } double uiBatteryVoltage() { return converter_.uiVoltageInVolts(rawData_.ui_battery_voltage); } // We only know the minimum of the two main batteries. double baseBatteryVoltage() { return converter_.baseVoltageInVolts(rawData_.base_battery_voltage); } OperationalMode operationalMode() { return converter_.operationalModeAsEnum(rawData_.operational_mode); } GainSchedule gainSchedule() { return converter_.gainScheduleAsEnum(rawData_.controller_gain_schedule); } // double receivedVelocityCommand() // { // return converter_. // } // Prints out in human-readable form std::string toString() const { return rawData_.toString(); } // Allow direct access to the raw data const RawRxData rawData() const { return rawData_; } private: // Stores the data in the RMP's native representation RawRxData rawData_; // Convert between units UnitConverter converter_; }; } #endif

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