compAIR/libcreate
compAIR/libcreate
4
0
Fork 1
Code Issues Pull requests Projects Releases Packages 1 Wiki Activity Actions

Add API for getting left and right cliff detections

Browse source 
Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
This commit is contained in:
Jacob Perron 2019-08-26 20:46:49 -07:00 • committed by Jacob Perron
parent fd2f05047e
commit cafe0c5e56
2 changed files with 60 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

20
include/create/create.h
View file

@ -366,6 +366,26 @@ namespace create {
*/
bool isCliff() const;
/**
* \return true if the left sensor detects a cliff, false otherwise.
*/
bool isCliffLeft() const;
/**
* \return true if the front left sensor detects a cliff, false otherwise.
*/
bool isCliffFrontLeft() const;
/**
* \return true if the right sensor detects a cliff, false otherwise.
*/
bool isCliffRight() const;
/**
* \return true if the front right sensor detects a cliff, false otherwise.
*/
bool isCliffFrontRight() const;
/**
* \return true if there is a virtual wall signal is being received.
*/

40
src/create.cpp
View file

@ -663,6 +663,46 @@ namespace create {
}
}
bool Create::isCliffLeft() const {
if (data->isValidPacketID(ID_CLIFF_LEFT)) {
return GET_DATA(ID_CLIFF_LEFT) == 1;
}
else {
CERR("[create::Create] ", "Left cliff sensors not supported!");
return false;
}
}
bool Create::isCliffFrontLeft() const {
if (data->isValidPacketID(ID_CLIFF_FRONT_LEFT)) {
return GET_DATA(ID_CLIFF_FRONT_LEFT) == 1;
}
else {
CERR("[create::Create] ", "Front left cliff sensors not supported!");
return false;
}
}
bool Create::isCliffRight() const {
if (data->isValidPacketID(ID_CLIFF_RIGHT)) {
return GET_DATA(ID_CLIFF_RIGHT) == 1;
}
else {
CERR("[create::Create] ", "Rightt cliff sensors not supported!");
return false;
}
}
bool Create::isCliffFrontRight() const {
if (data->isValidPacketID(ID_CLIFF_FRONT_RIGHT)) {
return GET_DATA(ID_CLIFF_FRONT_RIGHT) == 1;
}
else {
CERR("[create::Create] ", "Front right cliff sensors not supported!");
return false;
}
}
bool Create::isVirtualWall() const {
if (data->isValidPacketID(ID_VIRTUAL_WALL)) {
return GET_DATA(ID_VIRTUAL_WALL);