compAIR/libcreate
compAIR/libcreate
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libcreate/src/create.cpp

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#include <boost/bind.hpp>
#include <boost/make_shared.hpp>
#include <iostream>
#include <cmath>
#include <ctime>
#include <assert.h>
#include "create/create.h"
#define GET_DATA(id) (data->getPacket(id)->getData())
#define BOUND_CONST(val,min,max) (val<min?min:(val>max?max:val))
#define BOUND(val,min,max) (val = BOUND_CONST(val,min,max))
namespace create {
namespace ublas = boost::numeric::ublas;
// TODO: Handle SIGINT to do clean disconnect
void Create::init() {
mainMotorPower = 0;
sideMotorPower = 0;
vacuumMotorPower = 0;
debrisLED = 0;
spotLED = 0;
dockLED = 0;
checkLED = 0;
powerLED = 0;
powerLEDIntensity = 0;
prevTicksLeft = 0;
prevTicksRight = 0;
totalLeftDist = 0.0;
totalRightDist = 0.0;
firstOnData = true;
mode = MODE_OFF;
pose.x = 0;
pose.y = 0;
pose.yaw = 0;
pose.covariance = std::vector<float>(9, 0.0);
vel.x = 0;
vel.y = 0;
vel.yaw = 0;
vel.covariance = std::vector<float>(9, 0.0);
poseCovar = Matrix(3, 3, 0.0);
requestedLeftVel = 0;
requestedRightVel = 0;
data = boost::shared_ptr<Data>(new Data(model.getVersion()));
if (model.getVersion() == V_1) {
serial = boost::make_shared<SerialQuery>(data);
} else {
serial = boost::make_shared<SerialStream>(data);
}
}
Create::Create(RobotModel m) : model(m) {
init();
}
Create::Create(const std::string& dev, const int& baud, RobotModel m) : model(m) {
init();
serial->connect(dev, baud);
}
Create::~Create() {
disconnect();
}
Create::Matrix Create::addMatrices(const Matrix &A, const Matrix &B) const {
int rows = A.size1();
int cols = A.size2();
assert(rows == B.size1());
assert(cols == B.size2());
Matrix C(rows, cols);
for (int i = 0; i < rows; i++) {
for (int j = 0; j < cols; j++) {
const float a = A(i, j);
const float b = B(i, j);
if (util::willFloatOverflow(a, b)) {
// If overflow, set to float min or max depending on direction of overflow
C(i, j) = (a < 0.0) ? std::numeric_limits<float>::min() : std::numeric_limits<float>::max();
}
else {
C(i, j) = a + b;
}
}
}
return C;
}
void Create::onData() {
if (firstOnData) {
if (model.getVersion() >= V_3) {
// Initialize tick counts
prevTicksLeft = GET_DATA(ID_LEFT_ENC);
prevTicksRight = GET_DATA(ID_RIGHT_ENC);
}
prevOnDataTime = util::getTimestamp();
firstOnData = false;
}
// Get current time
util::timestamp_t curTime = util::getTimestamp();
float dt = (curTime - prevOnDataTime) / 1000000.0;
float deltaDist, deltaX, deltaY, deltaYaw, leftWheelDist, rightWheelDist, wheelDistDiff;
// Protocol versions 1 and 2 use distance and angle fields for odometry
int16_t angleField;
if (model.getVersion() <= V_2) {
// This is a standards compliant way of doing unsigned to signed conversion
uint16_t distanceRaw = GET_DATA(ID_DISTANCE);
int16_t distance;
std::memcpy(&distance, &distanceRaw, sizeof(distance));
deltaDist = distance / 1000.0; // mm -> m
// Angle is processed differently in versions 1 and 2
uint16_t angleRaw = GET_DATA(ID_ANGLE);
std::memcpy(&angleField, &angleRaw, sizeof(angleField));
}
if (model.getVersion() == V_1) {
wheelDistDiff = 2.0 * angleField / 1000.0;
leftWheelDist = deltaDist - (wheelDistDiff / 2.0);
rightWheelDist = deltaDist + (wheelDistDiff / 2.0);
deltaYaw = wheelDistDiff / model.getAxleLength();
} else if (model.getVersion() == V_2) {
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
* Certain older Creates have major problems with odometry *
* http://answers.ros.org/question/31935/createroomba-odometry/ *
* *
* All Creates have an issue with rounding of the angle field, which causes *
* major errors to accumulate in the odometry yaw. *
* http://wiki.tekkotsu.org/index.php/Create_Odometry_Bug *
* https://github.com/AutonomyLab/create_autonomy/issues/28 *
* *
* TODO: Consider using velocity command as substitute for pose estimation *
* to mitigate both of these problems. *
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
deltaYaw = angleField * (util::PI / 180.0); // D2R
wheelDistDiff = model.getAxleLength() * deltaYaw;
leftWheelDist = deltaDist - (wheelDistDiff / 2.0);
rightWheelDist = deltaDist + (wheelDistDiff / 2.0);
} else if (model.getVersion() >= V_3) {
// Get cumulative ticks (wraps around at 65535)
uint16_t totalTicksLeft = GET_DATA(ID_LEFT_ENC);
uint16_t totalTicksRight = GET_DATA(ID_RIGHT_ENC);
// Compute ticks since last update
int ticksLeft = totalTicksLeft - prevTicksLeft;
int ticksRight = totalTicksRight - prevTicksRight;
prevTicksLeft = totalTicksLeft;
prevTicksRight = totalTicksRight;
// Handle wrap around
if (fabs(ticksLeft) > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
ticksLeft = (ticksLeft % util::V_3_MAX_ENCODER_TICKS) + 1;
}
if (fabs(ticksRight) > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
ticksRight = (ticksRight % util::V_3_MAX_ENCODER_TICKS) + 1;
}
// Compute distance travelled by each wheel
leftWheelDist = (ticksLeft / util::V_3_TICKS_PER_REV)
* model.getWheelDiameter() * util::PI;
rightWheelDist = (ticksRight / util::V_3_TICKS_PER_REV)
* model.getWheelDiameter() * util::PI;
deltaDist = (rightWheelDist + leftWheelDist) / 2.0;
wheelDistDiff = rightWheelDist - leftWheelDist;
deltaYaw = wheelDistDiff / model.getAxleLength();
}
measuredLeftVel = leftWheelDist / dt;
measuredRightVel = rightWheelDist / dt;
// Moving straight
if (fabs(wheelDistDiff) < util::EPS) {
deltaX = deltaDist * cos(pose.yaw);
deltaY = deltaDist * sin(pose.yaw);
} else {
float turnRadius = (model.getAxleLength() / 2.0) * (leftWheelDist + rightWheelDist) / wheelDistDiff;
deltaX = turnRadius * (sin(pose.yaw + deltaYaw) - sin(pose.yaw));
deltaY = -turnRadius * (cos(pose.yaw + deltaYaw) - cos(pose.yaw));
}
totalLeftDist += leftWheelDist;
totalRightDist += rightWheelDist;
if (fabs(dt) > util::EPS) {
vel.x = deltaDist / dt;
vel.y = 0.0;
vel.yaw = deltaYaw / dt;
} else {
vel.x = 0.0;
vel.y = 0.0;
vel.yaw = 0.0;
}
// Update covariances
// Ref: "Introduction to Autonomous Mobile Robots" (Siegwart 2004, page 189)
float kr = 1.0; // TODO: Perform experiments to find these nondeterministic parameters
float kl = 1.0;
float cosYawAndHalfDelta = cos(pose.yaw + (deltaYaw / 2.0)); // deltaX?
float sinYawAndHalfDelta = sin(pose.yaw + (deltaYaw / 2.0)); // deltaY?
float distOverTwoWB = deltaDist / (model.getAxleLength() * 2.0);
Matrix invCovar(2, 2);
invCovar(0, 0) = kr * fabs(rightWheelDist);
invCovar(0, 1) = 0.0;
invCovar(1, 0) = 0.0;
invCovar(1, 1) = kl * fabs(leftWheelDist);
Matrix Finc(3, 2);
Finc(0, 0) = (cosYawAndHalfDelta / 2.0) - (distOverTwoWB * sinYawAndHalfDelta);
Finc(0, 1) = (cosYawAndHalfDelta / 2.0) + (distOverTwoWB * sinYawAndHalfDelta);
Finc(1, 0) = (sinYawAndHalfDelta / 2.0) + (distOverTwoWB * cosYawAndHalfDelta);
Finc(1, 1) = (sinYawAndHalfDelta / 2.0) - (distOverTwoWB * cosYawAndHalfDelta);
Finc(2, 0) = (1.0 / model.getAxleLength());
Finc(2, 1) = (-1.0 / model.getAxleLength());
Matrix FincT = boost::numeric::ublas::trans(Finc);
Matrix Fp(3, 3);
Fp(0, 0) = 1.0;
Fp(0, 1) = 0.0;
Fp(0, 2) = (-deltaDist) * sinYawAndHalfDelta;
Fp(1, 0) = 0.0;
Fp(1, 1) = 1.0;
Fp(1, 2) = deltaDist * cosYawAndHalfDelta;
Fp(2, 0) = 0.0;
Fp(2, 1) = 0.0;
Fp(2, 2) = 1.0;
Matrix FpT = boost::numeric::ublas::trans(Fp);
Matrix velCovar = ublas::prod(invCovar, FincT);
velCovar = ublas::prod(Finc, velCovar);
vel.covariance[0] = velCovar(0, 0);
vel.covariance[1] = velCovar(0, 1);
vel.covariance[2] = velCovar(0, 2);
vel.covariance[3] = velCovar(1, 0);
vel.covariance[4] = velCovar(1, 1);
vel.covariance[5] = velCovar(1, 2);
vel.covariance[6] = velCovar(2, 0);
vel.covariance[7] = velCovar(2, 1);
vel.covariance[8] = velCovar(2, 2);
Matrix poseCovarTmp = ublas::prod(poseCovar, FpT);
poseCovarTmp = ublas::prod(Fp, poseCovarTmp);
poseCovar = addMatrices(poseCovarTmp, velCovar);
pose.covariance[0] = poseCovar(0, 0);
pose.covariance[1] = poseCovar(0, 1);
pose.covariance[2] = poseCovar(0, 2);
pose.covariance[3] = poseCovar(1, 0);
pose.covariance[4] = poseCovar(1, 1);
pose.covariance[5] = poseCovar(1, 2);
pose.covariance[6] = poseCovar(2, 0);
pose.covariance[7] = poseCovar(2, 1);
pose.covariance[8] = poseCovar(2, 2);
// Update pose
pose.x += deltaX;
pose.y += deltaY;
pose.yaw = util::normalizeAngle(pose.yaw + deltaYaw);
prevOnDataTime = curTime;
// Make user registered callbacks, if any
// TODO
}
bool Create::connect(const std::string& port, const int& baud) {
bool timeout = false;
time_t start, now;
float maxWait = 30; // seconds
float retryInterval = 5; //seconds
time(&start);
while (!serial->connect(port, baud, boost::bind(&Create::onData, this)) && !timeout) {
time(&now);
if (difftime(now, start) > maxWait) {
timeout = true;
CERR("[create::Create] ", "failed to connect over serial: timeout");
}
else {
usleep(retryInterval * 1000000);
COUT("[create::Create] ", "retrying to establish serial connection...");
}
}
return !timeout;
}
void Create::disconnect() {
serial->disconnect();
firstOnData = true;
}
//void Create::reset() {
// serial->sendOpcode(OC_RESET);
// serial->reset(); // better
// TODO : Should we request reading packets again?
//}
bool Create::setMode(const CreateMode& mode) {
if (model.getVersion() == V_1){
// Switch to safe mode (required for compatibility with V_1)
if (!(serial->sendOpcode(OC_START) && serial->sendOpcode(OC_CONTROL))) return false;
}
bool ret;
switch (mode) {
case MODE_OFF:
if (model.getVersion() == V_2) {
CERR("[create::Create] ", "protocol version 2 does not support turning robot off");
ret = false;
} else {
ret = serial->sendOpcode(OC_POWER);
}
break;
case MODE_PASSIVE:
ret = serial->sendOpcode(OC_START);
break;
case MODE_SAFE:
if (model.getVersion() > V_1) {
ret = serial->sendOpcode(OC_SAFE);
}
break;
case MODE_FULL:
ret = serial->sendOpcode(OC_FULL);
break;
default:
CERR("[create::Create] ", "cannot set robot to mode '" << mode << "'");
ret = false;
}
if (ret) {
this->mode = mode;
}
return ret;
}
bool Create::clean(const CleanMode& mode) {
return serial->sendOpcode((Opcode) mode);
}
bool Create::dock() const {
return serial->sendOpcode(OC_DOCK);
}
bool Create::setDate(const DayOfWeek& day, const uint8_t& hour, const uint8_t& min) const {
if (day < 0 || day > 6 ||
hour < 0 || hour > 23 ||
min < 0 || min > 59)
return false;
uint8_t cmd[4] = { OC_DATE, day, hour, min };
return serial->send(cmd, 4);
}
bool Create::driveRadius(const float& vel, const float& radius) {
// Bound velocity
float boundedVel = BOUND_CONST(vel, -model.getMaxVelocity(), model.getMaxVelocity());
// Expects each parameter as two bytes each and in millimeters
int16_t vel_mm = roundf(boundedVel * 1000);
int16_t radius_mm = roundf(radius * 1000);
// Bound radius if not a special case
if (radius_mm != 32768 && radius_mm != 32767 &&
radius_mm != -1 && radius_mm != 1) {
BOUND(radius_mm, -util::MAX_RADIUS * 1000, util::MAX_RADIUS * 1000);
}
uint8_t cmd[5] = { OC_DRIVE,
vel_mm >> 8,
vel_mm & 0xff,
radius_mm >> 8,
radius_mm & 0xff
};
return serial->send(cmd, 5);
}
bool Create::driveWheels(const float& leftVel, const float& rightVel) {
const float boundedLeftVel = BOUND_CONST(leftVel, -model.getMaxVelocity(), model.getMaxVelocity());
const float boundedRightVel = BOUND_CONST(rightVel, -model.getMaxVelocity(), model.getMaxVelocity());
requestedLeftVel = boundedLeftVel;
requestedRightVel = boundedRightVel;
if (model.getVersion() > V_1) {
int16_t leftCmd = roundf(boundedLeftVel * 1000);
int16_t rightCmd = roundf(boundedRightVel * 1000);
uint8_t cmd[5] = { OC_DRIVE_DIRECT,
rightCmd >> 8,
rightCmd & 0xff,
leftCmd >> 8,
leftCmd & 0xff
};
return serial->send(cmd, 5);
} else {
float radius;
// Prevent divide by zero when driving straight
if (boundedLeftVel != boundedRightVel) {
radius = -((model.getAxleLength() / 2.0) * (boundedLeftVel + boundedRightVel)) /
(boundedLeftVel - boundedRightVel);
} else {
radius = util::STRAIGHT_RADIUS;
}
float vel;
// Fix signs for spin in place
if (boundedLeftVel == -boundedRightVel || std::abs(roundf(radius * 1000)) <= 1) {
radius = util::IN_PLACE_RADIUS;
vel = boundedRightVel;
} else {
vel = (std::abs(boundedLeftVel) + std::abs(boundedRightVel)) / 2.0 * ((boundedLeftVel + boundedRightVel) > 0 ? 1.0 : -1.0);
}
// Radius turns have a maximum radius of 2.0 meters
// When the radius is > 2 but <= 10, use a 2 meter radius
// When it is > 10, drive straight
// TODO: alternate between these 2 meter radius and straight to
// fake a larger radius
if (radius > 10.0) {
radius = util::STRAIGHT_RADIUS;
}
return driveRadius(vel, radius);
}
}
bool Create::driveWheelsPwm(const float& leftWheel, const float& rightWheel)
{
static const int16_t PWM_COUNTS = 255;
if (leftWheel < -1.0 || leftWheel > 1.0 ||
rightWheel < -1.0 || rightWheel > 1.0)
return false;
int16_t leftPwm = roundf(leftWheel * PWM_COUNTS);
int16_t rightPwm = roundf(rightWheel * PWM_COUNTS);
uint8_t cmd[5] = { OC_DRIVE_PWM,
rightPwm >> 8,
rightPwm & 0xff,
leftPwm >> 8,
leftPwm & 0xff
};
return serial->send(cmd, 5);
}
bool Create::drive(const float& xVel, const float& angularVel) {
// Compute left and right wheel velocities
float leftVel = xVel - ((model.getAxleLength() / 2.0) * angularVel);
float rightVel = xVel + ((model.getAxleLength() / 2.0) * angularVel);
return driveWheels(leftVel, rightVel);
}
bool Create::setAllMotors(const float& main, const float& side, const float& vacuum) {
if (main < -1.0 || main > 1.0 ||
side < -1.0 || side > 1.0 ||
vacuum < -1.0 || vacuum > 1.0)
return false;
mainMotorPower = roundf(main * 127);
sideMotorPower = roundf(side * 127);
vacuumMotorPower = roundf(vacuum * 127);
uint8_t cmd[4] = { OC_MOTORS_PWM,
mainMotorPower,
sideMotorPower,
vacuumMotorPower
};
return serial->send(cmd, 4);
}
bool Create::setMainMotor(const float& main) {
return setAllMotors(main, sideMotorPower, vacuumMotorPower);
}
bool Create::setSideMotor(const float& side) {
return setAllMotors(mainMotorPower, side, vacuumMotorPower);
}
bool Create::setVacuumMotor(const float& vacuum) {
return setAllMotors(mainMotorPower, sideMotorPower, vacuum);
}
bool Create::updateLEDs() {
uint8_t LEDByte = debrisLED + spotLED + dockLED + checkLED;
uint8_t cmd[4] = { OC_LEDS,
LEDByte,
powerLED,
powerLEDIntensity
};
return serial->send(cmd, 4);
}
bool Create::enableDebrisLED(const bool& enable) {
if (enable)
debrisLED = LED_DEBRIS;
else
debrisLED = 0;
return updateLEDs();
}
bool Create::enableSpotLED(const bool& enable) {
if (enable)
spotLED = LED_SPOT;
else
spotLED = 0;
return updateLEDs();
}
bool Create::enableDockLED(const bool& enable) {
if (enable)
dockLED = LED_DOCK;
else
dockLED = 0;
return updateLEDs();
}
bool Create::enableCheckRobotLED(const bool& enable) {
if (enable)
checkLED = LED_CHECK;
else
checkLED = 0;
return updateLEDs();
}
bool Create::setPowerLED(const uint8_t& power, const uint8_t& intensity) {
powerLED = power;
powerLEDIntensity = intensity;
return updateLEDs();
}
//void Create::setDigits(uint8_t digit1, uint8_t digit2,
// uint8_t digit3, uint8_t digit4) {
//}
bool Create::setDigitsASCII(const uint8_t& digit1, const uint8_t& digit2,
const uint8_t& digit3, const uint8_t& digit4) const {
if (digit1 < 32 || digit1 > 126 ||
digit2 < 32 || digit2 > 126 ||
digit3 < 32 || digit3 > 126 ||
digit4 < 32 || digit4 > 126)
return false;
uint8_t cmd[5] = { OC_DIGIT_LEDS_ASCII,
digit1,
digit2,
digit3,
digit4
};
return serial->send(cmd, 5);
}
bool Create::defineSong(const uint8_t& songNumber,
const uint8_t& songLength,
const uint8_t* notes,
const float* durations) const {
int i, j;
uint8_t duration;
uint8_t cmd[2 * songLength + 3];
cmd[0] = OC_SONG;
cmd[1] = songNumber;
cmd[2] = songLength;
j = 0;
for (i = 3; i < 2 * songLength + 3; i = i + 2) {
if (durations[j] < 0 || durations[j] >= 4)
return false;
duration = durations[j] * 64;
cmd[i] = notes[j];
cmd[i + 1] = duration;
j++;
}
return serial->send(cmd, 2 * songLength + 3);
}
bool Create::playSong(const uint8_t& songNumber) const {
if (songNumber < 0 || songNumber > 4)
return false;
uint8_t cmd[2] = { OC_PLAY, songNumber };
return serial->send(cmd, 2);
}
bool Create::isWheeldrop() const {
if (data->isValidPacketID(ID_BUMP_WHEELDROP)) {
return (GET_DATA(ID_BUMP_WHEELDROP) & 0x0C) != 0;
}
else {
CERR("[create::Create] ", "Wheeldrop sensor not supported!");
return false;
}
}
bool Create::isLeftBumper() const {
if (data->isValidPacketID(ID_BUMP_WHEELDROP)) {
return (GET_DATA(ID_BUMP_WHEELDROP) & 0x02) != 0;
}
else {
CERR("[create::Create] ", "Left bumper not supported!");
return false;
}
}
bool Create::isRightBumper() const {
if (data->isValidPacketID(ID_BUMP_WHEELDROP)) {
return (GET_DATA(ID_BUMP_WHEELDROP) & 0x01) != 0;
}
else {
CERR("[create::Create] ", "Right bumper not supported!");
return false;
}
}
bool Create::isWall() const {
if (data->isValidPacketID(ID_WALL)) {
return GET_DATA(ID_WALL) == 1;
}
else {
CERR("[create::Create] ", "Wall sensor not supported!");
return false;
}
}
bool Create::isCliff() const {
if (data->isValidPacketID(ID_CLIFF_LEFT) &&
data->isValidPacketID(ID_CLIFF_FRONT_LEFT) &&
data->isValidPacketID(ID_CLIFF_FRONT_RIGHT) &&
data->isValidPacketID(ID_CLIFF_RIGHT)) {
return GET_DATA(ID_CLIFF_LEFT) == 1 ||
GET_DATA(ID_CLIFF_FRONT_LEFT) == 1 ||
GET_DATA(ID_CLIFF_FRONT_RIGHT) == 1 ||
GET_DATA(ID_CLIFF_RIGHT) == 1;
}
else {
CERR("[create::Create] ", "Cliff sensors not supported!");
return false;
}
}
bool Create::isVirtualWall() const {
if (data->isValidPacketID(ID_VIRTUAL_WALL)) {
return GET_DATA(ID_VIRTUAL_WALL);
}
else {
CERR("[create::Create] ", "Virtual Wall sensor not supported!");
return false;
}
}
uint8_t Create::getDirtDetect() const {
if (data->isValidPacketID(ID_DIRT_DETECT_LEFT)) {
return GET_DATA(ID_DIRT_DETECT_LEFT);
}
else {
CERR("[create::Create] ", "Dirt detector not supported!");
return -1;
}
}
uint8_t Create::getIROmni() const {
if (data->isValidPacketID(ID_IR_OMNI)) {
return GET_DATA(ID_IR_OMNI);
}
else {
CERR("[create::Create] ", "Omni IR sensor not supported!");
return -1;
}
}
uint8_t Create::getIRLeft() const {
if (data->isValidPacketID(ID_IR_LEFT)) {
return GET_DATA(ID_IR_LEFT);
}
else {
CERR("[create::Create] ", "Left IR sensor not supported!");
return -1;
}
}
uint8_t Create::getIRRight() const {
if (data->isValidPacketID(ID_IR_RIGHT)) {
return GET_DATA(ID_IR_RIGHT);
}
else {
CERR("[create::Create] ", "Right IR sensor not supported!");
return -1;
}
}
ChargingState Create::getChargingState() const {
if (data->isValidPacketID(ID_CHARGE_STATE)) {
uint8_t chargeState = GET_DATA(ID_CHARGE_STATE);
assert(chargeState >= 0);
assert(chargeState <= 5);
return (ChargingState) chargeState;
}
else {
CERR("[create::Create] ", "Charging state not supported!");
return CHARGE_FAULT;
}
}
bool Create::isCleanButtonPressed() const {
if (data->isValidPacketID(ID_BUTTONS)) {
return (GET_DATA(ID_BUTTONS) & 0x01) != 0;
}
else {
CERR("[create::Create] ", "Buttons not supported!");
return false;
}
}
// Not supported by any 600 series firmware
bool Create::isClockButtonPressed() const {
CERR("[create::Create] ", "Clock button is not supported!");
if (data->isValidPacketID(ID_BUTTONS)) {
return (GET_DATA(ID_BUTTONS) & 0x80) != 0;
}
else {
CERR("[create::Create] ", "Buttons not supported!");
return false;
}
}
// Not supported by any 600 series firmware
bool Create::isScheduleButtonPressed() const {
CERR("[create::Create] ", "Schedule button is not supported!");
if (data->isValidPacketID(ID_BUTTONS)) {
return (GET_DATA(ID_BUTTONS) & 0x40) != 0;
}
else {
CERR("[create::Create] ", "Buttons not supported!");
return false;
}
}
bool Create::isDayButtonPressed() const {
if (data->isValidPacketID(ID_BUTTONS)) {
return (GET_DATA(ID_BUTTONS) & 0x20) != 0;
}
else {
CERR("[create::Create] ", "Buttons not supported!");
return false;
}
}
bool Create::isHourButtonPressed() const {
if (data->isValidPacketID(ID_BUTTONS)) {
return (GET_DATA(ID_BUTTONS) & 0x10) != 0;
}
else {
CERR("[create::Create] ", "Buttons not supported!");
return false;
}
}
bool Create::isMinButtonPressed() const {
if (data->isValidPacketID(ID_BUTTONS)) {
return (GET_DATA(ID_BUTTONS) & 0x08) != 0;
}
else {
CERR("[create::Create] ", "Buttons not supported!");
return false;
}
}
bool Create::isDockButtonPressed() const {
if (data->isValidPacketID(ID_BUTTONS)) {
return (GET_DATA(ID_BUTTONS) & 0x04) != 0;
}
else {
CERR("[create::Create] ", "Buttons not supported!");
return false;
}
}
bool Create::isSpotButtonPressed() const {
if (data->isValidPacketID(ID_BUTTONS)) {
return (GET_DATA(ID_BUTTONS) & 0x02) != 0;
}
else {
CERR("[create::Create] ", "Buttons not supported!");
return false;
}
}
float Create::getVoltage() const {
if (data->isValidPacketID(ID_VOLTAGE)) {
return (GET_DATA(ID_VOLTAGE) / 1000.0);
}
else {
CERR("[create::Create] ", "Voltage sensor not supported!");
return 0;
}
}
float Create::getCurrent() const {
if (data->isValidPacketID(ID_VOLTAGE)) {
return (((int16_t)GET_DATA(ID_CURRENT)) / 1000.0);
}
else {
CERR("[create::Create] ", "Current sensor not supported!");
return 0;
}
}
int8_t Create::getTemperature() const {
if (data->isValidPacketID(ID_TEMP)) {
return (int8_t) GET_DATA(ID_TEMP);
}
else {
CERR("[create::Create] ", "Temperature sensor not supported!");
return 0;
}
}
float Create::getBatteryCharge() const {
if (data->isValidPacketID(ID_CHARGE)) {
return (GET_DATA(ID_CHARGE) / 1000.0);
}
else {
CERR("[create::Create] ", "Battery charge not supported!");
return 0;
}
}
float Create::getBatteryCapacity() const {
if (data->isValidPacketID(ID_CAPACITY)) {
return (GET_DATA(ID_CAPACITY) / 1000.0);
}
else {
CERR("[create::Create] ", "Battery capacity not supported!");
return 0;
}
}
bool Create::isLightBumperLeft() const {
if (data->isValidPacketID(ID_LIGHT)) {
return (GET_DATA(ID_LIGHT) & 0x01) != 0;
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return false;
}
}
bool Create::isLightBumperFrontLeft() const {
if (data->isValidPacketID(ID_LIGHT)) {
return (GET_DATA(ID_LIGHT) & 0x02) != 0;
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return false;
}
}
bool Create::isLightBumperCenterLeft() const {
if (data->isValidPacketID(ID_LIGHT)) {
return (GET_DATA(ID_LIGHT) & 0x04) != 0;
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return false;
}
}
bool Create::isLightBumperCenterRight() const {
if (data->isValidPacketID(ID_LIGHT)) {
return (GET_DATA(ID_LIGHT) & 0x08) != 0;
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return false;
}
}
bool Create::isLightBumperFrontRight() const {
if (data->isValidPacketID(ID_LIGHT)) {
return (GET_DATA(ID_LIGHT) & 0x10) != 0;
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return false;
}
}
bool Create::isLightBumperRight() const {
if (data->isValidPacketID(ID_LIGHT)) {
return (GET_DATA(ID_LIGHT) & 0x20) != 0;
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return false;
}
}
uint16_t Create::getLightSignalLeft() const {
if (data->isValidPacketID(ID_LIGHT_LEFT)) {
return GET_DATA(ID_LIGHT_LEFT);
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return 0;
}
}
uint16_t Create::getLightSignalFrontLeft() const {
if (data->isValidPacketID(ID_LIGHT_FRONT_LEFT)) {
return GET_DATA(ID_LIGHT_FRONT_LEFT);
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return 0;
}
}
uint16_t Create::getLightSignalCenterLeft() const {
if (data->isValidPacketID(ID_LIGHT_CENTER_LEFT)) {
return GET_DATA(ID_LIGHT_CENTER_LEFT);
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return 0;
}
}
uint16_t Create::getLightSignalRight() const {
if (data->isValidPacketID(ID_LIGHT_RIGHT)) {
return GET_DATA(ID_LIGHT_RIGHT);
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return 0;
}
}
uint16_t Create::getLightSignalFrontRight() const {
if (data->isValidPacketID(ID_LIGHT_FRONT_RIGHT)) {
return GET_DATA(ID_LIGHT_FRONT_RIGHT);
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return 0;
}
}
uint16_t Create::getLightSignalCenterRight() const {
if (data->isValidPacketID(ID_LIGHT_CENTER_RIGHT)) {
return GET_DATA(ID_LIGHT_CENTER_RIGHT);
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return 0;
}
}
bool Create::isMovingForward() const {
if (data->isValidPacketID(ID_STASIS)) {
return GET_DATA(ID_STASIS) == 1;
}
else {
CERR("[create::Create] ", "Stasis sensor not supported!");
return false;
}
}
float Create::getLeftWheelDistance() const {
return totalLeftDist;
}
float Create::getRightWheelDistance() const {
return totalRightDist;
}
float Create::getMeasuredLeftWheelVel() const {
return measuredLeftVel;
}
float Create::getMeasuredRightWheelVel() const {
return measuredRightVel;
}
float Create::getRequestedLeftWheelVel() const {
return requestedLeftVel;
}
float Create::getRequestedRightWheelVel() const {
return requestedRightVel;
}
create::CreateMode Create::getMode() {
if (data->isValidPacketID(ID_OI_MODE)) {
mode = (create::CreateMode) GET_DATA(ID_OI_MODE);
}
return mode;
}
Pose Create::getPose() const {
return pose;
}
Vel Create::getVel() const {
return vel;
}
uint64_t Create::getNumCorruptPackets() const {
return serial->getNumCorruptPackets();
}
uint64_t Create::getTotalPackets() const {
return serial->getTotalPackets();
}
} // end namespace
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