jakob.kampichler/libcreate
jakob.kampichler/libcreate
1
0
Fork 0
forked from compAIR/libcreate
Code Pull requests Activity

Initial commit.

Browse source
This commit is contained in:
jacobperron 2015-12-11 14:08:34 -08:00
commit 43c7b95361
14 changed files with 1919 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

107
src/data.cpp Normal file
View file

@ -0,0 +1,107 @@
#include "create/data.h"
#define ADD_PACKET(id,nbytes,info) (packets[id]=boost::make_shared<Packet>(nbytes,info))
namespace create {
Data::Data() {
// Populate data map
ADD_PACKET(ID_BUMP_WHEELDROP, 1, "bumps_wheeldrops");
ADD_PACKET(ID_WALL, 1, "wall");
ADD_PACKET(ID_CLIFF_LEFT, 1, "cliff_left");
ADD_PACKET(ID_CLIFF_FRONT_LEFT, 1, "cliff_front_left");
ADD_PACKET(ID_CLIFF_FRONT_RIGHT, 1, "cliff_front_right");
ADD_PACKET(ID_CLIFF_RIGHT, 1, "cliff_right");
ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall");
ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents");
ADD_PACKET(ID_DIRT_DETECT, 1, "dirt_detect");
ADD_PACKET(ID_UNUSED_1, 1, "unused 1");
ADD_PACKET(ID_IR_OMNI, 1, "ir_opcode");
ADD_PACKET(ID_BUTTONS, 1, "buttons");
ADD_PACKET(ID_DISTANCE, 2, "distance");
ADD_PACKET(ID_ANGLE, 2, "angle");
ADD_PACKET(ID_CHARGE_STATE, 1, "charging_state");
ADD_PACKET(ID_VOLTAGE, 2, "voltage");
ADD_PACKET(ID_CURRENT, 2, "current");
ADD_PACKET(ID_TEMP, 1, "temperature");
ADD_PACKET(ID_CHARGE , 2, "battery_charge");
ADD_PACKET(ID_CAPACITY, 2, "battery_capacity");
ADD_PACKET(ID_WALL_SIGNAL, 2, "wall_signal");
ADD_PACKET(ID_CLIFF_LEFT_SIGNAL, 2, "cliff_left_signal");
ADD_PACKET(ID_CLIFF_FRONT_LEFT_SIGNAL, 2, "cliff_front_left_signal");
ADD_PACKET(ID_CLIFF_FRONT_RIGHT_SIGNAL, 2, "cliff_front_right_signal");
ADD_PACKET(ID_CLIFF_RIGHT_SIGNAL, 2, "cliff_right_signal");
ADD_PACKET(ID_UNUSED_2, 1, "unused 2");
ADD_PACKET(ID_UNUSED_3, 2, "unused 3");
ADD_PACKET(ID_CHARGE_SOURCE, 1, "charger_available");
ADD_PACKET(ID_IO_MODE, 1, "oi_mode");
ADD_PACKET(ID_SONG_NUM, 1, "song_number");
ADD_PACKET(ID_PLAYING, 1, "song_playing");
ADD_PACKET(ID_NUM_STREAM_PACKETS, 1, "oi_stream_num_packets");
ADD_PACKET(ID_VEL, 2, "velocity");
ADD_PACKET(ID_RADIUS, 2, "radius");
ADD_PACKET(ID_RIGHT_VEL, 2, "velocity_right");
ADD_PACKET(ID_LEFT_VEL, 2, "velocity_left");
ADD_PACKET(ID_LEFT_ENC, 2, "enc_counts_left");
ADD_PACKET(ID_RIGHT_ENC, 2, "enc_counts_right");
ADD_PACKET(ID_LIGHT, 1, "light_bumper");
ADD_PACKET(ID_LIGHT_LEFT, 2, "light_bumper_left");
ADD_PACKET(ID_LIGHT_FRONT_LEFT, 2, "light_bumper_front_left");
ADD_PACKET(ID_LIGHT_CENTER_LEFT, 2, "light_bumper_center_left");
ADD_PACKET(ID_LIGHT_CENTER_RIGHT, 2, "light_bumper_center_right");
ADD_PACKET(ID_LIGHT_FRONT_RIGHT, 2, "light_bumper_front_right");
ADD_PACKET(ID_LIGHT_RIGHT, 2, "light_bumper_right");
ADD_PACKET(ID_IR_LEFT, 1, "ir_opcode_left");
ADD_PACKET(ID_IR_RIGHT, 1, "ir_opcode_right");
ADD_PACKET(ID_LEFT_MOTOR_CURRENT, 2, "left_motor_current");
ADD_PACKET(ID_RIGHT_MOTOR_CURRENT, 2, "right_motor_current");
ADD_PACKET(ID_MAIN_BRUSH_CURRENT, 2, "main_brush_current");
ADD_PACKET(ID_SIDE_BRUSH_CURRENT, 2, "side_brush_current");
ADD_PACKET(ID_STASIS, 1, "stasis");
totalDataBytes = 0;
for (std::map<uint8_t, boost::shared_ptr<Packet> >::iterator it = packets.begin();
it != packets.end();
++it) {
ids.push_back(it->first);
totalDataBytes += it->second->nbytes;
}
}
Data::~Data() { }
bool Data::isValidPacketID(uint8_t id) const {
if (packets.count(id)) {
return true;
}
return false;
}
boost::shared_ptr<Packet> Data::getPacket(uint8_t id) {
if (isValidPacketID(id)) {
return packets[id];
}
return boost::shared_ptr<Packet>(); //NULL;
}
void Data::validateAll() {
for (std::map<uint8_t, boost::shared_ptr<Packet> >::iterator it = packets.begin();
it != packets.end();
++it) {
it->second->validate();
}
}
unsigned int Data::getTotalDataBytes() const {
return totalDataBytes;
}
uint8_t Data::getNumPackets() const {
return packets.size();
}
std::vector<uint8_t> Data::getPacketIDs() {
return ids;
}
} // namespace create