forked from compAIR/libcreate
117 lines
4.4 KiB
C++
117 lines
4.4 KiB
C++
#include "create/data.h"
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#define ADD_PACKET(id,nbytes,info) (packets[id]=boost::make_shared<Packet>(nbytes,info))
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namespace create {
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Data::Data(RobotModel model) {
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// Populate data map
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/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
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* WARNING: Adding too many packets will flood the serial *
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* buffer and corrupt the stream. *
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* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
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ADD_PACKET(ID_BUMP_WHEELDROP, 1, "bumps_wheeldrops");
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ADD_PACKET(ID_WALL, 1, "wall");
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ADD_PACKET(ID_CLIFF_LEFT, 1, "cliff_left");
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ADD_PACKET(ID_CLIFF_FRONT_LEFT, 1, "cliff_front_left");
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ADD_PACKET(ID_CLIFF_FRONT_RIGHT, 1, "cliff_front_right");
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ADD_PACKET(ID_CLIFF_RIGHT, 1, "cliff_right");
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ADD_PACKET(ID_IR_OMNI, 1, "ir_opcode");
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ADD_PACKET(ID_BUTTONS, 1, "buttons");
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ADD_PACKET(ID_CHARGE_STATE, 1, "charging_state");
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ADD_PACKET(ID_VOLTAGE, 2, "voltage");
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ADD_PACKET(ID_CURRENT, 2, "current");
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ADD_PACKET(ID_TEMP, 1, "temperature");
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ADD_PACKET(ID_CHARGE , 2, "battery_charge");
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ADD_PACKET(ID_CAPACITY, 2, "battery_capacity");
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ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall");
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ADD_PACKET(ID_OI_MODE, 1, "oi_mode");
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ADD_PACKET(ID_RIGHT_VEL, 2, "velocity_right");
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ADD_PACKET(ID_LEFT_VEL, 2, "velocity_left");
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if (model == CREATE_1) {
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ADD_PACKET(ID_DISTANCE, 2, "distance");
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ADD_PACKET(ID_ANGLE, 2, "angle");
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}
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else if (model == CREATE_2) {
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//ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents");
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ADD_PACKET(ID_DIRT_DETECT, 1, "dirt_detect");
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//ADD_PACKET(ID_UNUSED_1, 1, "unused 1");
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//ADD_PACKET(ID_WALL_SIGNAL, 2, "wall_signal");
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//ADD_PACKET(ID_CLIFF_LEFT_SIGNAL, 2, "cliff_left_signal");
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//ADD_PACKET(ID_CLIFF_FRONT_LEFT_SIGNAL, 2, "cliff_front_left_signal");
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//ADD_PACKET(ID_CLIFF_FRONT_RIGHT_SIGNAL, 2, "cliff_front_right_signal");
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//ADD_PACKET(ID_CLIFF_RIGHT_SIGNAL, 2, "cliff_right_signal");
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//ADD_PACKET(ID_UNUSED_2, 1, "unused 2");
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//ADD_PACKET(ID_UNUSED_3, 2, "unused 3");
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//ADD_PACKET(ID_CHARGE_SOURCE, 1, "charger_available");
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//ADD_PACKET(ID_SONG_NUM, 1, "song_number");
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//ADD_PACKET(ID_PLAYING, 1, "song_playing");
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//ADD_PACKET(ID_NUM_STREAM_PACKETS, 1, "oi_stream_num_packets");
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//ADD_PACKET(ID_VEL, 2, "velocity");
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//ADD_PACKET(ID_RADIUS, 2, "radius");
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ADD_PACKET(ID_LEFT_ENC, 2, "enc_counts_left");
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ADD_PACKET(ID_RIGHT_ENC, 2, "enc_counts_right");
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ADD_PACKET(ID_LIGHT, 1, "light_bumper");
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ADD_PACKET(ID_LIGHT_LEFT, 2, "light_bumper_left");
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ADD_PACKET(ID_LIGHT_FRONT_LEFT, 2, "light_bumper_front_left");
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ADD_PACKET(ID_LIGHT_CENTER_LEFT, 2, "light_bumper_center_left");
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ADD_PACKET(ID_LIGHT_CENTER_RIGHT, 2, "light_bumper_center_right");
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ADD_PACKET(ID_LIGHT_FRONT_RIGHT, 2, "light_bumper_front_right");
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ADD_PACKET(ID_LIGHT_RIGHT, 2, "light_bumper_right");
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ADD_PACKET(ID_IR_LEFT, 1, "ir_opcode_left");
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ADD_PACKET(ID_IR_RIGHT, 1, "ir_opcode_right");
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//ADD_PACKET(ID_LEFT_MOTOR_CURRENT, 2, "left_motor_current");
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//ADD_PACKET(ID_RIGHT_MOTOR_CURRENT, 2, "right_motor_current");
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//ADD_PACKET(ID_MAIN_BRUSH_CURRENT, 2, "main_brush_current");
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//ADD_PACKET(ID_SIDE_BRUSH_CURRENT, 2, "side_brush_current");
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ADD_PACKET(ID_STASIS, 1, "stasis");
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} // if CREATE_2
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totalDataBytes = 0;
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for (std::map<uint8_t, boost::shared_ptr<Packet> >::iterator it = packets.begin();
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it != packets.end();
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++it) {
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ids.push_back(it->first);
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totalDataBytes += it->second->nbytes;
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}
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}
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Data::~Data() { }
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bool Data::isValidPacketID(uint8_t id) const {
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if (packets.count(id)) {
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return true;
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}
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return false;
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}
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boost::shared_ptr<Packet> Data::getPacket(uint8_t id) {
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if (isValidPacketID(id)) {
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return packets[id];
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}
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std::cout << "Invalid packet " << (int) id << " requested" << std::endl;
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return boost::shared_ptr<Packet>();
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}
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void Data::validateAll() {
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for (std::map<uint8_t, boost::shared_ptr<Packet> >::iterator it = packets.begin();
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it != packets.end();
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++it) {
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it->second->validate();
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}
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}
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unsigned int Data::getTotalDataBytes() const {
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return totalDataBytes;
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}
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uint8_t Data::getNumPackets() const {
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return packets.size();
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}
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std::vector<uint8_t> Data::getPacketIDs() {
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return ids;
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}
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} // namespace create
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