c_atlasmv Class Reference

class that defines everything related with the atlasmv robot interface. this class only deals with SI units (m/s, rad/s, seconds and so on) More...

#include <c_atlasmv.h>

List of all members.

Public Member Functions
	c_atlasmv (bool debug_)
	initializes pointers and some veriables
int	check_des (void)
	private method to verify if there exist any issues with des servo amplifier
double	get_actual_brk ()
double	get_actual_dir ()
double	get_back_wheel_diam ()
	method to get robot back wheels diameter
double	get_brake_speed_dif ()
char	get_brk_srv_id ()
double	get_brk_time_no_maxon ()
std::string	get_com_des ()
	method to get DES com path
std::string	get_com_dioc ()
std::string	get_com_servo ()
int	get_cross_sensor ()
char	get_des_initialized ()
char	get_dioc_initialized ()
char	get_dir_srv_id ()
double	get_length ()
int	get_lights (atlasmv_base::AtlasmvStatus &)
	used to get lights values
void	get_linear_speed (double , double )
	method to get the linear the robot linear speed
double	get_max_backward_speed ()
double	get_max_forward_speed ()
	method to get max forward speed
int	get_max_pulse_brk ()
int	get_max_pulse_dir ()
double	get_maximum_brk_angle ()
double	get_maximum_dir_angle ()
int	get_min_pulse_brk ()
int	get_min_pulse_dir ()
double	get_minimum_brk_angle ()
double	get_minimum_dir_angle ()
int	get_porthandler_des ()
	method to get DES porthandler
void	get_rpm (int , int )
	method to get MAXON rpm
void	get_sDES_sysparam (TYPE_des_sysparam *)
char	get_servo_initialized ()
double	get_transmission_relation ()
	method to get transmission relation value
double	get_wheelaxisdistance ()
double	get_width ()
int	initialize_robot (void)
	method that initialize interfaces with lower level devices
double	map_linear (double in, std::vector< std::pair< double, double > > &cp)
int	new_robot_state (atlasmv_base::AtlasmvMotionCommand &, atlasmv_base::AtlasmvVertSignsCommand &, atlasmv_base::AtlasmvLightsCommand &)
	method to set a new robot state.
int	read_brake (double brk, int num_pulses=NULL)
	method to read the brake servo position
int	read_cross_sensor ()
	method to get crosswalk sensors
int	read_direction (double *)
	method to request actual direction
int	read_speed (int)
	method to read from servoamplifier the speed
int	restart_des ()
	method to start or restart des according config previously defined with set_des_sparam method
void	set_actual_brk (double *)
void	set_actual_dir (double *)
int	set_atlasmv_details (TYPE_atlasmv_public_params *)
	method to set robot details. attention if required to reset robot parameters is required to re-initialize the robot (procedure initialize_robot)
void	set_back_wheel_diam (double *)
	method to set back wheel diameter
int	set_brake (double *)
	method to send servo order to brake
void	set_brake_speed_dif (double *)
void	set_brk_srv_id (unsigned char)
void	set_brk_time_no_maxon (double *)
void	set_com_des (std::string)
	method to set DES com path
void	set_com_dioc (std::string)
void	set_com_servo (std::string)
void	set_cross_sensor (int)
void	set_des_initialized (char)
void	set_dioc_initialized (char)
void	set_dir_srv_id (unsigned char)
int	set_direction (double *)
	method to set the robot direction
void	set_length (double *)
int	set_lights (atlasmv_base::AtlasmvVertSignsCommand &, atlasmv_base::AtlasmvLightsCommand &)
	method to set lights new state
void	set_linear_speed (double , double )
void	set_max_backward_speed (double *)
void	set_max_forward_speed (double *)
	method to set max forward speed
void	set_max_pulse_brk (int *)
void	set_max_pulse_dir (int *)
void	set_maximum_brk_angle (double *)
void	set_maximum_dir_angle (double *)
void	set_min_pulse_brk (int *)
void	set_min_pulse_dir (int *)
void	set_minimum_brk_angle (double *)
void	set_minimum_dir_angle (double *)
void	set_porthandler_des (int)
	method to set DES porthandler
void	set_rpm (int , int )
	method to set maxon rpm
void	set_sDES_sysparam (TYPE_des_sysparam *)
	method to set des configuration
void	set_servo_initialized (char)
int	set_speed (double *)
	method to set the robot speed
void	set_transmission_relation (double *)
	set MAXON transmission relation
void	set_wheelaxisdistance (double *)
void	set_width (double *)
int	update_robot_status (atlasmv_base::AtlasmvStatus &)
	to update the robot status
	~c_atlasmv ()
	delete pointers and close communications safely
Private Member Functions
int	get_errors ()
	method to get errors values
char	get_executionflags_debug ()
	method to allow multitread and get debug flag
int	init_com_des ()
	method that initializes and set up the conection with servoamplifier DES
int	init_com_dioc ()
	method to begin communication with DIOC board and check if is connected
int	init_com_servo ()
	method to initialize and set up the communication with servo interface
double	pulses2rad (int pulses)
	method to convert from pulse to radians for the direction servo
int	rad2pulses (double rad)
	method to convert from radians to pulses
int	set_errors (int)
	method to set errors values
Private Attributes
double	actual_brk
pthread_mutex_t	actual_brk_mutex
double	actual_dir
pthread_mutex_t	actual_dir_mutex
int	actual_rpm
double	actual_speed
double	back_wheel_diam
pthread_mutex_t	back_wheel_diam_mutex
float	bias_pulse2rad
float	bias_rad2pulse
double	brake_speed_dif
pthread_mutex_t	brake_speed_dif_mutex
double	brk_time_no_maxon
pthread_mutex_t	brk_time_no_maxon_mutex
pthread_mutex_t	c_atlasmv_robot_details_mutex
std::string	com_des
pthread_mutex_t	com_des_mutex
std::string	com_dioc
pthread_mutex_t	com_dioc_mutex
std::string	com_servos
pthread_mutex_t	com_servos_mutex
int	cross_sensor
pthread_mutex_t	cross_sensor_mutex
bool	debug_mode
char	des_initialized
pthread_mutex_t	des_initialized_mutex
class_dioc *	dioc
char	dioc_initialized
pthread_mutex_t	dioc_initialized_mutex
int	errors
pthread_mutex_t	errors_mutex
pthread_mutex_t	flags_mutex
int	headlights
	bool
bool	init
	enum
double	length
pthread_mutex_t	length_mutex
pthread_mutex_t	lights_mutex
pthread_mutex_t	linear_speed_mutex
double	max_backward_speed
pthread_mutex_t	max_backward_speed_mutex
double	max_forward_speed
pthread_mutex_t	max_forward_speed_mutex
int	max_pulse_brk
pthread_mutex_t	max_pulse_brk_mutex
int	max_pulse_dir
pthread_mutex_t	max_pulse_dir_mutex
double	maximum_brk
pthread_mutex_t	maximum_brk_mutex
double	maximum_dir
pthread_mutex_t	maximum_dir_mutex
int	min_pulse_brk
pthread_mutex_t	min_pulse_brk_mutex
int	min_pulse_dir
pthread_mutex_t	min_pulse_dir_mutex
double	minimum_brk
pthread_mutex_t	minimum_brk_mutex
double	minimum_dir
pthread_mutex_t	minimum_dir_mutex
int *	porthandler_des
pthread_mutex_t	porthandler_des_mutex
int	prev_lights
int	prev_sign
int	req_rpm
double	req_speed
int	reverselights
	bool
TYPE_atlasmv_public_params *	robot_details
pthread_mutex_t	robot_status_mutex
pthread_mutex_t	rpm_mutex
TYPE_des_sysparam	sDES_sysparam
pthread_mutex_t	sDES_sysparam_mutex
hitec_5980SG *	servo
int	servo_brake_id
pthread_mutex_t	servo_brake_id_mutex
int	servo_direction_id
pthread_mutex_t	servo_direction_id_mutex
char	servo_initialized
pthread_mutex_t	servo_initialized_mutex
pthread_mutex_t	sign_mutex
float	slope_pulse2rad
float	slope_rad2pulse
int	taillights
	bool
c_timer *	timer
double	transmission_relation
pthread_mutex_t	transmission_relation_mutex
int	turnleft
	bool
int	turnright
double	velocity
int	vert_sign
	bool
double	wheelaxisdistance
pthread_mutex_t	wheelaxisdistance_mutex
double	width
pthread_mutex_t	width_mutex

Detailed Description

class that defines everything related with the atlasmv robot interface. this class only deals with SI units (m/s, rad/s, seconds and so on)

Definition at line 143 of file c_atlasmv.h.

Constructor & Destructor Documentation

c_atlasmv::c_atlasmv ( bool debug )

initializes pointers and some veriables

Parameters:

debug

debug mode

Definition at line 38 of file c_atlasmv.cpp.

c_atlasmv::~c_atlasmv ( )

delete pointers and close communications safely

Definition at line 131 of file c_atlasmv.cpp.

Member Function Documentation

int c_atlasmv::check_des ( void )

private method to verify if there exist any issues with des servo amplifier

Returns:: (

Definition at line 955 of file c_atlasmv.cpp.

double c_atlasmv::get_actual_brk ( )

Definition at line 1482 of file c_atlasmv.cpp.

double c_atlasmv::get_actual_dir ( )

Definition at line 1467 of file c_atlasmv.cpp.

double c_atlasmv::get_back_wheel_diam ( )

method to get robot back wheels diameter

Returns:: back wheel diameter

Definition at line 308 of file c_atlasmv.cpp.

double c_atlasmv::get_brake_speed_dif ( )

Definition at line 417 of file c_atlasmv.cpp.

char c_atlasmv::get_brk_srv_id ( )

Definition at line 639 of file c_atlasmv.cpp.

double c_atlasmv::get_brk_time_no_maxon ( )

Definition at line 162 of file c_atlasmv.cpp.

std::string c_atlasmv::get_com_des ( )

method to get DES com path

Returns:: com path

Definition at line 227 of file c_atlasmv.cpp.

std::string c_atlasmv::get_com_dioc ( )

Definition at line 587 of file c_atlasmv.cpp.

std::string c_atlasmv::get_com_servo ( )

Definition at line 604 of file c_atlasmv.cpp.

int c_atlasmv::get_cross_sensor ( )

Definition at line 1440 of file c_atlasmv.cpp.

char c_atlasmv::get_des_initialized ( )

Definition at line 572 of file c_atlasmv.cpp.

char c_atlasmv::get_dioc_initialized ( )

Definition at line 824 of file c_atlasmv.cpp.

char c_atlasmv::get_dir_srv_id ( )

Definition at line 624 of file c_atlasmv.cpp.

int c_atlasmv::get_errors ( ) [private]

method to get errors values

Returns:: integer with errors

Definition at line 186 of file c_atlasmv.cpp.

char c_atlasmv::get_executionflags_debug ( ) [private]

method to allow multitread and get debug flag

Returns:: char with debug flag

Definition at line 174 of file c_atlasmv.cpp.

double c_atlasmv::get_length ( )

Definition at line 432 of file c_atlasmv.cpp.

int c_atlasmv::get_lights ( atlasmv_base::AtlasmvStatus & robot_status )

used to get lights values

Parameters:

robot_status

Returns:

Definition at line 1498 of file c_atlasmv.cpp.

void c_atlasmv::get_linear_speed	(	double *	speed,
		double *	demanded_speed
	)

method to get the linear the robot linear speed

Parameters:

	speed	- instantaneous linear velocity
	demanded_speed	- requested linear velocity

Definition at line 347 of file c_atlasmv.cpp.

double c_atlasmv::get_max_backward_speed ( )

Definition at line 403 of file c_atlasmv.cpp.

double c_atlasmv::get_max_forward_speed ( )

method to get max forward speed

Returns:: double with max forward speed

Definition at line 388 of file c_atlasmv.cpp.

int c_atlasmv::get_max_pulse_brk ( )

Definition at line 493 of file c_atlasmv.cpp.

int c_atlasmv::get_max_pulse_dir ( )

Definition at line 524 of file c_atlasmv.cpp.

double c_atlasmv::get_maximum_brk_angle ( )

Definition at line 653 of file c_atlasmv.cpp.

double c_atlasmv::get_maximum_dir_angle ( )

Definition at line 681 of file c_atlasmv.cpp.

int c_atlasmv::get_min_pulse_brk ( )

Definition at line 477 of file c_atlasmv.cpp.

int c_atlasmv::get_min_pulse_dir ( )

Definition at line 508 of file c_atlasmv.cpp.

double c_atlasmv::get_minimum_brk_angle ( )

Definition at line 667 of file c_atlasmv.cpp.

double c_atlasmv::get_minimum_dir_angle ( )

Definition at line 695 of file c_atlasmv.cpp.

int c_atlasmv::get_porthandler_des ( )

method to get DES porthandler

Returns:: - porthandler

Definition at line 254 of file c_atlasmv.cpp.

void c_atlasmv::get_rpm	(	int *	rpm,
		int *	demanded_rpm
	)

method to get MAXON rpm

Parameters:

	rpm	- actual engine rpm
	demanded_rpm	- engine rpm demanded

Definition at line 283 of file c_atlasmv.cpp.

void c_atlasmv::get_sDES_sysparam ( TYPE_des_sysparam * b )

Definition at line 544 of file c_atlasmv.cpp.

char c_atlasmv::get_servo_initialized ( )

Definition at line 840 of file c_atlasmv.cpp.

double c_atlasmv::get_transmission_relation ( )

method to get transmission relation value

Returns:: transmission relation

Definition at line 333 of file c_atlasmv.cpp.

double c_atlasmv::get_wheelaxisdistance ( )

Definition at line 462 of file c_atlasmv.cpp.

double c_atlasmv::get_width ( )

Definition at line 447 of file c_atlasmv.cpp.

int c_atlasmv::init_com_des ( ) [private]

method that initializes and set up the conection with servoamplifier DES

Returns:: (0) if some error occurs to open port, (1) success

Definition at line 709 of file c_atlasmv.cpp.

int c_atlasmv::init_com_dioc ( ) [private]

method to begin communication with DIOC board and check if is connected

Returns:: (0) if DIOC does not respond (1) without errors

Definition at line 852 of file c_atlasmv.cpp.

int c_atlasmv::init_com_servo ( ) [private]

method to initialize and set up the communication with servo interface

Returns:: (0) if some error occurs to define and open port, (1) success

Definition at line 744 of file c_atlasmv.cpp.

int c_atlasmv::initialize_robot ( void )

method that initialize interfaces with lower level devices

Returns:: (0) some error occurs when opening low level connections, (1) success

Definition at line 888 of file c_atlasmv.cpp.

double c_atlasmv::map_linear	(	double	in,
		std::vector< std::pair< double, double > > &	cp
	)			`[inline]`

Definition at line 296 of file c_atlasmv.h.

int c_atlasmv::new_robot_state	(	atlasmv_base::AtlasmvMotionCommand &	motion_command,
		atlasmv_base::AtlasmvVertSignsCommand &	sign_command,
		atlasmv_base::AtlasmvLightsCommand &	lights_command
	)

method to set a new robot state.

Parameters:

	sign_command	- command that says what sign was detected. Robot Magic Ball :)
	lights_command	- command that says if is required to turn lights on (turn light, front and/or back)
	motion_command	- command with new robot state

Returns:: - (0) (1) everything set without issue

Definition at line 1283 of file c_atlasmv.cpp.

double c_atlasmv::pulses2rad ( int pulses ) [private]

method to convert from pulse to radians for the direction servo

Parameters:

pulses

- servo position in pulses

Returns:: calculated angle

Definition at line 1163 of file c_atlasmv.cpp.

int c_atlasmv::rad2pulses ( double rad ) [private]

method to convert from radians to pulses

Parameters:

rad

- angle in radians

Returns:: number of pulses

Definition at line 1188 of file c_atlasmv.cpp.

int c_atlasmv::read_brake	(	double *	brk,
		int *	num_pulses = `NULL`
	)

method to read the brake servo position

Parameters:

	brk	servo position
	num_pulses	variable to store the number of pulses

Returns:: (0) error (1) everything ok

Definition at line 1215 of file c_atlasmv.cpp.

int c_atlasmv::read_cross_sensor ( )

method to get crosswalk sensors

Returns:: (1) sensor detected (0) not detected

Definition at line 1453 of file c_atlasmv.cpp.

int c_atlasmv::read_direction ( double * ang )

method to request actual direction

Parameters:

ang

- value in radians

Returns:: (0) error (1) everything ok

Definition at line 1125 of file c_atlasmv.cpp.

int c_atlasmv::read_speed ( int speed_type )

method to read from servoamplifier the speed

Returns:: (0) not possible to read speed, (1) speed readed

Definition at line 1007 of file c_atlasmv.cpp.

int c_atlasmv::restart_des ( )

method to start or restart des according config previously defined with set_des_sparam method

Returns:: (0) -

Definition at line 927 of file c_atlasmv.cpp.

void c_atlasmv::set_actual_brk ( double * a )

Definition at line 1475 of file c_atlasmv.cpp.

void c_atlasmv::set_actual_dir ( double * a )

Definition at line 1460 of file c_atlasmv.cpp.

int c_atlasmv::set_atlasmv_details ( TYPE_atlasmv_public_params * p_robot )

method to set robot details. attention if required to reset robot parameters is required to re-initialize the robot (procedure initialize_robot)

Parameters:

p_robot

- pointer to robot details struct

Returns:: (1) is always successful this op

Definition at line 782 of file c_atlasmv.cpp.

void c_atlasmv::set_back_wheel_diam ( double * diam )

method to set back wheel diameter

Parameters:

diam

- diameter

Definition at line 296 of file c_atlasmv.cpp.

int c_atlasmv::set_brake ( double * brk )

method to send servo order to brake

Parameters:

brk

- brake angle

Returns:: - (0) not braking, (1) success

Definition at line 1249 of file c_atlasmv.cpp.

void c_atlasmv::set_brake_speed_dif ( double * a )

Definition at line 411 of file c_atlasmv.cpp.

void c_atlasmv::set_brk_srv_id ( unsigned char a )

Definition at line 632 of file c_atlasmv.cpp.

void c_atlasmv::set_brk_time_no_maxon ( double * a )

Definition at line 154 of file c_atlasmv.cpp.

void c_atlasmv::set_com_des ( std::string com )

method to set DES com path

Parameters:

com

- string with com path

Definition at line 214 of file c_atlasmv.cpp.

void c_atlasmv::set_com_dioc ( std::string a )

Definition at line 579 of file c_atlasmv.cpp.

void c_atlasmv::set_com_servo ( std::string com )

Definition at line 597 of file c_atlasmv.cpp.

void c_atlasmv::set_cross_sensor ( int a )

Definition at line 1432 of file c_atlasmv.cpp.

void c_atlasmv::set_des_initialized ( char a )

Definition at line 565 of file c_atlasmv.cpp.

void c_atlasmv::set_dioc_initialized ( char a )

Definition at line 818 of file c_atlasmv.cpp.

void c_atlasmv::set_dir_srv_id ( unsigned char a )

Definition at line 617 of file c_atlasmv.cpp.

int c_atlasmv::set_direction ( double * ang )

method to set the robot direction

Parameters:

ang

- value in radians

Returns:: (0) error - velocity not sent (1) everything ok

Definition at line 1088 of file c_atlasmv.cpp.

int c_atlasmv::set_errors ( int err ) [private]

method to set errors values

Parameters:

err

- error to set

Returns:

Definition at line 201 of file c_atlasmv.cpp.

void c_atlasmv::set_length ( double * a )

Definition at line 425 of file c_atlasmv.cpp.

int c_atlasmv::set_lights	(	atlasmv_base::AtlasmvVertSignsCommand &	sign_command,
		atlasmv_base::AtlasmvLightsCommand &	lights_command
	)

method to set lights new state

Parameters:

	sign_command	- command with vertical sign state (mandatory, warning, information)
	lights_command	- command with new state for the general lights (left, right, head, tail & reverse)