ArRobot Class Reference

THE important class. More...

#include <ArRobot.h>

List of all members.

Public Types
enum	ChargeState {   CHARGING_UNKNOWN = -1, CHARGING_NOT = 0, CHARGING_BULK = 1, CHARGING_OVERCHARGE = 2,   CHARGING_FLOAT = 3 }
enum	WaitState {   WAIT_CONNECTED, WAIT_FAILED_CONN, WAIT_RUN_EXIT, WAIT_TIMEDOUT,   WAIT_INTR, WAIT_FAIL }
Public Member Functions
void	actionHandler (void)
	Action Handler, internal.
bool	addAction (ArAction *action, int priority)
void	addConnectCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a connect callback.
void	addDisconnectNormallyCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback for when disconnect is called while connected.
void	addDisconnectOnErrorCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback for when disconnection happens because of an error.
void	addFailedConnectCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback for when a connection to the robot is failed.
void	addPacketHandler (ArRetFunctor1< bool, ArRobotPacket * > *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a packet handler to the list of packet handlers.
void	addRangeDevice (ArRangeDevice *device)
	Adds a rangeDevice to the robot's list of them, and set the device's robot pointer.
void	addRunExitCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback for when the run loop exits for what ever reason.
bool	addSensorInterpTask (const char *name, int position, ArFunctor *functor, ArTaskState::State *state=NULL)
	Adds a task under the sensor interp part of the syncronous tasks.
void	addStabilizingCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback called when the robot starts stabilizing before declaring connection.
bool	addUserTask (const char *name, int position, ArFunctor *functor, ArTaskState::State *state=NULL)
	Adds a user task to the list of synchronous taskes.
void	applyTransform (ArTransform trans, bool doCumulative=true)
	This applies a transform to all the robot range devices and to the sonar.
bool	areMotorsEnabled (void) const
	returns true if the motors are enabled
bool	areSonarsEnabled (void) const
	returns true if the motors are enabled
void	ariaExitCallback (void)
	internal function called when Aria::exit is called
	ArRobot (const char *name=NULL, bool ignored=true, bool doSigHandle=true, bool normalInit=true, bool addAriaExitCallback=true)
	Constructor.
bool	asyncConnect (void)
	Connects to a robot, from the robots own thread.
int	asyncConnectHandler (bool tryHarderToConnect)
	Internal function, shouldn't be used, does a single run of connecting.
void	attachKeyHandler (ArKeyHandler *keyHandler, bool exitOnEscape=true, bool useExitNotShutdown=true)
	Attachs a key handler.
bool	blockingConnect (void)
	Connects to a robot, not returning until connection made or failed.
void	cancelConnection (void)
	Internal function, shouldn't be used, cancels the connection quietly.
double	checkRangeDevicesCumulativeBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL) const
double	checkRangeDevicesCumulativePolar (double startAngle, double endAngle, double *angle=NULL) const
	Goes through all the range devices and checks them.
double	checkRangeDevicesCurrentBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL) const
double	checkRangeDevicesCurrentPolar (double startAngle, double endAngle, double *angle=NULL) const
	Goes through all the range devices and checks them.
void	clearDirectMotion (void)
	Clears what direct motion commands have been given, so actions work.
bool	com (unsigned char command)
	Sends a command to the robot with no arguments.
bool	com2Bytes (unsigned char command, char high, char low)
	Sends a command to the robot with two bytes for argument.
bool	comInt (unsigned char command, short int argument)
	Sends a command to the robot with an int for argument.
bool	comStr (unsigned char command, const char *argument)
	Sends a command to the robot with a string for argument.
bool	comStrN (unsigned char command, const char *str, int size)
	Sends a command to the robot with a size bytes of str as argument.
void	deactivateActions (void)
	Deactivates all the actions.
void	disableMotors ()
	Disables the motors on the robot.
bool	disconnect (void)
	Disconnects from a robot.
void	dropConnection (void)
	Internal function, shouldn't be used, drops the conn because of error.
void	enableMotors ()
	Enables the motors on the robot.
void	failedConnect (void)
	Internal function, shouldn't be used, denotes the conn failed.
ArAction *	findAction (const char *actionName)
double	findAngleTo (const ArPose pose)
	Gets the distance to a point from the robot.
double	findDeltaHeadingTo (const ArPose pose)
	Gets the distance to a point from the robot.
double	findDistanceTo (const ArPose pose)
	Gets the distance to a point from the robot.
ArRangeDevice *	findRangeDevice (const char *name)
	Finds a rangeDevice in the robot's list.
const ArRangeDevice *	findRangeDevice (const char *name) const
	Finds a rangeDevice in the robot's list.
ArSyncTask *	findTask (ArFunctor *functor)
	Finds a task by functor.
ArSyncTask *	findTask (const char *name)
	Finds a task by name.
ArSyncTask *	findUserTask (ArFunctor *functor)
	Finds a user task by functor.
ArSyncTask *	findUserTask (const char *name)
	Finds a user task by name.
void	finishedConnection (void)
	Internal function, shouldn't be used, does the after conn stuff.
double	getAbsoluteMaxRotVel (void) const
	Gets the robots absolute maximum rotational velocity.
double	getAbsoluteMaxTransVel (void) const
	Gets the robots absolute maximum translational velocity.
ArResolver::ActionMap *	getActionMap (void)
unsigned char	getAnalog (void) const
	Gets the analog value.
int	getAnalogPortSelected (void) const
	Gets which analog port is selected.
double	getBatteryVoltage (void) const
	Gets the battery voltage of the robot (normalized to 12 volt system).
size_t	getBatteryVoltageAverageOfNum (void)
	Gets the number of readings the battery voltage is the average of.
double	getBatteryVoltageNow (void) const
	Gets the instaneous battery voltage.
ChargeState	getChargeState (void) const
	Gets the charge state of the robot (see long docs).
int	getClosestSonarNumber (double startAngle, double endAngle) const
	Returns the number of the sonar that has the closest current reading in the given range.
int	getClosestSonarRange (double startAngle, double endAngle) const
	Returns the closest of the current sonar reading in the given range.
double	getCompass (void) const
	Gets the compass heading from the robot.
unsigned int	getConnectionCycleMultiplier (void) const
	Gets the multiplier for how many cycles ArRobot waits when connecting.
int	getConnectionTimeoutTime (void) const
	Gets the time without a response until connection assumed lost.
double	getControl (void) const
	Gets the control heading.
unsigned int	getCounter (void) const
	Gets the Counter for the time through the loop.
unsigned int	getCycleTime (void) const
	Gets the number of ms between cycles.
unsigned int	getCycleWarningTime (void)
	Gets the number of ms between cycles to warn over.
unsigned int	getCycleWarningTime (void) const
	Gets the number of ms between cycles to warn over.
ArDeviceConnection *	getDeviceConnection (void) const
	Gets the connection this instance uses.
unsigned char	getDigIn (void) const
	Gets the byte representing digital input status.
unsigned char	getDigOut (void) const
	Gets the byte representing digital output status.
unsigned int	getDirectMotionPrecedenceTime (void) const
ArRetFunctor1< double, ArPoseWithTime > *	getEncoderCorrectionCallback (void) const
	Gets the encoderCorrectionCallback.
ArPose	getEncoderPose (void) const
	Gets the position of the robot according to the encoders.
size_t	getEncoderPoseInterpNumReadings (void) const
	Sets the number of packets back in time the encoder position interpolation goes.
int	getEncoderPoseInterpPosition (ArTime timeStamp, ArPose *position)
	Gets the encoder position the robot was at at the given timestamp.
ArTransform	getEncoderTransform (void) const
	Gets the encoder transform.
bool	getEstop (void)
	Returns true if the E-Stop button is pressed.
int	getFlags (void) const
	Gets the flags values.
double	getHeadingDoneDiff (void) const
	Gets the difference required for being done with a heading change.
int	getIOAnalog (int num) const
	Gets the n'th byte from the analog input data from the IO packet.
int	getIOAnalogSize (void) const
	Gets the number of bytes in the analog IO buffer.
double	getIOAnalogVoltage (int num) const
	Gets the n'th byte from the analog input data from the IO packet.
unsigned char	getIODigIn (int num) const
	Gets the n'th byte from the digital input data from the IO packet.
int	getIODigInSize (void) const
	Gets the number of bytes in the digital input IO buffer.
unsigned char	getIODigOut (int num) const
	Gets the n'th byte from the digital output data from the IO packet.
int	getIODigOutSize (void) const
	Gets the number of bytes in the digital output IO buffer.
ArTime	getIOPacketTime (void) const
	Returns the time received of the last IO packet.
ArKeyHandler *	getKeyHandler (void) const
	Gets the key handler attached to this robot.
ArTime	getLastPacketTime (void) const
	Gets the time the last packet was received.
long int	getLeftEncoder (void)
	Gets packet data from the left encoder.
double	getLeftVel (void) const
	Gets the velocity of the left wheel.
bool	getLogMovementReceived (void)
	Gets if we're logging all the positions received from the robot.
bool	getLogMovementSent (void)
	Gets if we're logging all the movement commands sent down.
bool	getLogVelocitiesReceived (void)
	Gets if we're logging all the velocities (and heading) received.
int	getMotorPacCount (void) const
	Gets the number of motor packets received in the last second.
double	getMoveDoneDist (void)
	Gets the difference required for being done with a move.
const char *	getName (void) const
	Gets the robots name in ARIAs list.
bool	getNoTimeWarningThisCycle (void)
	Internal function for sync loop and sync task to see if we should warn this cycle or not.
unsigned int	getNumFrontBumpers (void) const
	Gets the number of the front bumpers.
unsigned int	getNumRearBumpers (void) const
	Gets the number of the rear bumpers.
int	getNumSonar (void) const
	Find the number of sonar there are.
const ArRobotConfigPacketReader *	getOrigRobotConfig (void) const
	Gets the original robot config packet information.
bool	getPacketsReceivedTracking (void)
	Gets if we're logging all the packets received (just times and types).
bool	getPacketsSentTracking (void)
	Gets if we're logging all the packets sent and their payload.
ArPose	getPose (void) const
	Gets the global position of the robot.
size_t	getPoseInterpNumReadings (void) const
	Sets the number of packets back in time the position interpol goes.
int	getPoseInterpPosition (ArTime timeStamp, ArPose *position)
	Gets the position the robot was at at the given timestamp.
ArPTZ *	getPTZ (void)
	Sets the camera this robot is using.
std::list< ArRangeDevice * > *	getRangeDeviceList (void)
	Gets the range device list.
ArPose	getRawEncoderPose (void) const
	Internal function to get the raw encoder reading, don't use it.
double	getRealBatteryVoltage (void) const
	Gets the real battery voltage of the robot.
size_t	getRealBatteryVoltageAverageOfNum (void)
	Gets the number of readings the battery voltage is the average of.
double	getRealBatteryVoltageNow (void) const
	Gets the instaneous battery voltage.
ArResolver *	getResolver (void)
	Gets the resolver the robot is using.
long int	getRightEncoder (void)
	Gets packet data from the right encoder.
double	getRightVel (void) const
	Gets the velocity of the right wheel.
double	getRobotDiagonal (void) const
	Gets the robot diagonal (half-height to diagonal of octagon) (in mm).
double	getRobotLength (void) const
	Gets the robot radius (in mm).
const char *	getRobotName (void) const
	Returns the Robot's name that is set in its onboard configuration.
const ArRobotParams *	getRobotParams (void) const
	Gets the parameters the robot is using.
double	getRobotRadius (void) const
	Gets the robot radius (in mm).
const char *	getRobotSubType (void) const
	Returns the subtype of the robot connected to.
const char *	getRobotType (void) const
	Returns the type of the robot connected to.
double	getRobotWidth (void) const
	Gets the robot width (in mm).
double	getRotAccel (void) const
	Gets the rotational acceleration.
double	getRotDecel (void) const
	Gets the rotational acceleration.
double	getRotVel (void) const
	Gets the rotational velocity of the robot.
double	getRotVelMax (void) const
	Gets the maximum rotational velocity.
std::list< ArFunctor * > *	getRunExitListCopy ()
	Internal function, shouldn't be used, does what its name says.
int	getSonarPacCount (void) const
	Gets the number of sonar returns received in the last second.
int	getSonarRange (int num) const
	Gets the range of the last sonar reading for the given sonar.
ArSensorReading *	getSonarReading (int num) const
	Returns the sonar reading for the given sonar.
int	getStabilizingTime (void) const
	How long we stabilize for in ms (0 means no stabilizng).
int	getStallValue (void) const
	Gets the 2 bytes of stall return from the robot.
int	getStateReflectionRefreshTime (void) const
ArSyncTask *	getSyncTaskRoot (void)
double	getTh (void) const
	Gets the global Th location of the robot.
ArTransform	getToGlobalTransform (void) const
	This gets the transform from local coords to global coords.
ArTransform	getToLocalTransform (void) const
	This gets the transform for going from global coords to local coords.
double	getTransAccel (void) const
	Gets the translational acceleration.
double	getTransDecel (void) const
	Gets the translational acceleration.
double	getTransVelMax (void) const
	Gets the maximum translational velocity.
double	getVel (void) const
	Gets the translational velocity of the robot.
double	getX (void) const
	Gets the global X location of the robot.
double	getY (void) const
	Gets the global Y location of the robot.
bool	handlePacket (ArRobotPacket *packet)
bool	hasFrontBumpers (void) const
	Gets whether the robot has front bumpers (see params in docs).
bool	hasRangeDevice (ArRangeDevice *device) const
	Finds whether a particular range device is attached to this robot or not.
bool	hasRearBumpers (void) const
	Gets whether the robot has rear bumpers (see params in docs).
bool	hasSettableAccsDecs (void) const
	If the robot has settable accels and decels.
bool	hasSettableVelMaxes (void) const
	If the robot has settable maximum velocities.
bool	hasTableSensingIR (void) const
	Gets whether the robot has table sensing IR or not (see params in docs).
void	incCounter (void)
	This is only for use by syncLoop.
void	init (void)
	Internal function, shouldn't be used.
bool	isConnected (void) const
	Questions whether the robot is connected or not.
bool	isCycleChained (void) const
	Gets whether we chain the robot cycle to when we get in SIP packets.
bool	isDirectMotion (void) const
	Returns true if direct motion commands are blocking actions.
bool	isEStopPressed (void) const
	returns true if the estop is pressed (or unrelieved)
bool	isHeadingDone (double delta=0.0) const
	Sees if the robot is done changing to the previously given setHeading.
bool	isLeftBreakBeamTriggered (void) const
	Returns true if the left break beam IR is triggered.
bool	isLeftMotorStalled (void) const
	Returns true if the left motor is stalled.
bool	isLeftTableSensingIRTriggered (void) const
	Returns true if the left table sensing IR is triggered.
bool	isMoveDone (double delta=0.0)
	Sees if the robot is done moving the previously given move.
bool	isRightBreakBeamTriggered (void) const
	Returns true if the right break beam IR is triggered.
bool	isRightMotorStalled (void) const
	Returns true if the left motor is stalled.
bool	isRightTableSensingIRTriggered (void) const
	Returns true if the right table sensing IR is triggered.
bool	isRunning (void) const
	Returns whether the robot is currently running or not.
bool	isSonarNew (int num) const
	Find out if the given sonar has a new reading.
bool	isStabilizing (void)
	This tells us if we're in the preconnection state.
void	keyHandlerExit (void)
	For the key handler, escape calls this to exit, internal.
bool	loadParamFile (const char *file)
	Loads a parameter file (replacing all other params).
int	lock ()
	Lock the robot instance.
void	logActions (void) const
	Logs out the actions and their priorities.
void	logAllTasks (void) const
	Logs the list of all tasks, strictly for your viewing pleasure.
void	logUserTasks (void) const
	Logs the list of user tasks, strictly for your viewing pleasure.
void	loopOnce (void)
	This function loops once... only serious developers should use it.
bool	madeConnection (void)
	Internal function, shouldn't be used, does the initial conn stuff.
void	move (double distance)
	Move the given distance forward/backwards.
void	moveTo (ArPose to, ArPose from, bool doCumulative=true)
	Moves the robot's RW position to reflect pose From => pose To.
void	moveTo (ArPose pose, bool doCumulative=true)
	Moves the robot's idea of its position to this position.
void	packetHandler (void)
	Packet Handler, internal.
bool	processEncoderPacket (ArRobotPacket *packet)
	Processes a new encoder packet, internal.
bool	processIOPacket (ArRobotPacket *packet)
	Processes a new IO packet, internal.
bool	processMotorPacket (ArRobotPacket *packet)
	Processes a motor packet, internal.
void	processNewSonar (char number, int range, ArTime timeReceived)
	Processes a new sonar reading, internal.
void	processParamFile (void)
	Internal function, processes a parameter file.
bool	remAction (const char *actionName)
bool	remAction (ArAction *action)
void	remConnectCB (ArFunctor *functor)
	Removes a connect callback.
void	remDisconnectNormallyCB (ArFunctor *functor)
	Removes a callback for when disconnect is called while connected.
void	remDisconnectOnErrorCB (ArFunctor *functor)
	Removes a callback for when disconnection happens because of an error.
void	remFailedConnectCB (ArFunctor *functor)
	Removes a callback for when a connection to the robot is failed.
void	remPacketHandler (ArRetFunctor1< bool, ArRobotPacket * > *functor)
	Removes a packet handler from the list of packet handlers.
void	remRangeDevice (ArRangeDevice *device)
	Remove a range device from the robot's list, by instance.
void	remRangeDevice (const char *name)
	Remove a range device from the robot's list, by name.
void	remRunExitCB (ArFunctor *functor)
	Removes a callback for when the run loop exits for what ever reason.
void	remSensorInterpTask (ArFunctor *functor)
	Removes a sensor interp tasks by functor.
void	remSensorInterpTask (const char *name)
	Removes a sensor interp tasks by name.
void	remStabilizingCB (ArFunctor *functor)
	Removes stabilizing callback.
void	remUserTask (ArFunctor *functor)
	Removes a user task from the list of synchronous taskes by functor.
void	remUserTask (const char *name)
	Removes a user task from the list of synchronous taskes by name.
void	requestEncoderPackets (void)
	Starts a continuous stream of encoder packets.
void	requestIOPackets (void)
	Starts a continuous stream of IO packets.
void	robotLocker (void)
	Robot locker, internal.
void	robotUnlocker (void)
	Robot unlocker, internal.
void	run (bool stopRunIfNotConnected)
	Starts the instance to do processing in this thread.
void	runAsync (bool stopRunIfNotConnected)
	Starts the instance to do processing in its own new thread.
bool	setAbsoluteMaxRotVel (double maxVel)
	Sets the robots absolute maximum rotational velocity.
bool	setAbsoluteMaxTransVel (double maxVel)
	Sets the robots absolute maximum translational velocity.
void	setBatteryVoltageAverageOfNum (size_t numToAverage)
	Sets the number of readings the battery voltage is the average of (default 20).
void	setConnectionCycleMultiplier (unsigned int multiplier)
	Sets the multiplier for how many cycles ArRobot waits when connecting.
void	setConnectionTimeoutTime (int mSecs)
	Sets the time without a response until connection assumed lost.
void	setCycleChained (bool cycleChained)
	Sets whether to chain the robot cycle to when we get in SIP packets.
void	setCycleTime (unsigned int ms)
	Sets the number of ms between cycles.
void	setCycleWarningTime (unsigned int ms)
	Sets the number of ms between cycles to warn over.
void	setDeadReconPose (ArPose pose)
	Sets the dead recon position of the robot.
void	setDeltaHeading (double deltaHeading)
	Sets the delta heading.
void	setDeviceConnection (ArDeviceConnection *connection)
	Sets the connection this instance uses.
void	setDirectMotionPrecedenceTime (int mSec)
void	setEncoderCorrectionCallback (ArRetFunctor1< double, ArPoseWithTime > *functor)
	Sets the encoderCorrectionCallback.
void	setEncoderPoseInterpNumReadings (size_t numReadings)
	Sets the number of packets back in time the ArInterpolation goes for encoder readings.
void	setEncoderTransform (ArPose transformPos)
	Changes the transform directly.
void	setEncoderTransform (ArPose deadReconPos, ArPose globalPos)
	Changes the transform.
void	setHeading (double heading)
	Sets the heading.
void	setHeadingDoneDiff (double degrees)
	sets the difference required for being done with a heading change
void	setLogMovementReceived (bool logMovementReceived)
	Sets if we're logging all the positions received from the robot.
void	setLogMovementSent (bool logMovementSent)
	Sets if we're logging all the movement commands sent down.
void	setLogVelocitiesReceived (bool logVelocitiesReceived)
	Sets if we're logging all the velocities (and heading) received.
void	setMoveDoneDist (double dist)
	Sets the difference required for being done with a move.
void	setName (const char *name)
	Sets the robots name in ARIAs list.
void	setNoTimeWarningThisCycle (bool noTimeWarningThisCycle)
	Internal function for sync loop and sync task to say if we should warn this cycle or not.
void	setPacketsReceivedTracking (bool packetsReceivedTracking)
	Sets if we're logging all the packets received (just times and types).
void	setPacketsSentTracking (bool packetsSentTracking)
	Sets if we're logging all the packets received (just times and types).
void	setPoseInterpNumReadings (size_t numReadings)
	Sets the number of packets back in time the ArInterpolation goes.
void	setPTZ (ArPTZ *ptz)
	Sets the camera this robot is using.
void	setRealBatteryVoltageAverageOfNum (size_t numToAverage)
	Sets the number of readings the real battery voltage is the average of (default 20).
void	setResolver (ArResolver *resolver)
	Sets the resolver the robot is using.
void	setRotAccel (double acc)
	Sets the rotational acceleration.
void	setRotDecel (double decel)
	Sets the rotational acceleration.
void	setRotVel (double velocity)
	Sets the rotational velocity.
void	setRotVelMax (double vel)
	Sets the maximum rotational velocity.
void	setStabilizingTime (int mSecs)
	How long we should stabilize for in ms (0 disables stabilizing).
void	setStateReflectionRefreshTime (int msec)
void	setTransAccel (double acc)
	Sets the translational acceleration.
void	setTransDecel (double decel)
	Sets the translational acceleration.
void	setTransVelMax (double vel)
	Sets the maximum translational velocity.
void	setUpPacketHandlers (void)
	Internal function, shouldn't be used, sets up the default packet handlers.
void	setUpSyncList (void)
	Internal function, shouldn't be used, sets up the default sync list.
void	setVel (double velocity)
void	setVel2 (double leftVelocity, double rightVelocity)
	Sets the velocity of the wheels independently.
void	startStabilization (void)
	Internal function, shouldn't be used, calls the preconnected stuff.
void	stateReflector (void)
	State Reflector, internal.
void	stop (void)
void	stopEncoderPackets (void)
	Stops a continuous stream of encoder packets.
void	stopIOPackets (void)
	Stops a continuous stream of IO packets.
void	stopRunning (bool doDisconnect=true)
	Stops the robot from doing any more processing.
void	stopStateReflection (void)
int	tryLock ()
	Try to lock the robot instance without blocking.
int	unlock ()
	Unlock the robot instance.
WaitState	waitForConnect (unsigned int msecs=0)
	Suspend calling thread until the ArRobot is connected.
WaitState	waitForConnectOrConnFail (unsigned int msecs=0)
	Suspend calling thread until the ArRobot is connected or fails to connect.
WaitState	waitForRunExit (unsigned int msecs=0)
	Suspend calling thread until the ArRobot run loop has exited.
void	wakeAllConnOrFailWaitingThreads ()
	Wake up all threads waiting for connection or connection failure.
void	wakeAllConnWaitingThreads ()
	Wake up all threads waiting for connection.
void	wakeAllRunExitWaitingThreads ()
	Wake up all threads waiting for the run loop to exit.
void	wakeAllWaitingThreads ()
	Wake up all threads waiting on this robot.
	~ArRobot ()
	Destructor.
Public Attributes
ArFunctorC< ArRobot >	myActionHandlerCB
ArRetFunctor1C< bool, ArRobot, ArRobotPacket * >	myEncoderPacketCB
ArRetFunctorC< unsigned int, ArRobot >	myGetCycleWarningTimeCB
ArRetFunctorC< bool, ArRobot >	myGetNoTimeWarningThisCycleCB
ArRetFunctor1C< bool, ArRobot, ArRobotPacket * >	myIOPacketCB
ArFunctorC< ArKeyHandler > *	myKeyHandlerCB
ArFunctorC< ArRobot >	myKeyHandlerExitCB
ArRetFunctor1C< bool, ArRobot, ArRobotPacket * >	myMotorPacketCB
ArFunctorC< ArRobot >	myPacketHandlerCB
ArFunctorC< ArRobot >	myRobotLockerCB
ArFunctorC< ArRobot >	myRobotUnlockerCB
ArFunctorC< ArRobot >	myStateReflectorCB
Protected Types
enum	RotDesired { ROT_NONE, ROT_IGNORE, ROT_HEADING, ROT_VEL }
enum	TransDesired {   TRANS_NONE, TRANS_IGNORE, TRANS_VEL, TRANS_VEL2,   TRANS_DIST, TRANS_DIST_NEW }
Protected Member Functions
void	reset (void)
Protected Attributes
double	myAbsoluteMaxRotVel
double	myAbsoluteMaxTransVel
ArActionDesired	myActionDesired
bool	myActionRotSet
ArResolver::ActionMap	myActions
bool	myActionTransSet
bool	myAddedAriaExitCB
unsigned char	myAnalog
int	myAnalogPortSelected
ArFunctorC< ArRobot >	myAriaExitCB
bool	myAsyncConnectFlag
int	myAsyncConnectNoPacketCount
bool	myAsyncConnectSentChangeBaud
int	myAsyncConnectStartBaud
ArTime	myAsyncConnectStartedChangeBaud
int	myAsyncConnectState
int	myAsyncConnectTimesTried
ArTime	myAsyncStartedConnection
ArRunningAverage	myBatteryAverager
double	myBatteryVoltage
bool	myBlockingConnectRun
ChargeState	myChargeState
double	myCompass
ArDeviceConnection *	myConn
std::list< ArFunctor * >	myConnectCBList
ArCondition	myConnectCond
unsigned int	myConnectionCycleMultiplier
ArCondition	myConnOrFailCond
double	myControl
unsigned int	myCounter
bool	myCycleChained
unsigned int	myCycleTime
unsigned int	myCycleWarningTime
unsigned char	myDigIn
unsigned char	myDigOut
int	myDirectPrecedenceTime
std::list< ArFunctor * >	myDisconnectNormallyCBList
std::list< ArFunctor * >	myDisconnectOnErrorCBList
ArRetFunctor1< double, ArPoseWithTime > *	myEncoderCorrectionCB
ArTransform	myEncoderGlobalTrans
ArInterpolation	myEncoderInterpolation
ArPoseWithTime	myEncoderPose
ArTime	myEncoderPoseTaken
ArTransform	myEncoderTransform
std::list< ArFunctor * >	myFailedConnectCBList
bool	myFirstEncoderPose
int	myFlags
ArPose	myGlobalPose
double	myHeadingDoneDiff
ArInterpolation	myInterpolation
int	myIOAnalog [128]
int	myIOAnalogSize
unsigned char	myIODigIn [255]
int	myIODigInSize
unsigned char	myIODigOut [255]
int	myIODigOutSize
bool	myIsConnected
bool	myIsStabilizing
ArKeyHandler *	myKeyHandler
bool	myKeyHandlerUseExitNotShutdown
bool	myLastActionRotHeading
bool	myLastActionRotStopped
int	myLastActionRotVal
int	myLastActionTransVal
ArTime	myLastIOPacketReceivedTime
ArTime	myLastPacketReceivedTime
ArTime	myLastPulseSent
ArTime	myLastRotSent
RotDesired	myLastRotType
int	myLastRotVal
double	myLastSentRotAccel
double	myLastSentRotDecel
double	myLastSentRotVelMax
double	myLastSentTransAccel
double	myLastSentTransDecel
double	myLastSentTransVelMax
int	myLastTh
ArTime	myLastTransSent
TransDesired	myLastTransType
int	myLastTransVal
int	myLastTransVal2
int	myLastX
int	myLastY
long int	myLeftEncoder
double	myLeftVel
bool	myLogMovementReceived
bool	myLogMovementSent
bool	myLogVelocitiesReceived
int	myMotorPacCount
int	myMotorPacCurrentCount
double	myMoveDoneDist
ArMutex	myMutex
std::string	myName
bool	myNoTimeWarningThisCycle
int	myNumSonar
ArRobotConfigPacketReader *	myOrigRobotConfig
bool	myOwnTheResolver
std::list< ArRetFunctor1< bool, ArRobotPacket * > * >	myPacketHandlerList
bool	myPacketsReceivedTracking
long	myPacketsReceivedTrackingCount
ArTime	myPacketsReceivedTrackingStarted
bool	myPacketsSentTracking
ArRobotParams *	myParams
ArPTZ *	myPtz
std::list< ArRangeDevice * >	myRangeDeviceList
ArPoseWithTime	myRawEncoderPose
ArRunningAverage	myRealBatteryAverager
double	myRealBatteryVoltage
ArRobotPacketReceiver	myReceiver
bool	myRequestedEncoderPackets
bool	myRequestedIOPackets
ArResolver *	myResolver
long int	myRightEncoder
double	myRightVel
std::string	myRobotName
std::string	myRobotSubType
std::string	myRobotType
double	myRotAccel
double	myRotDecel
ArTime	myRotSetTime
RotDesired	myRotType
double	myRotVal
double	myRotVel
double	myRotVelMax
std::list< ArFunctor * >	myRunExitCBList
ArCondition	myRunExitCond
ArRobotPacketSender	mySender
bool	mySentPulse
int	mySonarPacCount
int	mySonarPacCurrentCount
std::map< int, ArSensorReading * >	mySonars
std::list< ArFunctor * >	myStabilizingCBList
int	myStabilizingTime
int	myStallValue
ArTime	myStartedStabilizing
int	myStateReflectionRefreshTime
ArSyncLoop	mySyncLoop
ArSyncTask *	mySyncTaskRoot
time_t	myTimeLastMotorPacket
time_t	myTimeLastSonarPacket
int	myTimeoutTime
double	myTransAccel
double	myTransDecel
ArPose	myTransDistStart
ArTime	myTransSetTime
TransDesired	myTransType
double	myTransVal
double	myTransVal2
double	myTransVelMax
double	myVel
bool	myWarnedAboutExtraSonar

---

Detailed Description

THE important class.

This is the most important class, the only classes most people will ever have to use are this one, and the ArSimpleConnector. NOTE: In Windows you cannot make an ArRobot a global, it will crash because the windows compiler initializes the constructors in the wrong order... you can make a pointer to an ArRobot and then new one however.

See also:

ArSerialConnection

ArTcpConnection

Definition at line 66 of file ArRobot.h.

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Member Enumeration Documentation

enum ArRobot::WaitState

Enumeration values: WAIT_CONNECTED  The robot has connected. WAIT_FAILED_CONN  The robot failed to connect. WAIT_RUN_EXIT  The run loop has exited. WAIT_TIMEDOUT  The wait reached the timeout specified. WAIT_INTR  The wait was interupted by a signal. WAIT_FAIL  The wait failed due to an error. Definition at line 70 of file ArRobot.h.

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Constructor & Destructor Documentation

ArRobot::ArRobot (  const char *  name = NULL, bool  obsolete = true, bool  doSigHandle = true, bool  normalInit = true, bool  addAriaExitCallback = true )

Constructor. Parameters: name  A name for this robot obsolete  Don't use this parameter, it is ignored. (This used to be state reflection but with many additions that make it so that things can't work right without state reflection the ability to not do state refleciton has been removed) normalInit  whether the robot should initializes its structures or the calling program will take care of it. No one will probalby ever use this value, since if they are doing that then overriding will probably be more useful, but there it is. doSigHandle  do normal signal handling and have this robot instance stopRunning() when the program is signaled Definition at line 69 of file ArRobot.cpp. References Aria::addExitCallback(), Aria::addRobot(), init(), ArFunctor::setName(), setName(), ArPose::setPose(), and ArTime::setToNow().

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Member Function Documentation

void ArRobot::actionHandler (  void   )

Action Handler, internal. Runs the resolver on the actions, it just saves these values for use by the stateReflector, otherwise it sends these values straight down to the robot. See also: addAction remAction Definition at line 3225 of file ArRobot.cpp. References isConnected(), ArActionDesired::merge(), ArActionDesired::reset(), and ArResolver::resolve().

bool ArRobot::addAction (  ArAction *  action, int  priority )

Adds an action to the list with the given priority See also: remAction(ArAction*) remAction(const char*) findAction(const char*) Definition at line 2317 of file ArRobot.cpp. References ArLog::log(). Referenced by ArActionGroup::addAction().

void ArRobot::addConnectCB (  ArFunctor *  functor, ArListPos::Pos  position = ArListPos::LAST )

Adds a connect callback. Adds a connect callback, which is an ArFunctor, (created as an ArFunctorC). The entire list of connect callbacks is called when a connection is made with the robot. If you have some sort of module that adds a callback, that module must remove the callback when the module is removed. Parameters: functor  A functor (created from ArFunctorC) which refers to the function to call. position  whether to place the functor first or last See also: remConnectCB Definition at line 1698 of file ArRobot.cpp. References ArLog::log(). Referenced by ArGripper::ArGripper(), ArPTZ::ArPTZ(), ArRobotConfigPacketReader::ArRobotConfigPacketReader(), ArRobotJoyHandler::ArRobotJoyHandler(), ArSick::setRobot(), ArActionRobotJoydrive::setRobot(), and ArSick::~ArSick().

void ArRobot::addDisconnectNormallyCB (  ArFunctor *  functor, ArListPos::Pos  position = ArListPos::LAST )

Adds a callback for when disconnect is called while connected. Adds a disconnect normally callback,which is an ArFunctor, created as an ArFunctorC. This whole list of disconnect normally callbacks is called when something calls disconnect if the instance isConnected. If there is no connection and disconnect is called nothing is done. If you have some sort of module that adds a callback, that module must remove the callback when the module is removed. Parameters: functor  functor created from ArFunctorC which refers to the function to call. position  whether to place the functor first or last See also: remFailedConnectCB Definition at line 1765 of file ArRobot.cpp. References ArLog::log().

void ArRobot::addDisconnectOnErrorCB (  ArFunctor *  functor, ArListPos::Pos  position = ArListPos::LAST )

Adds a callback for when disconnection happens because of an error. Adds a disconnect on error callback, which is an ArFunctor, created as an ArFunctorC. This whole list of disconnect on error callbacks is called when ARIA loses connection to a robot because of an error. This can occur if the physical connection (ie serial cable) between the robot and the computer is severed/disconnected, if one of a pair of radio modems that connect the robot and computer are disconnected, if someone presses the reset button on the robot, or if the simulator is closed while ARIA is connected to it. Note that if the link between the two is lost the ARIA assumes it is temporary until it reaches a timeout value set with setConnectionTimeoutTime. If you have some sort of module that adds a callback, that module must remove the callback when the module removed. Parameters: functor  functor created from ArFunctorC which refers to the function to call. position  whether to place the functor first or last See also: remDisconnectOnErrorCB Definition at line 1802 of file ArRobot.cpp. References ArLog::log().

void ArRobot::addFailedConnectCB (  ArFunctor *  functor, ArListPos::Pos  position = ArListPos::LAST )

Adds a callback for when a connection to the robot is failed. Adds a failed connect callback,which is an ArFunctor, created as an ArFunctorC. This whole list of failed connect callbacks is called when an attempt is made to connect to the robot, but fails. The usual reason for this failure is either that there is no robot/sim where the connection was tried to be made, the robot wasn't given a connection, or the radio modems that communicate with the robot aren't on. If you have some sort of module that adds a callback, that module must remove the callback when the module removed. Parameters: functor  functor created from ArFunctorC which refers to the function to call. position  whether to place the functor first or last See also: remFailedConnectCB Definition at line 1733 of file ArRobot.cpp. References ArLog::log().

void ArRobot::addPacketHandler (  ArRetFunctor1< bool, ArRobotPacket * > *  functor, ArListPos::Pos  position = ArListPos::LAST )

Adds a packet handler to the list of packet handlers. Adds a packet handler. A packet handler is an ArRetFunctor1, created as an instance of ArRetFunctor1C. The return is a boolean, while the functor takes an ArRobotPacket pointer as the argument. This functor is placed in the list of functors to call when a packet arrives. This list is gone through by order until one of the handlers returns true. Parameters: functor  the functor to call when the packet comes in position  whether to place the functor first or last See also: remPacketHandler Definition at line 1665 of file ArRobot.cpp. References ArLog::log(). Referenced by ArAnalogGyro::ArAnalogGyro(), ArGripper::ArGripper(), ArPTZ::ArPTZ(), ArRobotConfigPacketReader::ArRobotConfigPacketReader(), ArRobotJoyHandler::ArRobotJoyHandler(), ArSickLogger::ArSickLogger(), ArTCM2::ArTCM2(), ArP2Arm::init(), ArSick::setRobot(), ArIrrfDevice::setRobot(), ArActionRobotJoydrive::setRobot(), and setUpPacketHandlers().

void ArRobot::addRunExitCB (  ArFunctor *  functor, ArListPos::Pos  position = ArListPos::LAST )

Adds a callback for when the run loop exits for what ever reason. Adds a callback that is called when the run loop exits. The functor is which is an ArFunctor, created as an ArFunctorC. The whole list of functors is called when the run loop exits. This is most usefull for threaded programs that run the robot using ArRobot::runAsync. This will allow user threads to know when the robot loop has exited. Parameters: functor  functor created from ArFunctorC which refers to the function to call. position  whether to place the functor first or last See also: remRunExitCB Definition at line 1834 of file ArRobot.cpp. References ArLog::log().

bool ArRobot::addSensorInterpTask (  const char *  name, int  position, ArFunctor *  functor, ArTaskState::State *  state = NULL )

Adds a task under the sensor interp part of the syncronous tasks. The synchronous tasks get called every robot cycle (every 100 ms by default). Parameters: name  the name to give to the task, should be unique position  the place in the list of user tasks to place this task, this can be any integer, though by convention 0 to 100 is used. The tasks are called in order of highest number to lowest number. functor  functor created from ArFunctorC which refers to the function to call. See also: remSensorInterpTask Definition at line 2148 of file ArRobot.cpp. References ArSyncTask::addNewLeaf(), and ArSyncTask::findNonRecursive(). Referenced by attachKeyHandler(), ArPTZ::setDeviceConnection(), ArSonarDevice::setRobot(), ArSick::setRobot(), ArRangeDevice::setRobot(), ArIRs::setRobot(), ArForbiddenRangeDevice::setRobot(), ArBumpers::setRobot(), and ArACTS_1_2::setRobot().

void ArRobot::addStabilizingCB (  ArFunctor *  functor, ArListPos::Pos  position = ArListPos::LAST )

Adds a callback called when the robot starts stabilizing before declaring connection. Adds a stablizing callback, which is an ArFunctor, created as an ArFunctorC. The entire list of connect callbacks is called just before the connection is called done to the robot. This time can be used to calibtrate readings (on things like gyros). Parameters: functor  The functor to call (e.g. ArFunctorC) position  whether to place the functor first or last See also: remConnectCB Definition at line 1866 of file ArRobot.cpp. References ArLog::log(). Referenced by ArAnalogGyro::ArAnalogGyro().

bool ArRobot::addUserTask (  const char *  name, int  position, ArFunctor *  functor, ArTaskState::State *  state = NULL )

Adds a user task to the list of synchronous taskes. The synchronous tasks get called every robot cycle (every 100 ms by default). Parameters: name  the name to give to the task, should be unique position  the place in the list of user tasks to place this task, this can be any integer, though by convention 0 to 100 is used. The tasks are called in order of highest number to lowest position number. functor  functor created from ArFunctorC which refers to the function to call. See also: remUserTask Definition at line 2070 of file ArRobot.cpp. References ArSyncTask::addNewLeaf(), and ArSyncTask::findNonRecursive(). Referenced by ArDataLogger::ArDataLogger(), ArSickLogger::ArSickLogger(), ArVCC4::ArVCC4(), and ArMode::baseActivate().

void ArRobot::applyTransform (  ArTransform  trans, bool  doCumulative = true )

This applies a transform to all the robot range devices and to the sonar. Applies a transform to the range devices and sonar... this is mostly useful for translating to/from local/global coords, but may have other uses Parameters: trans  the transform to apply doCumulative  whether to transform the cumulative buffers or not Definition at line 4407 of file ArRobot.cpp. References ArSensorReading::applyTransform(), getNumSonar(), and getSonarReading().

bool ArRobot::asyncConnect (  void   )

Connects to a robot, from the robots own thread. Sets up the robot to connect, then returns, but the robot must be running (ie from runAsync) before you do this. Also this will fail if the robot is already connected. If you want to know what happened because of the connect then look at the callbacks. NOTE, this will not lock robot before setting values, so you MUST lock the robot before you call this function and unlock the robot after you call this function. If you fail to lock the robot, you'll may wind up with wierd behavior. Other than the aspect of blocking or not the only difference between async and blocking connects (other than the blocking) is that async is run every robot cycle, whereas blocking runs as fast as it can... also blocking will try to reconnect a radio modem if it looks like it didn't get connected in the first place, so blocking can wind up taking 10 or 12 seconds to decide it can't connect, whereas async doesn't try hard at all to reconnect the radio modem (beyond its first try) (under the assumption the async connect is user driven, so they'll just try again, and so that it won't mess up the sync loop by blocking for so long). Returns: true if the robot is running and the robot will try to connect, false if the robot isn't running so won't try to connect or if the robot is already connected See also: addConnectCB addFailedConnectCB runAsync Definition at line 539 of file ArRobot.cpp. References isConnected().

int ArRobot::asyncConnectHandler (  bool  tryHarderToConnect  )

Internal function, shouldn't be used, does a single run of connecting. This is an internal function that is used both for async connects and blocking connects use to connect. It does about the same thing for both, and it should only be used by asyncConnect and blockingConnect really. But here it is. The only difference between when its being used by blocking/async connect is that in blocking mode if it thinks there may be problems with the radio modem it pauses for two seconds trying to deal with this... whereas in async mode it tries to deal with this in a simpler way. Parameters: tryHarderToConnect  if this is true, then if the radio modems look like they aren't working, it'll take about 2 seconds to try and connect them, whereas if its false, it'll do a little try, but won't try very hard Returns: 0 if its still trying to connect, 1 if it connected, 2 if it failed Definition at line 613 of file ArRobot.cpp. References ArTime::addMSec(), ArBasePacket::bufToStr(), ArRobotPacketSender::com(), com(), ArRobotPacketSender::comInt(), comInt(), failedConnect(), finishedConnection(), ArRobotParams::getAbsoluteMaxRotVelocity(), ArRobotParams::getAbsoluteMaxVelocity(), ArSerialConnection::getBaud(), getCycleTime(), ArRobotPacket::getID(), ArRobotConfigPacketReader::getResetBaud(), ArRobotParams::getRotAccel(), ArRobotConfigPacketReader::getRotAccel(), ArRobotParams::getRotDecel(), ArRobotConfigPacketReader::getRotDecel(), ArRobotParams::getRotVelMax(), ArRobotConfigPacketReader::getRotVelMax(), ArRobotConfigPacketReader::getRotVelTop(), ArDeviceConnection::getStatus(), ArRobotParams::getSwitchToBaudRate(), ArRobotParams::getTransAccel(), ArRobotConfigPacketReader::getTransAccel(), ArRobotParams::getTransDecel(), ArRobotConfigPacketReader::getTransDecel(), ArRobotParams::getTransVelMax(), ArRobotConfigPacketReader::getTransVelMax(), ArRobotConfigPacketReader::getTransVelTop(), ArRobotConfigPacketReader::hasPacketArrived(), ArLogFileConnection::havePose, ArLog::log(), madeConnection(), moveTo(), ArTime::mSecSince(), ArTime::mSecTo(), ArLogFileConnection::myName, ArLogFileConnection::myPose, ArLogFileConnection::mySubtype, ArLogFileConnection::myType, ArDeviceConnection::openSimple(), ArRobotPacketReceiver::receivePacket(), ArRobotConfigPacketReader::requestPacket(), ArBasePacket::resetRead(), setAbsoluteMaxRotVel(), setAbsoluteMaxTransVel(), ArSerialConnection::setBaud(), setCycleChained(), setRotAccel(), setRotDecel(), setRotVelMax(), ArTime::setToNow(), setTransAccel(), setTransDecel(), setTransVelMax(), ArUtil::sleep(), startStabilization(), and ArLogFileConnection::write(). Referenced by blockingConnect(), and packetHandler().

void ArRobot::attachKeyHandler (  ArKeyHandler *  keyHandler, bool  exitOnEscape = true, bool  useExitNotShutdown = true )

Attachs a key handler. This will attach a key handler to a robot, by putting it into the robots sensor interp task list (a keyboards a sensor of users will, right?). By default exitOnEscape is true, which will cause this function to add an escape key handler to the key handler, this will make the program exit when escape is pressed... if you don't like this you can pass exitOnEscape in as false. Parameters: keyHandler  the key handler to attach exitOnEscape  whether to exit when escape is pressed or not useExitNotShutdown  if true then Aria::exit will be called instead of Aria::shutdown if it tries to exit Definition at line 4635 of file ArRobot.cpp. References addSensorInterpTask(). Referenced by ArMode::ArMode(), ArSickLogger::ArSickLogger(), and ArActionKeydrive::setRobot().

bool ArRobot::blockingConnect (  void   )

Connects to a robot, not returning until connection made or failed. Connects to the robot, returning only when a connection has been made or it has been established a connection can't be made. This connection usually is fast, but can take up to 30 seconds if the robot is in a wierd state (this is not often). If the robot is connected via ArSerialConnection then the connect will also connect the radio modems. Upon a successful connection all of the Connection Callback Functors that have been registered will be called. NOTE, this will lock the robot before setting values, so you MUST not have the robot locked from where you call this function. If you do, you'll wind up in a deadlock. This behavior is there because otherwise you'd have to lock the robot before calling this function, and normally blockingConnect will be called from a seperate thread, and that thread won't be doing anything else with the robot at that time. Other than the aspect of blocking or not the only difference between async and blocking connects (other than the blocking) is that async is run every robot cycle, whereas blocking runs as fast as it can... also blocking will try to reconnect a radio modem if it looks like it didn't get connected in the first place, so blocking can wind up taking 10 or 12 seconds to decide it can't connect, whereas async doesn't try hard at all to reconnect the radio modem (under the assumption the async connect is user driven, so they'll just try again, and so that it won't mess up the sync loop by blocking for so long). Returns: true if a connection could be made, false otherwise Definition at line 580 of file ArRobot.cpp. References asyncConnectHandler(), disconnect(), getCycleTime(), lock(), ArUtil::sleep(), and unlock().

double ArRobot::checkRangeDevicesCumulativeBox (  double  x1, double  y1, double  x2, double  y2, ArPose *  readingPos = NULL )  const

This goes through all of the registered range devices and locks each, calls cumulativeReadingBox on it, and then unlocks it. Gets the closest reading in a region defined by the two points of a rectangle. Parameters: x1  the x coordinate of one of the rectangle points y1  the y coordinate of one of the rectangle points x2  the x coordinate of the other rectangle point y2  the y coordinate of the other rectangle point readingPos  a pointer to a position in which to store the location of the closest position Returns: if the return is >= 0 then this is the distance to the closest reading, if it is < 0 then there were no readings in the given region Definition at line 4213 of file ArRobot.cpp. References ArRangeDevice::cumulativeReadingBox(), ArRangeDevice::lockDevice(), and ArRangeDevice::unlockDevice().

double ArRobot::checkRangeDevicesCumulativePolar (  double  startAngle, double  endAngle, double *  angle = NULL )  const

Goes through all the range devices and checks them. This goes through all of the registered range devices and locks each, calls cumulativeReadingPolar on it, and then unlocks it. Gets the closest reading in a region defined by startAngle going to endAngle... going counterclockwise (neg degrees to poseitive... with how the robot is set up, thats counterclockwise)... from -180 to 180... this means if you want the slice between 0 and 10 degrees, you must enter it as 0, 10, if you do 10, 0 you'll get the 350 degrees between 10 and 0... be especially careful with negative... for example -30 to -60 is everything from -30, around through 0, 90, and 180 back to -60... since -60 is actually to clockwise of -30 Parameters: startAngle  where to start the slice endAngle  where to end the slice, going clockwise from startAngle angle  a pointer return of the angle to the found reading Returns: if the return is >= 0 then this is the distance to the closest reading, if it is < 0 then there were no readings in the given region Definition at line 4104 of file ArRobot.cpp. References ArRangeDevice::cumulativeReadingPolar(), ArRangeDevice::lockDevice(), and ArRangeDevice::unlockDevice().

double ArRobot::checkRangeDevicesCurrentBox (  double  x1, double  y1, double  x2, double  y2, ArPose *  readingPos = NULL )  const

This goes through all of the registered range devices and locks each, calls currentReadingBox on it, and then unlocks it. Gets the closest reading in a region defined by the two points of a rectangle. Parameters: x1  the x coordinate of one of the rectangle points y1  the y coordinate of one of the rectangle points x2  the x coordinate of the other rectangle point y2  the y coordinate of the other rectangle point readingPos  a pointer to a position in which to store the location of the closest position Returns: if the return is >= 0 then this is the distance to the closest reading, if it is < 0 then there were no readings in the given region Definition at line 4159 of file ArRobot.cpp. References ArRangeDevice::currentReadingBox(), ArRangeDevice::lockDevice(), and ArRangeDevice::unlockDevice(). Referenced by ArActionLimiterForwards::fire(), ArActionLimiterBackwards::fire(), and ArActionDeceleratingLimiter::fire().

double ArRobot::checkRangeDevicesCurrentPolar (  double  startAngle, double  endAngle, double *  angle = NULL )  const

Goes through all the range devices and checks them. This goes through all of the registered range devices and locks each, calls currentReadingPolar on it, and then unlocks it. Gets the closest reading in a region defined by startAngle going to endAngle... going counterclockwise (neg degrees to poseitive... with how the robot is set up, thats counterclockwise)... from -180 to 180... this means if you want the slice between 0 and 10 degrees, you must enter it as 0, 10, if you do 10, 0 you'll get the 350 degrees between 10 and 0... be especially careful with negative... for example -30 to -60 is everything from -30, around through 0, 90, and 180 back to -60... since -60 is actually to clockwise of -30 Parameters: startAngle  where to start the slice endAngle  where to end the slice, going clockwise from startAngle angle  a pointer return of the angle to the found reading Returns: if the return is >= 0 then this is the distance to the closest reading, if it is < 0 then there were no readings in the given region Definition at line 4046 of file ArRobot.cpp. References ArRangeDevice::currentReadingPolar(), ArRangeDevice::lockDevice(), and ArRangeDevice::unlockDevice(). Referenced by ArActionTurn::fire(), ArActionAvoidSide::fire(), and ArActionAvoidFront::fire().

void ArRobot::clearDirectMotion (  void   )

Clears what direct motion commands have been given, so actions work. This clears the direct motion commands so that actions will be allowed to control the robot again. See also: setDirectMotionPrecedenceTime getDirectMotionPrecedenceTime Definition at line 4535 of file ArRobot.cpp. Referenced by ArMode::baseActivate().

bool ArRobot::com (  unsigned char  command  )

Sends a command to the robot with no arguments. Parameters: command  the command number to send Returns: whether the command could be sent or not See also: ArCommands Definition at line 3806 of file ArRobot.cpp. References ArRobotPacketSender::com(), and ArLog::log(). Referenced by asyncConnectHandler(), and stateReflector().

bool ArRobot::com2Bytes (  unsigned char  command, char  high, char  low )

Sends a command to the robot with two bytes for argument. Parameters: command  the command number to send high  the high byte to send with the command low  the low byte to send with the command Returns: whether the command could be sent or not See also: ArCommands Definition at line 3833 of file ArRobot.cpp. References ArRobotPacketSender::com2Bytes(), and ArLog::log(). Referenced by stateReflector().

bool ArRobot::comInt (  unsigned char  command, short int  argument )

Sends a command to the robot with an int for argument. Parameters: command  the command number to send argument  the integer argument to send with the command Returns: whether the command could be sent or not See also: ArCommands Definition at line 3819 of file ArRobot.cpp. References ArRobotPacketSender::comInt(), and ArLog::log(). Referenced by ArGripper::ArGripper(), asyncConnectHandler(), ArTCM2::commandAutoCalibration(), ArTCM2::commandContinuousPackets(), ArTCM2::commandJustCompass(), ArTCM2::commandOff(), ArTCM2::commandOnePacket(), ArTCM2::commandSoftReset(), ArTCM2::commandStopCalibration(), ArTCM2::commandUserCalibration(), ArRobotConfigPacketReader::connected(), ArGripper::connectHandler(), disableMotors(), ArSick::disconnect(), enableMotors(), ArActionIRs::fire(), ArActionDeceleratingLimiter::fire(), ArGripper::gripClose(), ArGripper::gripOpen(), ArGripper::gripperDeploy(), ArGripper::gripperHalt(), ArGripper::gripperStore(), ArGripper::gripPressure(), ArGripper::gripStop(), ArSick::internalConnectSim(), ArGripper::liftCarry(), ArGripper::liftDown(), ArGripper::liftStop(), ArGripper::liftUp(), madeConnection(), ArGripper::packetHandler(), requestEncoderPackets(), requestIOPackets(), ArRobotConfigPacketReader::requestPacket(), ArGripper::setType(), ArAnalogGyro::stabilizingCallback(), stateReflector(), stop(), stopEncoderPackets(), stopIOPackets(), and ArAnalogGyro::~ArAnalogGyro().

bool ArRobot::comStr (  unsigned char  command, const char *  argument )

Sends a command to the robot with a string for argument. Parameters: command  the command number to send argument  the string to send with the command Returns: whether the command could be sent or not See also: ArCommands Definition at line 3847 of file ArRobot.cpp. References ArRobotPacketSender::comStr(), and ArLog::log(). Referenced by ArSickLogger::ArSickLogger(), and ArSickLogger::~ArSickLogger().

bool ArRobot::comStrN (  unsigned char  command, const char *  str, int  size )

Sends a command to the robot with a size bytes of str as argument. Parameters: command  the command number to send str  the character array to send with the command size  length of the array to send Returns: whether the command could be sent or not See also: ArCommands Definition at line 3862 of file ArRobot.cpp. References ArRobotPacketSender::comStrN(), and ArLog::log(). Referenced by ArPTZ::sendPacket().

void ArRobot::disableMotors (   )

Disables the motors on the robot. This command disables the motors on the robot, if it is connected. Definition at line 4586 of file ArRobot.cpp. References comInt().

bool ArRobot::disconnect (  void   )

Disconnects from a robot. Disconnects from a robot. This also calls of the DisconnectNormally Callback Functors if the robot was actually connected to a robot when this member was called. Returns: true if not connected to a robot (so no disconnect can happen, but it didn't failed either), also true if the command could be sent to the robot (ie connection hasn't failed) Definition at line 1301 of file ArRobot.cpp. References ArDeviceConnection::close(), ArRobotPacketSender::comInt(), ArLog::log(), ArSerialConnection::setBaud(), and ArUtil::sleep(). Referenced by ariaExitCallback(), blockingConnect(), and stopRunning().

void ArRobot::enableMotors (   )

Enables the motors on the robot. This command enables the motors on the robot, if it is connected. Definition at line 4578 of file ArRobot.cpp. References comInt().

ArAction * ArRobot::findAction (  const char *  actionName  )

Returns the first (highest priority) action with the given name (or NULL) See also: addAction remAction(ArAction*) remAction(const char*) Definition at line 2392 of file ArRobot.cpp. References ArAction::getName().

ArRangeDevice * ArRobot::findRangeDevice (  const char *  name  )

Finds a rangeDevice in the robot's list. Parameters: name  return the first device with this name Returns: if found, a range device with the given name, if not found NULL Definition at line 3966 of file ArRobot.cpp. References ArRangeDevice::getName().

const ArRangeDevice * ArRobot::findRangeDevice (  const char *  name  )  const

Finds a rangeDevice in the robot's list. Parameters: name  return the first device with this name Returns: if found, a range device with the given name, if not found NULL Definition at line 3986 of file ArRobot.cpp. References ArRangeDevice::getName(). Referenced by ArActionTriangleDriveTo::setRobot().

ArSyncTask * ArRobot::findTask (  ArFunctor *  functor  )

Finds a task by functor. Finds a task by its functor, searching the entire space of tasks Returns: NULL if no task with that functor found, otherwise a pointer to the ArSyncTask for the first task found with that functor Definition at line 2295 of file ArRobot.cpp. References ArSyncTask::find().

ArSyncTask * ArRobot::findTask (  const char *  name  )

Finds a task by name. Finds a task by its name, searching the entire space of tasks Returns: NULL if no task of that name found, otherwise a pointer to the ArSyncTask for the first task found with that name Definition at line 2281 of file ArRobot.cpp. References ArSyncTask::find().

ArSyncTask * ArRobot::findUserTask (  ArFunctor *  functor  )

Finds a user task by functor. Finds a user task by its functor, searching the entire space of tasks Returns: NULL if no user task with that functor found, otherwise a pointer to the ArSyncTask for the first task found with that functor Definition at line 2263 of file ArRobot.cpp. References ArSyncTask::find(), and ArSyncTask::findNonRecursive().

ArSyncTask * ArRobot::findUserTask (  const char *  name  )

Finds a user task by name. Finds a user task by its name, searching the entire space of tasks Returns: NULL if no user task of that name found, otherwise a pointer to the ArSyncTask for the first task found with that name Definition at line 2245 of file ArRobot.cpp. References ArSyncTask::find(), and ArSyncTask::findNonRecursive().

ArResolver::ActionMap * ArRobot::getActionMap (  void   )

Returns the map of actions... don't do this unless you really know what you're doing Definition at line 2415 of file ArRobot.cpp. Referenced by deactivateActions().

double ArRobot::getBatteryVoltage (  void   )  const [inline]

Gets the battery voltage of the robot (normalized to 12 volt system). This value is averaged over a number of readings, you can get this by calling getBatteryVoltageAverageOfNum and set this with setBatteryVoltageAverageOfNum... you can call getBatteryVoltageNow to get the reading from the last packet. This is a value normalized to 12 volts, if you want what the actual voltage of the robot is use getRealBatteryVoltage. Definition at line 251 of file ArRobot.h. References ArRunningAverage::getAverage().

double ArRobot::getBatteryVoltageNow (  void   )  const [inline]

Gets the instaneous battery voltage. This is a value normalized to 12 volts, if you want what the actual voltage of the robot is use getRealBatteryVoltage. Definition at line 257 of file ArRobot.h.

ArRobot::ChargeState ArRobot::getChargeState (  void   )  const

Gets the charge state of the robot (see long docs). Note that this is only available on robots with an firwmare operating system (ARCOS or uARCS) thats at least newer than July of 2005. It'll just be CHARGING_UNKNOWN on everything else always. Definition at line 4686 of file ArRobot.cpp.

unsigned int ArRobot::getConnectionCycleMultiplier (  void   )  const

Gets the multiplier for how many cycles ArRobot waits when connecting. Returns: when the ArRobot is waiting for a connection packet back from a robot, it waits for this multiplier times the cycle time for the packet to come back before it gives up on it... This should be small for normal connections but if doing something over a slow network then you may want to make it larger Definition at line 3358 of file ArRobot.cpp.

int ArRobot::getConnectionTimeoutTime (  void   )  const

Gets the time without a response until connection assumed lost. Gets the number of seconds to go without response from the robot until it is assumed tha tthe connection with the robot has been broken and the disconnect on error events will happen. Definition at line 494 of file ArRobot.cpp.

double ArRobot::getControl (  void   )  const [inline]

Gets the control heading. Gets the control heading as an offset from the current heading. See also: getTh Definition at line 299 of file ArRobot.h.

unsigned int ArRobot::getCycleTime (  void   )  const

Gets the number of ms between cycles. Finds the number of milliseconds between cycles, at each cycle is when all packets are processed, all sensors are interpretted, all actions are called, and all user tasks are serviced. Be warned, if you set this too small you could overflow your serial connection. Returns: the number of milliseconds between cycles Definition at line 3331 of file ArRobot.cpp. Referenced by asyncConnectHandler(), blockingConnect(), and packetHandler().

unsigned int ArRobot::getCycleWarningTime (  void   )

Gets the number of ms between cycles to warn over. Sets a time such that if the number of milliseconds between cycles goes over this then there will be an ArLog::log(ArLog::Normal) warning. Returns: the number of milliseconds between cycles to warn over, 0 means warning is off Definition at line 3277 of file ArRobot.cpp.

unsigned int ArRobot::getCycleWarningTime (  void   )  const

Gets the number of ms between cycles to warn over. Sets a time such that if the number of milliseconds between cycles goes over this then there will be an ArLog::log(ArLog::Normal) warning. Returns: the number of milliseconds between cycles to warn over, 0 means warning is off Definition at line 3264 of file ArRobot.cpp.

ArDeviceConnection * ArRobot::getDeviceConnection (  void   )  const

Gets the connection this instance uses. Gets the connection this instance uses to the actual robot. This is where commands will be sent and packets will be received from Returns: the deviceConnection used for this robot See also: ArDeviceConnection ArSerialConnection ArTcpConnection Definition at line 465 of file ArRobot.cpp.

unsigned int ArRobot::getDirectMotionPrecedenceTime (  void   )  const

Gets the length of time a direct motion command will take precedence over actions, in milliseconds Definition at line 4523 of file ArRobot.cpp.

ArRetFunctor1< double, ArPoseWithTime > * ArRobot::getEncoderCorrectionCallback (  void   )  const

Gets the encoderCorrectionCallback. This gets the encoderCorrectionCB, see setEncoderCorrectionCallback for details. Returns: the callback, or NULL if there isn't one Definition at line 4491 of file ArRobot.cpp.

int ArRobot::getEncoderPoseInterpPosition (  ArTime  timeStamp, ArPose *  position )  [inline]

Gets the encoder position the robot was at at the given timestamp. See also: ArInterpolation::getPose Definition at line 694 of file ArRobot.h. References ArInterpolation::getPose(). Referenced by ArSick::runOnce(), and ArSick::sensorInterpCallback().

ArTransform ArRobot::getEncoderTransform (  void   )  const

Gets the encoder transform. Returns: the transform from encoder to global coords Definition at line 4356 of file ArRobot.cpp. Referenced by ArActionTriangleDriveTo::findTriangle(), ArActionTriangleDriveTo::fire(), ArActionGotoStraight::fire(), ArIrrfDevice::packetHandler(), ArSick::runOnce(), ArActionGotoStraight::setEncoderGoalRel(), and ArSick::simPacketHandler().

int ArRobot::getIOAnalog (  int  num  )  const

Gets the n'th byte from the analog input data from the IO packet. This gets the raw IO Analog value, which is a number between 0 and 1024 (2^10). Definition at line 1601 of file ArRobot.cpp. References getIOAnalogSize().

double ArRobot::getIOAnalogVoltage (  int  num  )  const

Gets the n'th byte from the analog input data from the IO packet. This gets the IO Analog value converted to a voltage between 0 and 5 voltes. Definition at line 1612 of file ArRobot.cpp. References getIOAnalogSize().

ArTime ArRobot::getLastPacketTime (  void   )  const

Gets the time the last packet was received. This gets the ArTime that the last packet was received at Returns: the time the last packet was received Definition at line 504 of file ArRobot.cpp.

const ArRobotConfigPacketReader * ArRobot::getOrigRobotConfig (  void   )  const

Gets the original robot config packet information. Returns: the ArRobotConfigPacketReader taken when this instance got connected to the robot Definition at line 1650 of file ArRobot.cpp. Referenced by ArActionDeceleratingLimiter::fire(), packetHandler(), and ArAnalogGyro::stabilizingCallback().

int ArRobot::getPoseInterpPosition (  ArTime  timeStamp, ArPose *  position )  [inline]

Gets the position the robot was at at the given timestamp. See also: ArInterpolation::getPose Definition at line 680 of file ArRobot.h. References ArInterpolation::getPose(). Referenced by ArSick::runOnce(), and ArSick::sensorInterpCallback().

std::list< ArRangeDevice * > * ArRobot::getRangeDeviceList (  void   )

Gets the range device list. This gets the list of range devices attached to this robot, do NOT manipulate this list directly. If you want to manipulate use the appropriate addRangeDevice, or remRangeDevice Returns: the list of range dvices attached to this robot Definition at line 4008 of file ArRobot.cpp.

double ArRobot::getRealBatteryVoltage (  void   )  const [inline]

Gets the real battery voltage of the robot. This value is averaged over a number of readings, you can get this by calling getRealBatteryVoltageAverageOfNum and set this with setRealBatteryVoltageAverageOfNum... you can call getRealBatteryVoltageNow to get the reading from the last packet. This is whatever the actual voltage of the robot is, if you want a value normalized to 12 volts use getBatteryVoltage. If the robot connected to doesn't send the real battery voltage it will just use the normal battery voltage (normalized to 12 volt scale). Definition at line 272 of file ArRobot.h. References ArRunningAverage::getAverage(). Referenced by ArModeWander::userTask(), ArModeUnguardedTeleop::userTask(), and ArModeTeleop::userTask().

double ArRobot::getRealBatteryVoltageNow (  void   )  const [inline]

Gets the instaneous battery voltage. This is whatever the actual voltage of the robot is, if you want a value normalized to 12 volts use getBatteryVoltage. If the robot doesn't support this number the voltage will be less than 0 and you should use getBatteryVoltageNow. Definition at line 281 of file ArRobot.h.

const ArRobotParams * ArRobot::getRobotParams (  void   )  const

Gets the parameters the robot is using. Returns: the ArRobotParams instance the robot is using for its parameters Definition at line 1641 of file ArRobot.cpp. Referenced by ArBumpers::addBumpToBuffer(), ArSick::robotConnectCallback(), ArIRs::setRobot(), ArActionIRs::setRobot(), ArSimpleConnector::setupLaserArbitrary(), and ArAnalogGyro::stabilizingCallback().

int ArRobot::getSonarRange (  int  num  )  const

Gets the range of the last sonar reading for the given sonar. Parameters: num  the sonar number to check, should be between 0 and the number of sonar, the function won't fail if a bad number is given, will just return -1 Returns: -1 if the sonar has never returned a reading, otherwise the sonar range, which is the distance from the physical sonar disc to where the sonar bounced back See also: getNumSonar Definition at line 3750 of file ArRobot.cpp. Referenced by getClosestSonarRange(), and ArModeSonar::userTask().

ArSensorReading * ArRobot::getSonarReading (  int  num  )  const

Returns the sonar reading for the given sonar. Parameters: num  the sonar number to check, should be between 0 and the number of sonar, the function won't fail if a bad number is given, will just return false Returns: NULL if there is no sonar defined for the given number, otherwise it returns a pointer to an instance of the ArSensorReading, note that this class retains ownership, so the instance pointed to should not be deleted and no pointers to it should be stored. Note that often there will be sonar defined but no readings for it (since the readings may be created by the parameter reader), if there has never been a reading from the sonar then the range of that sonar will be -1 and its counterTaken value will be 0 Definition at line 3790 of file ArRobot.cpp. Referenced by applyTransform(), getClosestSonarNumber(), moveTo(), and ArSonarDevice::processReadings().

int ArRobot::getStabilizingTime (  void   )  const

How long we stabilize for in ms (0 means no stabilizng). This is the amount of time the robot will stabilize for after it has connected to the robot (it won't report it is connected until after this time is over). Definition at line 3319 of file ArRobot.cpp. Referenced by ArAnalogGyro::stabilizingCallback().

int ArRobot::getStateReflectionRefreshTime (  void   )  const

Sets the number of milliseconds between state reflection refreshes if the state has not changed Definition at line 4615 of file ArRobot.cpp.

ArSyncTask * ArRobot::getSyncTaskRoot (  void   )

This gets the root of the syncronous task tree, only serious developers should use it Definition at line 2049 of file ArRobot.cpp. Referenced by ArNetServer::open(), and ArNetServer::~ArNetServer().

ArTransform ArRobot::getToGlobalTransform (  void   )  const

This gets the transform from local coords to global coords. Returns: an ArTransform which can be used for transforming a position in local coordinates to one in global coordinates Definition at line 4376 of file ArRobot.cpp. References getPose(), and ArTransform::setTransform(). Referenced by ArBumpers::addBumpToBuffer(), ArActionTriangleDriveTo::findTriangle(), moveTo(), processNewSonar(), ArIRs::processReadings(), ArActionGotoStraight::setEncoderGoalRel(), ArActionGotoStraight::setGoalRel(), and ArSick::simPacketHandler().

ArTransform ArRobot::getToLocalTransform (  void   )  const

This gets the transform for going from global coords to local coords. Returns: an ArTransform which can be used for transforming a position in global coordinates to one in local coordinates Definition at line 4390 of file ArRobot.cpp. References getPose(), and ArTransform::setTransform(). Referenced by ArActionTriangleDriveTo::findTriangle(), and moveTo().

bool ArRobot::handlePacket (  ArRobotPacket *  packet  )

Internal function, takes a packet and passes it to the packet handlers, returns true if handled, false otherwise Definition at line 3045 of file ArRobot.cpp. References dropConnection(), lock(), ArLog::log(), and unlock(). Referenced by packetHandler().

bool ArRobot::hasRangeDevice (  ArRangeDevice *  device  )  const

Finds whether a particular range device is attached to this robot or not. Parameters: device  the device to check for Definition at line 4016 of file ArRobot.cpp.

void ArRobot::init (  void   )

Internal function, shouldn't be used. Sets up the packet handlers, sets up the sync list and makes the default priority resolver. Definition at line 177 of file ArRobot.cpp. References setUpPacketHandlers(), and setUpSyncList(). Referenced by ArRobot().

bool ArRobot::isConnected (  void   )  const [inline]

Questions whether the robot is connected or not. Returns: true if connected to a robot, false if not Definition at line 114 of file ArRobot.h. Referenced by actionHandler(), ArAnalogGyro::ArAnalogGyro(), ArGripper::ArGripper(), ArRobotJoyHandler::ArRobotJoyHandler(), asyncConnect(), ArSick::configureShort(), ArP2Arm::init(), ArP2Arm::isGood(), packetHandler(), ArSick::robotConnectCallback(), ArSick::sensorInterpCallback(), ArSick::setRobot(), ArSimpleConnector::setupLaserArbitrary(), ArAnalogGyro::stabilizingCallback(), stopRunning(), waitForConnect(), and waitForConnectOrConnFail().

bool ArRobot::isDirectMotion (  void   )  const

Returns true if direct motion commands are blocking actions. Returns the state of direct motion commands: whether actions are allowed or not See also: clearDirectMotion Definition at line 4565 of file ArRobot.cpp.

bool ArRobot::isHeadingDone (  double  delta = 0.0  )  const

Sees if the robot is done changing to the previously given setHeading. Determines if a setHeading() command is finished, to within a small distance. If delta = 0 (default), the delta distance is what was set with setHeadingDoneDiff(), you can get the distnace with getHeadingDoneDiff() Parameters: delta  how close to the goal distance the robot must be Returns: true if the robot has achieved the heading given in a move command or if the robot is no longer in heading mode mode (because its now running off of actions, setDHeading(), or setRotVel() was called). Definition at line 1483 of file ArRobot.cpp. References getTh().

bool ArRobot::isMoveDone (  double  delta = 0.0  )

Sees if the robot is done moving the previously given move. Determines if a move command is finished, to within a small distance threshold, "delta". If delta = 0 (default), the delta distance set with setMoveDoneDist() will be used. Parameters: delta  how close to the goal distance the robot must be, or 0 for previously set default Returns: true if the robot has finished the distance given in a move command or if the robot is no longer in a move mode (because its now running off of actions, or setVel() or setVel2() was called). See also: setMoveDoneDist getMoveDoneDist Definition at line 1458 of file ArRobot.cpp. References ArPose::findDistanceTo(), and getPose().

bool ArRobot::isRunning (  void   )  const

Returns whether the robot is currently running or not. Returns: true if the robot is currently running in a run or runAsync, otherwise false Definition at line 213 of file ArRobot.cpp. Referenced by ArP2Arm::init(), ArP2Arm::isGood(), packetHandler(), and waitForRunExit().

bool ArRobot::isSonarNew (  int  num  )  const

Find out if the given sonar has a new reading. Parameters: num  the sonar number to check, should be between 0 and the number of sonar, the function won't fail if a bad number is given, will just return false Returns: false if the sonar reading is old, or if there is no reading from that sonar Definition at line 3768 of file ArRobot.cpp. References getCounter().

bool ArRobot::loadParamFile (  const char *  file  )

Loads a parameter file (replacing all other params). Returns: true if the file could be loaded, false otherwise Definition at line 1038 of file ArRobot.cpp. References ArLog::log(), ArConfig::parseFile(), and processParamFile().

void ArRobot::logAllTasks (  void   )  const

Logs the list of all tasks, strictly for your viewing pleasure. See also: ArLog Definition at line 2234 of file ArRobot.cpp. References ArSyncTask::log().

void ArRobot::logUserTasks (  void   )  const

Logs the list of user tasks, strictly for your viewing pleasure. See also: ArLog Definition at line 2218 of file ArRobot.cpp. References ArSyncTask::findNonRecursive(), and ArSyncTask::log().

void ArRobot::loopOnce (  void   )

This function loops once... only serious developers should use it. This function is only for serious developers, it basically runs the loop once. You would use this function if you were wanting to use robot control in some other monolithic program, so you could work within its framework, rather than trying to get it to work in ARIA. Definition at line 3370 of file ArRobot.cpp. References incCounter(), and ArSyncTask::run().

void ArRobot::move (  double  distance  )

Move the given distance forward/backwards. Tells the robot to begin moving the specified distance forward/backwards. ArRobot caches this value, and sends it during the next cycle (with a MOVE or VEL command, depending on the robot). Parameters: distance  the distance for the robot to move (millimeters) Definition at line 1435 of file ArRobot.cpp. References getPose(), and ArTime::setToNow().

void ArRobot::moveTo (  ArPose  poseTo, ArPose  poseFrom, bool  doCumulative = true )

Moves the robot's RW position to reflect pose From => pose To. Parameters: poseTo  the absolute real world position to move to poseFrom  the original absolute real world position doCumulative  whether to update the cumulative buffers or not Definition at line 4295 of file ArRobot.cpp. References ArSensorReading::applyTransform(), ArTransform::doInvTransform(), ArTransform::doTransform(), getNumSonar(), getSonarReading(), getToGlobalTransform(), getToLocalTransform(), and ArTransform::setTransform().

void ArRobot::moveTo (  ArPose  pose, bool  doCumulative = true )

Moves the robot's idea of its position to this position. Parameters: pose  the absolute real world position to place the robot doCumulative  whether to update the cumulative buffers or not Definition at line 4255 of file ArRobot.cpp. References ArSensorReading::applyTransform(), ArTransform::doTransform(), getNumSonar(), getSonarReading(), getToGlobalTransform(), getToLocalTransform(), and ArTransform::setTransform(). Referenced by asyncConnectHandler().

void ArRobot::packetHandler (  void   )

Packet Handler, internal. Reads in all of the packets that are available to read in, then runs through the list of packet handlers and tries to get each packet handled. See also: addPacketHandler remPacketHandler Definition at line 3120 of file ArRobot.cpp. References asyncConnectHandler(), dropConnection(), getCycleTime(), ArRobotPacket::getID(), getOrigRobotConfig(), ArRobotConfigPacketReader::getSipCycleTime(), handlePacket(), ArRobotConfigPacketReader::hasPacketArrived(), isConnected(), isCycleChained(), isRunning(), lock(), ArLog::log(), ArTime::mSecSince(), ArTime::mSecTo(), ArRobotPacketReceiver::receivePacket(), ArTime::setToNow(), and unlock().

void ArRobot::processNewSonar (  char  number, int  range, ArTime  timeReceived )

Processes a new sonar reading, internal. This function used to just create more sonar readings if it didn't have the sonar number that was given (only the case if that sonar didn't have an entry in the param file), this caused some silent bugs in other peoples code and so was removed... especially since we don't know where the sonar are at if they weren't in the parameter file anyways. Definition at line 3664 of file ArRobot.cpp. References getCounter(), getEncoderPose(), getPose(), getToGlobalTransform(), ArLog::log(), and ArSensorReading::newData(). Referenced by processMotorPacket().

bool ArRobot::remAction (  const char *  actionName  )

Removes an action from the list, by name See also: addAction remAction(ArAction*) findAction(const char*) Definition at line 2338 of file ArRobot.cpp. References ArAction::getName().

bool ArRobot::remAction (  ArAction *  action  )

Removes an action from the list, by pointer See also: addAction remAction(const char*) findAction(const char*) Definition at line 2365 of file ArRobot.cpp. Referenced by ArActionGroup::remAction(), ArActionGroup::removeActions(), and ArAction::~ArAction().

void ArRobot::remConnectCB (  ArFunctor *  functor  )

Removes a connect callback. Parameters: functor  the functor to remove from the list of connect callbacks See also: addConnectCB Definition at line 1714 of file ArRobot.cpp. Referenced by ArPTZ::~ArPTZ(), ArRobotConfigPacketReader::~ArRobotConfigPacketReader(), and ArRobotJoyHandler::~ArRobotJoyHandler().

void ArRobot::remDisconnectNormallyCB (  ArFunctor *  functor  )

Removes a callback for when disconnect is called while connected. Parameters: functor  the functor to remove from the list of connect callbacks See also: addDisconnectNormallyCB Definition at line 1781 of file ArRobot.cpp.

void ArRobot::remDisconnectOnErrorCB (  ArFunctor *  functor  )

Removes a callback for when disconnection happens because of an error. Parameters: functor  the functor to remove from the list of connect callbacks See also: addDisconnectOnErrorCB Definition at line 1818 of file ArRobot.cpp.

void ArRobot::remFailedConnectCB (  ArFunctor *  functor  )

Removes a callback for when a connection to the robot is failed. Parameters: functor  the functor to remove from the list of connect callbacks See also: addFailedConnectCB Definition at line 1749 of file ArRobot.cpp.

void ArRobot::remPacketHandler (  ArRetFunctor1< bool, ArRobotPacket * > *  functor  )

Removes a packet handler from the list of packet handlers. Parameters: functor  the functor to remove from the list of packet handlers See also: addPacketHandler Definition at line 1682 of file ArRobot.cpp. Referenced by ArPTZ::setDeviceConnection(), ArAnalogGyro::~ArAnalogGyro(), ArIrrfDevice::~ArIrrfDevice(), ArP2Arm::~ArP2Arm(), ArPTZ::~ArPTZ(), ArRobotConfigPacketReader::~ArRobotConfigPacketReader(), ArRobotJoyHandler::~ArRobotJoyHandler(), ArSick::~ArSick(), ArSickLogger::~ArSickLogger(), and ArTCM2::~ArTCM2().

void ArRobot::remRangeDevice (  ArRangeDevice *  device  )

Remove a range device from the robot's list, by instance. Parameters: device  remove the first device with this pointer value Definition at line 3949 of file ArRobot.cpp.

void ArRobot::remRangeDevice (  const char *  name  )

Remove a range device from the robot's list, by name. Parameters: name  remove the first device with this name Definition at line 3933 of file ArRobot.cpp. Referenced by ArIrrfDevice::~ArIrrfDevice(), ArSick::~ArSick(), and ArSonarDevice::~ArSonarDevice().

void ArRobot::remRunExitCB (  ArFunctor *  functor  )

Removes a callback for when the run loop exits for what ever reason. Parameters: functor  The functor to remove from the list of run exit callbacks See also: addRunExitCB Definition at line 1849 of file ArRobot.cpp.

void ArRobot::remSensorInterpTask (  ArFunctor *  functor  )

Removes a sensor interp tasks by functor. See also: addSensorInterpTask remSensorInterpTask(std::string name) Definition at line 2193 of file ArRobot.cpp. References ArSyncTask::findNonRecursive().

void ArRobot::remSensorInterpTask (  const char *  name  )

Removes a sensor interp tasks by name. See also: addSensorInterpTask remSensorInterpTask(ArFunctor *functor) Definition at line 2168 of file ArRobot.cpp. References ArSyncTask::findNonRecursive(). Referenced by ArPTZ::setDeviceConnection(), ArRangeDevice::setRobot(), ArACTS_1_2::setRobot(), ArPTZ::~ArPTZ(), ArRangeDevice::~ArRangeDevice(), ArSick::~ArSick(), and ArSonarDevice::~ArSonarDevice().

void ArRobot::remStabilizingCB (  ArFunctor *  functor  )

Removes stabilizing callback. Parameters: functor  the functor to remove from the list of stabilizing callbacks See also: addConnectCB Definition at line 1882 of file ArRobot.cpp. Referenced by ArAnalogGyro::~ArAnalogGyro().

void ArRobot::remUserTask (  ArFunctor *  functor  )

Removes a user task from the list of synchronous taskes by functor. See also: addUserTask remUserTask(std::string name) Definition at line 2115 of file ArRobot.cpp. References ArSyncTask::findNonRecursive().

void ArRobot::remUserTask (  const char *  name  )

Removes a user task from the list of synchronous taskes by name. See also: addUserTask remUserTask(ArFunctor *functor) Definition at line 2090 of file ArRobot.cpp. References ArSyncTask::findNonRecursive(). Referenced by ArMode::baseDeactivate(), ArMode::~ArMode(), ArSickLogger::~ArSickLogger(), and ArVCC4::~ArVCC4().

void ArRobot::run (  bool  stopRunIfNotConnected  )

Starts the instance to do processing in this thread. This starts the list of tasks to be run through until stopped. This function doesn't return until something calls stop on this instance. Parameters: stopRunIfNotConnected  if true, the run will return if there is no connection to the robot at any given point, this is good for one-shot programs... if it is false the run won't return unless stop is called on the instance Definition at line 195 of file ArRobot.cpp. References ArLog::log().

void ArRobot::runAsync (  bool  stopRunIfNotConnected  )

Starts the instance to do processing in its own new thread. This starts a new thread then has runs through the tasks until stopped. This function doesn't return until something calls stop on this instance. This function returns immediately Parameters: stopRunIfNotConnected  if true, the run will stop if there is no connection to the robot at any given point, this is good for one-shot programs... if it is false the run won't stop unless stop is called on the instance Definition at line 227 of file ArRobot.cpp. References ArLog::log().

bool ArRobot::setAbsoluteMaxRotVel (  double  maxVel  )

Sets the robots absolute maximum rotational velocity. This sets the absolute maximum velocity the robot will go... the maximum velocity can also be set by the actions and by setRotVelMax, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setRotVelMax. Parameters: maxVel  the maximum velocity to be set, it must be a non-zero number Returns: true if the value is good, false othrewise Definition at line 1587 of file ArRobot.cpp. References getRotVelMax(), and setRotVelMax(). Referenced by asyncConnectHandler().

bool ArRobot::setAbsoluteMaxTransVel (  double  maxVel  )

Sets the robots absolute maximum translational velocity. This sets the absolute maximum velocity the robot will go... the maximum velocity can also be set by the actions and by setTransVelMax, but it will not be allowed to go higher than this value. You should not set this very often, if you want to manipulate this value you should use the actions or setTransVelMax. Parameters: maxVel  the maximum velocity to be set, it must be a non-zero number Returns: true if the value is good, false othrewise Definition at line 1566 of file ArRobot.cpp. References getTransVelMax(), and setTransVelMax(). Referenced by asyncConnectHandler().

void ArRobot::setConnectionCycleMultiplier (  unsigned int  multiplier  )

Sets the multiplier for how many cycles ArRobot waits when connecting. Parameters: multiplier  when the ArRobot is waiting for a connection packet back from a robot, it waits for this multiplier times the cycle time for the packet to come back before it gives up on it... This should be small for normal connections but if doing something over a slow network then you may want to make it larger Definition at line 3346 of file ArRobot.cpp.

void ArRobot::setConnectionTimeoutTime (  int  mSecs  )

Sets the time without a response until connection assumed lost. Sets the number of milliseconds to go without a response from the robot until it is assumed that the connection with the robot has been broken and the disconnect on error events will happen. Note that this will only happen with the default packet handler. Parameters: mSecs  if seconds is 0 then the connection timeout feature will be disabled, otherwise disconnect on error will be triggered after this number of seconds... Definition at line 480 of file ArRobot.cpp.

void ArRobot::setCycleTime (  unsigned int  ms  )

Sets the number of ms between cycles. Sets the number of milliseconds between cycles, at each cycle is when all packets are processed, all sensors are interpretted, all actions are called, and all user tasks are serviced. Be warned, if you set this too small you could overflow your serial connection. Parameters: ms  the number of milliseconds between cycles Definition at line 3289 of file ArRobot.cpp.

void ArRobot::setCycleWarningTime (  unsigned int  ms  )

Sets the number of ms between cycles to warn over. Sets a time such that if the number of milliseconds between cycles goes over this then there will be an ArLog::log(ArLog::Normal) warning. Parameters: ms  the number of milliseconds between cycles to warn over, 0 turns warning off Definition at line 3250 of file ArRobot.cpp.

void ArRobot::setDeadReconPose (  ArPose  pose  )

Sets the dead recon position of the robot. Parameters: pose  the position to set the dead recon position to Definition at line 4364 of file ArRobot.cpp. References ArTransform::doTransform(), ArPose::setPose(), and ArTransform::setTransform().

void ArRobot::setDeltaHeading (  double  deltaHeading  )

Sets the delta heading. Sets a delta heading to the robot, it caches this value, and sends it during the next cycle. Parameters: deltaHeading  the desired amount to change the heading of the robot by Definition at line 1540 of file ArRobot.cpp. References ArMath::addAngle(), getTh(), and ArTime::setToNow().

void ArRobot::setDeviceConnection (  ArDeviceConnection *  connection  )

Sets the connection this instance uses. Sets the connection this instance uses to the actual robot. This is where commands will be sent and packets will be received from Parameters: connection  The deviceConnection to use for this robot See also: ArDeviceConnection, ArSerialConnection, ArTcpConnection Definition at line 450 of file ArRobot.cpp. References ArRobotPacketReceiver::setDeviceConnection(), and ArRobotPacketSender::setDeviceConnection().

void ArRobot::setDirectMotionPrecedenceTime (  int  mSec  )

Sets the length of time a direct motion command will take precedence over actions, in milliseconds Definition at line 4506 of file ArRobot.cpp.

void ArRobot::setEncoderCorrectionCallback (  ArRetFunctor1< double, ArPoseWithTime > *  functor  )

Sets the encoderCorrectionCallback. This sets the encoderCorrectionCB, this callback returns the robots change in heading, it takes in the change in heading, x, and y, between the previous and current readings. Parameters: functor  an ArRetFunctor1 created as an ArRetFunctor1C, that will be the callback... call this function NULL to clear the callback See also: getEncoderCorrectionCallback Definition at line 4479 of file ArRobot.cpp. Referenced by ArAnalogGyro::ArAnalogGyro(), and ArAnalogGyro::~ArAnalogGyro().

void ArRobot::setEncoderTransform (  ArPose  transformPos  )

Changes the transform directly. Parameters: transformPos  the position to transform to Definition at line 4347 of file ArRobot.cpp. References ArTransform::doTransform(), and ArTransform::setTransform().

void ArRobot::setEncoderTransform (  ArPose  deadReconPos, ArPose  globalPos )

Changes the transform. Parameters: deadReconPos  the dead recon position to transform from globalPos  the real world global position to transform to Definition at line 4337 of file ArRobot.cpp. References ArTransform::doTransform(), and ArTransform::setTransform().

void ArRobot::setHeading (  double  heading  )

Sets the heading. Sets the heading of the robot, it caches this value, and sends it during the next cycle. Parameters: heading  the desired heading of the robot (degrees) Definition at line 1502 of file ArRobot.cpp. References ArTime::setToNow().

void ArRobot::setRotVel (  double  velocity  )

Sets the rotational velocity. Sets the rotational velocity of the robot, it caches this value, and sends it during the next cycle. Parameters: velocity  the desired rotational velocity of the robot (deg/sec) Definition at line 1521 of file ArRobot.cpp. References ArTime::setToNow(). Referenced by stop().

void ArRobot::setStabilizingTime (  int  mSecs  )

How long we should stabilize for in ms (0 disables stabilizing). This is the amount of time the robot will stabilize for after it has connected to the robot (it won't report it is connected until after this time is over). By convention you should never set this lower than what you find the value at (though it will let you) this is so that everything can get itself stabilized before we let things drive. Parameters: mSecs  the amount of time to stabilize for (0 disables) See also: addStabilizingCB Definition at line 3306 of file ArRobot.cpp. Referenced by ArAnalogGyro::stabilizingCallback().

void ArRobot::setStateReflectionRefreshTime (  int  msec  )

Sets the number of milliseconds between state reflection refreshes if the state has not changed Definition at line 4600 of file ArRobot.cpp.

void ArRobot::setVel (  double  velocity  )

Sets the velocity See also: clearDirectMotion Definition at line 1396 of file ArRobot.cpp. References ArTime::setToNow(). Referenced by stop().

void ArRobot::setVel2 (  double  leftVelocity, double  rightVelocity )

Sets the velocity of the wheels independently. Sets the velocity of each of the wheels on the robot independently. ArRobot caches these values, and sends them with a VEL2 command during the next cycle. Note that this cancels both translational velocity AND rotational velocity, and is canceled by any of the other direct motion commands. See also: setVel setRotVel clearDirectMotion Parameters: leftVelocity  the desired velocity of the left wheel rightVelocity  the desired velocity of the right wheel Definition at line 1418 of file ArRobot.cpp. References ArTime::setToNow().

void ArRobot::stop (  void   )

Stops the robot See also: clearDirectMotion Definition at line 1379 of file ArRobot.cpp. References comInt(), setRotVel(), and setVel(). Referenced by ArMode::baseActivate().

void ArRobot::stopRunning (  bool  doDisconnect = true  )

Stops the robot from doing any more processing. This stops this robot's processing cycle. If it is running in a background thread (from runAsync()), it will cause that thread to exit. If it is running synchronously (from run()), then run() will return. Parameters: doDisconnect  If true, also disconnect from the robot connection (default is true). See also: isRunning Definition at line 249 of file ArRobot.cpp. References disconnect(), isConnected(), ArKeyHandler::restore(), waitForRunExit(), and wakeAllWaitingThreads(). Referenced by ArNetServer::internalShutdownServer(), keyHandlerExit(), and ~ArRobot().

void ArRobot::stopStateReflection (  void   )

Sets the state reflection to be inactive (until motion or clearDirectMotion) See also: clearDirectMotion Definition at line 4553 of file ArRobot.cpp.

ArRobot::WaitState ArRobot::waitForConnect (  unsigned int  msecs = 0  )

Suspend calling thread until the ArRobot is connected. This will suspend the calling thread until the ArRobot's run loop has managed to connect with the robot. There is an optional paramater of milliseconds to wait for the ArRobot to connect. If msecs is set to 0, it will wait until the ArRobot connects. This function will never return if the robot can not be connected with. If you want to be able to handle that case within the calling thread, you must call waitForConnectOrConnFail(). Parameters: msecs  milliseconds in which to wait for the ArRobot to connect Returns: WAIT_CONNECTED for success See also: waitForConnectOrConnFail wakeAllWaitingThreads wakeAllConnWaitingThreads wakeAllRunExitWaitingThreads Definition at line 1908 of file ArRobot.cpp. References isConnected(), ArCondition::timedWait(), ArCondition::wait(), WAIT_CONNECTED, WAIT_FAIL, WAIT_INTR, and WAIT_TIMEDOUT.

ArRobot::WaitState ArRobot::waitForConnectOrConnFail (  unsigned int  msecs = 0  )

Suspend calling thread until the ArRobot is connected or fails to connect. This will suspend the calling thread until the ArRobot's run loop has managed to connect with the robot or fails to connect with the robot. There is an optional paramater of milliseconds to wait for the ArRobot to connect. If msecs is set to 0, it will wait until the ArRobot connects. Parameters: msecs  milliseconds in which to wait for the ArRobot to connect Returns: WAIT_CONNECTED for success See also: waitForConnect Definition at line 1940 of file ArRobot.cpp. References isConnected(), ArCondition::timedWait(), ArCondition::wait(), WAIT_CONNECTED, WAIT_FAIL, WAIT_FAILED_CONN, WAIT_INTR, and WAIT_TIMEDOUT.

ArRobot::WaitState ArRobot::waitForRunExit (  unsigned int  msecs = 0  )

Suspend calling thread until the ArRobot run loop has exited. This will suspend the calling thread until the ArRobot's run loop has exited. There is an optional paramater of milliseconds to wait for the ArRobot run loop to exit . If msecs is set to 0, it will wait until the ArRrobot run loop exits. Parameters: msecs  milliseconds in which to wait for the robot to connect Returns: WAIT_RUN_EXIT for success Definition at line 1975 of file ArRobot.cpp. References isRunning(), ArCondition::timedWait(), ArCondition::wait(), WAIT_FAIL, WAIT_INTR, WAIT_RUN_EXIT, and WAIT_TIMEDOUT. Referenced by stopRunning().

void ArRobot::wakeAllConnOrFailWaitingThreads (   )

Wake up all threads waiting for connection or connection failure. This will wake all the threads waiting for the robot to be connected or waiting for the robot to fail to connect. See also: wakeAllWaitingThreads wakeAllRunExitWaitingThreads Definition at line 2027 of file ArRobot.cpp. References ArCondition::broadcast(). Referenced by failedConnect().

void ArRobot::wakeAllConnWaitingThreads (   )

Wake up all threads waiting for connection. This will wake all the threads waiting for the robot to be connected. See also: wakeAllWaitingThreads wakeAllRunExitWaitingThreads Definition at line 2015 of file ArRobot.cpp. References ArCondition::broadcast(). Referenced by finishedConnection(), and wakeAllWaitingThreads().

void ArRobot::wakeAllRunExitWaitingThreads (   )

Wake up all threads waiting for the run loop to exit. This will wake all the threads waiting for the run loop to exit. See also: wakeAllWaitingThreads wakeAllConnWaitingThreads Definition at line 2037 of file ArRobot.cpp. References ArCondition::broadcast(). Referenced by wakeAllWaitingThreads().

void ArRobot::wakeAllWaitingThreads (   )

Wake up all threads waiting on this robot. This will wake all the threads waiting for various major state changes in this particular ArRobot. This includes all threads waiting for the robot to be connected and all threads waiting for the run loop to exit. See also: wakeAllConnWaitingThreads wakeAllRunExitWaitingThreads Definition at line 2004 of file ArRobot.cpp. References wakeAllConnWaitingThreads(), and wakeAllRunExitWaitingThreads(). Referenced by stopRunning().

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The documentation for this class was generated from the following files:

• ArRobot.h
• ArRobot.cpp

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