ArServerInfoRobot Class Reference

Server component providing basic robot status information to clients. More...

#include <ArServerInfoRobot.h>

List of all members.

Public Member Functions
void	activityTimeInfo (ArServerClient *client, ArNetPacket *packet)
	The function that sends information about the time that the server mode was last active.
	ArServerInfoRobot (ArServerBase *server, ArRobot *robot)
	Constructor.
void	batteryInfo (ArServerClient *client, ArNetPacket *packet)
	The function that sends battery info about the robot off to the client.
void	physicalInfo (ArServerClient *client, ArNetPacket *packet)
	The function that sends information about the physical robot.
void	update (ArServerClient *client, ArNetPacket *packet)
	The function that sends updates about the robot off to the client.
virtual	~ArServerInfoRobot ()
	Destructor.
Protected Attributes
ArFunctor2C< ArServerInfoRobot, ArServerClient *, ArNetPacket * >	myActivityTimeInfoCB
ArFunctor2C< ArServerInfoRobot, ArServerClient *, ArNetPacket * >	myBatteryInfoCB
ArFunctor2C< ArServerInfoRobot, ArServerClient *, ArNetPacket * >	myPhysicalInfoCB
ArRobot *	myRobot
ArServerBase *	myServer
ArFunctor2C< ArServerInfoRobot, ArServerClient *, ArNetPacket * >	myUpdateCB

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Detailed Description

Server component providing basic robot status information to clients.

This service accepts the following data requests:

• update
• physicalInfo
• batteryInfo
• activityTimeInfo

The update request returns data regarding the current state of the robot. It replies with the following data packet:

1. Status (Null-terminated string)
2. Mode (Null-terminated string)
3. Battery voltage (times 10) (2 Byte integer)
4. X position (4 byte floating point number)
5. Y position (4 byte floating point number)
6. Theta (2-byte floating point number)
7. Forward velocity (2-byte integer)
8. Rotation velocity (2-byte integer)

The physicalInfo request returns data regarding the physical characteristics of the robot. This information does not change during the robot execution. It replies with the following data packet:

1. Robot type (Null-terminated string)
2. Robot sub-type (Null-terminated string)
3. Robot width in mm (2 byte integer)
4. Robot front length - mm from center of rotation to front of robot (2 byte integer)
5. Robot rear length - mm from center of rotation to back of robot (2 byte integer)

The batteryInfo request replies with the following data packet:

1. Warning voltage (double)
2. Shutdown voltage (double)

The activityTimeInfo request replies with the following data packet:

1. Sec since - the ArServerMode::getActiveModeActivityTimeSecSince value (4-byte int)

These requests are in the RobotInfo command group.

Examples:

drawingsExampleWithRobot.cpp, popupExample.cpp, serverDemo.cpp, and simpleServerExample.cpp.

Definition at line 81 of file ArServerInfoRobot.h.

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Constructor & Destructor Documentation

ArServerInfoRobot::ArServerInfoRobot (  ArServerBase *  server, ArRobot *  robot )

Constructor. Definition at line 32 of file ArServerInfoRobot.cpp. References ArServerBase::addData(), myActivityTimeInfoCB, myBatteryInfoCB, myPhysicalInfoCB, myRobot, myServer, and myUpdateCB.

ArServerInfoRobot::~ArServerInfoRobot (   )  [virtual]

Destructor. Definition at line 67 of file ArServerInfoRobot.cpp.

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Member Function Documentation

void ArServerInfoRobot::activityTimeInfo (  ArServerClient *  client, ArNetPacket *  packet )

The function that sends information about the time that the server mode was last active. Definition at line 153 of file ArServerInfoRobot.cpp. References ArBasePacket::byte4ToBuf(), client, ArRobot::lock(), myRobot, ArClientBase::sendPacketTcp(), and ArRobot::unlock().

void ArServerInfoRobot::batteryInfo (  ArServerClient *  client, ArNetPacket *  packet )

The function that sends battery info about the robot off to the client. Definition at line 107 of file ArServerInfoRobot.cpp. References client, ArNetPacket::doubleToBuf(), ArRobotConfigPacketReader::getLowBattery(), ArRobot::getOrigRobotConfig(), ArRobotConfigPacketReader::getShutdownVoltage(), ArRobotConfigPacketReader::hasPacketArrived(), ArRobot::lock(), myRobot, ArClientBase::sendPacketTcp(), and ArRobot::unlock().

void ArServerInfoRobot::physicalInfo (  ArServerClient *  client, ArNetPacket *  packet )

The function that sends information about the physical robot. Definition at line 136 of file ArServerInfoRobot.cpp. References ArBasePacket::byte2ToBuf(), client, ArRobot::getRobotLengthFront(), ArRobot::getRobotLengthRear(), ArRobot::getRobotSubType(), ArRobot::getRobotType(), ArRobot::getRobotWidth(), ArRobot::lock(), myRobot, ArClientBase::sendPacketTcp(), ArBasePacket::strToBuf(), and ArRobot::unlock().

void ArServerInfoRobot::update (  ArServerClient *  client, ArNetPacket *  packet )

The function that sends updates about the robot off to the client. Definition at line 71 of file ArServerInfoRobot.cpp. References ArBasePacket::byte2ToBuf(), ArBasePacket::byte4ToBuf(), client, ArRobot::getBatteryVoltage(), ArServerMode::getMode(), ArRobot::getRealBatteryVoltage(), ArRobot::getRotVel(), ArServerMode::getStatus(), ArRobot::getTh(), ArRobot::getVel(), ArRobot::getX(), ArRobot::getY(), ArRobot::lock(), myRobot, ArClientBase::sendPacketUdp(), ArBasePacket::strToBuf(), and ArRobot::unlock().

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Member Data Documentation

ArFunctor2C<ArServerInfoRobot, ArServerClient *, ArNetPacket *> ArServerInfoRobot::myActivityTimeInfoCB [protected]

Definition at line 103 of file ArServerInfoRobot.h. Referenced by ArServerInfoRobot().

ArFunctor2C<ArServerInfoRobot, ArServerClient *, ArNetPacket *> ArServerInfoRobot::myBatteryInfoCB [protected]

Definition at line 101 of file ArServerInfoRobot.h. Referenced by ArServerInfoRobot().

ArFunctor2C<ArServerInfoRobot, ArServerClient *, ArNetPacket *> ArServerInfoRobot::myPhysicalInfoCB [protected]

Definition at line 102 of file ArServerInfoRobot.h. Referenced by ArServerInfoRobot().

ArRobot* ArServerInfoRobot::myRobot [protected]

Definition at line 98 of file ArServerInfoRobot.h. Referenced by activityTimeInfo(), ArServerInfoRobot(), batteryInfo(), physicalInfo(), and update().

ArServerBase* ArServerInfoRobot::myServer [protected]

Definition at line 97 of file ArServerInfoRobot.h. Referenced by ArServerInfoRobot().

ArFunctor2C<ArServerInfoRobot, ArServerClient *, ArNetPacket *> ArServerInfoRobot::myUpdateCB [protected]

Definition at line 100 of file ArServerInfoRobot.h. Referenced by ArServerInfoRobot().

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

• ArServerInfoRobot.h
• ArServerInfoRobot.cpp

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