The Kuon namespace encapsulates all Kuon related constructs. More...

Classes
class	KuonDesc
	Kuon robotic manipulator full description class. More...

class	KuonDescBase
	Kuon robotic mobile base escription class. More...

class	KuonJointState
	Joint state class. More...

class	KuonJointStatePoint
	Joint state point class. More...

class	KuonMotorHealth
	Robot motor health. More...

class	KuonRobot
	Kuon robotic manipulator plus accesories class. More...

class	KuonRobotJoint
	Operational robotic joint class. More...

class	KuonRobotStatus
	Robot global status. More...

class	KuonSpec
	Robotic specification. More...

struct	KuonSpecMotor_T
	Robotic motor specification. More...

class	KuonWheelTraj
	Wheel trajectory class. More...

class	KuonWheelTrajectoryFeedback
	Wheel trajectory feedback class. More...

class	KuonWheelTrajectoryPoint
	Wheel trajectory point class. More...

class	KuonXmlCfg
	KuonXmlCfg *Kuon* XML configuration class. More...

Enumerations
enum	KuonTriState { KuonTriStateUnknown = -1, KuonTriStateFalse = 0, KuonTriStateOff = 0, KuonTriStateDisabled = 0, KuonTriStateLow = 0, KuonTriStateOpen = 0, KuonTriStateDark = 0, KuonTriStateTrue = 1, KuonTriStateOn = 1, KuonTriStateEnabled = 1, KuonTriStateHigh = 1, KuonTriStateClosed = 1, KuonTriStateLight = 1 }
	*Kuon* tri-state type. More...

enum	KuonRobotMode { KuonRobotModeUnknown = -1, KuonRobotModeManual = 1, KuonRobotModeAuto = 2 }
	*Kuon* mode of operation. More...

enum	KuonAsyncTaskState { KuonAsyncTaskStateIdle = 0, KuonAsyncTaskStateWorking = 1 }
	Asynchronous task state. More...

enum	KuonJointType { KuonJointTypeUnknown = 0, KuonJointTypeFixed, KuonJointTypeRevolute, KuonJointTypeContinuous, KuonJointTypeRevMimic, KuonJointTypeNumOf = 4 }
	Supported joint/wheel types. Not really used for now. More...

enum	KuonLimitType { KuonLimitTypeUnknown = 0x00, KuonLimitTypeNone = 0x01, KuonLimitTypePhys = 0x02, KuonLimitTypeElec = 0x04, KuonLimitTypeElecTDC = 0x08, KuonLimitTypeAbsEnc = 0x10, KuonLimitTypeNumOf = 5 }
	Joint/wheel limit detection types. Not really used for now. More...

Functions
uint_t	strToVersion (const std::string &str)
	Convert version dotted string to integer equivalent. More...

const char *	getStrError (const int ecode)
	Get the error string describing the error code. More...

double	degToRad (double d)
	Convert degrees to radians. More...

double	radToDeg (double r)
	Convert radians to degrees. More...

int	iabs (int a)
	Integer absolute value. More...

double	fcap (double a, double min, double max)
	Cap value within limits [min, max]. More...

int	icap (int a, int min, int max)
	Cap value within limits [min, max]. More...

const char *	boolstr (bool b)
	Boolean to string. More...

bool	operator< (const struct timeval &lhs, const struct timeval &rhs)
	Compare operator to test if left hand side time is earlier than the right hand side time. More...

bool	operator== (const struct timeval &lhs, const struct timeval &rhs)
	Compare operator to test if left hand side time equals the right hand side time. More...

std::string	getRealDeviceName (const std::string &strDevName)
	Get real device name. More...

Variables
static const int	KUON_OK = 0
	not an error, success

static const int	KUON_ECODE_GEN = 1
	general, unspecified error

static const int	KUON_ECODE_SYS = 2
	system (errno) error

static const int	KUON_ECODE_INTERNAL = 3
	internal error (bug)

static const int	KUON_ECODE_BAD_VAL = 4
	bad value general error

static const int	KUON_ECODE_TOO_BIG = 5
	value/list/size too big

static const int	KUON_ECODE_TOO_SMALL = 6
	value/list/size too small

static const int	KUON_ECODE_RANGE = 7
	value out-of-range

static const int	KUON_ECODE_BAD_OP = 8
	invalid operation error

static const int	KUON_ECODE_TIMEDOUT = 9
	operation timed out error

static const int	KUON_ECODE_NO_DEV = 10
	device not found error

static const int	KUON_ECODE_NO_RSRC = 11
	no resource available error

static const int	KUON_ECODE_BUSY = 12
	resource busy error

static const int	KUON_ECODE_NO_EXEC = 13
	cannot execute error

static const int	KUON_ECODE_PERM = 14
	no permissions error

static const int	KUON_ECODE_MOTOR = 15
	motor error

static const int	KUON_ECODE_MOT_CTLR = 16
	motor controller error

static const int	KUON_ECODE_BATT = 17
	battery error

static const int	KUON_ECODE_FORMAT = 18
	bad format

static const int	KUON_ECODE_BOTSENSE = 19
	botsense error

static const int	KUON_ECODE_NO_FILE = 20
	file not found

static const int	KUON_ECODE_XML = 21
	XML error.

static const int	KUON_ECODE_ALARMED = 22
	robot is alarmed

static const int	KUON_ECODE_INTR = 23
	operation interrupted

static const int	KUON_ECODE_COLLISION = 24
	robot link(s) in collision

static const int	KUON_ECODE_ESTOP = 25
	robot emergency stopped

static const int	KUON_ECODE_BADEC = 26
	bad error code

static const int	KUON_ECODE_NUMOF = 27
	number of error codes

static const int	KUON_ALARM_NONE = 0x00
	no alarms

static const int	KUON_ALARM_VOLTAGE = 0x01
	under/over voltage

static const int	KUON_ALARM_TEMP = 0x02
	under/over temperature

static const int	KUON_ALARM_COMM = 0x04
	communication

const char *const	KuonProdFamily = "Kuon"
	product family name

static const int	KuonProdIdUnknown = 0
	unknown/undefined product id

static const int	KuonProdIdStd = 1
	standard Kuon product id

static const int	KuonProdIdNarrow = 2
	narrow Kuon product id

const char *const	KuonProdModelStd = "Standard"
	standard model

const char *const	KuonProdModelNarrow = "Narrow"
	narrow model

const char *const	KuonImageDir = "/usr/local/share/Kuon/images"
	image directory

const char *const	KuonIconDir = "/usr/local/share/Kuon/images/icons"
	icon directory

const char *const	KuonEtcCfg = "/etc/kuon/kuon.conf"

const char *const	KuonXslUrl
	xml configuration file More...

const char *const	KuonXsiUrl
	xml schema instance url More...

const char *const	KuonDevMotorCtlr0 = "/dev/kmot0"
	motor controller 0 device name

const char *const	KuonDevMotorCtlr1 = "/dev/kmot1"
	motor controller 1 device name

const int	KuonBaudRateMotorCtlr = 38400
	motor controllers baud rate

static const int	KuonMotorIdNone = -1
	no motor id

static const int	KuonMotorIdLF = 0
	left front

static const int	KuonMotorIdRF = 1
	right front

static const int	KuonMotorIdLR = 2
	left rear

static const int	KuonMotorIdRR = 3
	right rear

static const int	KuonMotorCtlrIdNone = -1
	no motor controller id

static const int	KuonMotorCtlrId0 = 0
	motor controller id 0

static const int	KuonMotorCtlrId1 = 1
	motor controller id 1

static const int	KuonMotorDirUnknown = 0
	unknown

static const int	KuonMotorDirCcw = 1
	counter-clockwise

static const int	KuonMotorDirCw = -1
	clockwise

const int	KuonProdBaseStdVersion = KUON_VERSION(1, 0, 0)
	hw version

const int	KuonProdBaseStdNumMotors = 4
	number of motors

const KuonSpecMotor_T	KuonProdBaseStdSpecMotors []
	Specification of servos. More...

Detailed Description

The Kuon namespace encapsulates all Kuon related constructs.

Enumeration Type Documentation

enum kuon::KuonJointType

Supported joint/wheel types. Not really used for now.

Enumerator
KuonJointTypeUnknown	unknown/undefined joint type
KuonJointTypeFixed	fixed joint
KuonJointTypeRevolute	limited rotation
KuonJointTypeContinuous	continuous rotation
KuonJointTypeRevMimic	mimic rotation (e.g. fingers)
KuonJointTypeNumOf	number of supported joint types

Definition at line 75 of file kuonSpec.h.

   {
     KuonJointTypeUnknown    = 0,  ///< unknown/undefined joint type
     KuonJointTypeFixed,           ///< fixed joint
     KuonJointTypeRevolute,        ///< limited rotation
     KuonJointTypeContinuous,      ///< continuous rotation
     KuonJointTypeRevMimic,        ///< mimic rotation (e.g. fingers)
 
     KuonJointTypeNumOf     = 4    ///< number of supported joint types
   };

enum kuon::KuonLimitType

Joint/wheel limit detection types. Not really used for now.

A joint may have more than one type.

Enumerator
KuonLimitTypeUnknown	unknown/undefined joint type
KuonLimitTypeNone	no limit detection
KuonLimitTypePhys	physical
KuonLimitTypeElec	electronic
KuonLimitTypeElecTDC	electronic top dead center
KuonLimitTypeAbsEnc	absolute encoder
KuonLimitTypeNumOf	number of supported joint types

Definition at line 91 of file kuonSpec.h.

   {
     KuonLimitTypeUnknown = 0x00,   ///< unknown/undefined joint type
     KuonLimitTypeNone    = 0x01,   ///< no limit detection
     KuonLimitTypePhys    = 0x02,   ///< physical
     KuonLimitTypeElec    = 0x04,   ///< electronic
     KuonLimitTypeElecTDC = 0x08,   ///< electronic top dead center
     KuonLimitTypeAbsEnc  = 0x10,   ///< absolute encoder
 
     KuonLimitTypeNumOf   = 5       ///< number of supported joint types
   };

Function Documentation

const char* kuon::boolstr ( bool b )

inline

Boolean to string.

Parameters

b	Boolean value.

Returns: Pointer to null-terminated constant character string.

Definition at line 166 of file kuonUtils.h.

   {
     return b? "true": "false";
   }

double kuon::degToRad ( double d )

inline

Convert degrees to radians.

Parameters

d Degrees.

Returns: Radians.

Definition at line 102 of file kuonUtils.h.

References M_TAU.

   {
     return d / 360.0 * M_TAU;
   }

double kuon::fcap	(	double	a,
		double	min,
		double	max
	)

inline

Cap value within limits [min, max].

Parameters

a	Value.
min	Minimum.
max	Maximum.

Returns: a: min ≤ a ≤ max

Definition at line 140 of file kuonUtils.h.

Referenced by kuon::KuonRobot::setBrake(), kuon::KuonRobot::setGovernor(), kuon::KuonRobot::setSlew(), and kuon::KuonRobot::velocityToRawSpeed().

   {
     return a<min? min: a>max? max: a;
   }

std::string kuon::getRealDeviceName ( const std::string & strDevName )

Get real device name.

If the given device name is a symbolic link, then the real device the link references is returned. Otherwise the given device name is returned.

Parameters

strDevName Given device name.

Returns: String.

Referenced by kuon::KuonRobot::connect(), getStrError(), and operator==().

const char * kuon::getStrError ( const int ecode )

Get the error string describing the error code.

The absolute value of the error code is taken prior retrieving the string. An unknown or out-of-range error code will be mapped to HEK_ECODE_BADEC.

Parameters

ecode Instance of hek_ecodes.

Returns: Returns the appropriate error code string.

Definition at line 126 of file kuonUtils.cxx.

References EcodeStrTbl, getRealDeviceName(), KUON_ECODE_BADEC, KUON_VERSION, and strToVersion().

 {
   int ec = ecode >= 0 ? ecode : -ecode;
 
   if( ec >= arraysize(EcodeStrTbl) )
   {
     ec = KUON_ECODE_BADEC;
   }
 
   return EcodeStrTbl[ec];
 }

int kuon::iabs ( int a )

inline

Integer absolute value.

Parameters

a	Integer value.

Returns: |a|

Definition at line 126 of file kuonUtils.h.

   {
     return a>=0? a: -a;
   }

int kuon::icap	(	int	a,
		int	min,
		int	max
	)

inline

Cap value within limits [min, max].

Parameters

a	Value.
min	Minimum.
max	Maximum.

Returns: a: min ≤ a ≤ max

Definition at line 154 of file kuonUtils.h.

Referenced by kuon::KuonRobot::setBrake(), kuon::KuonRobot::setSlew(), and kuon::KuonRobot::setSpeed().

   {
     return a<min? min: a>max? max: a;
   }

bool kuon::operator<	(	const struct timeval &	lhs,
		const struct timeval &	rhs
	)

inline

Compare operator to test if left hand side time is earlier than the right hand side time.

lhs < rhs <==> lhs is an earlier time than rhs.

Parameters

lhs	Left hand side time.
rhs	Right hand side time.

Returns: Returns true or false.

Definition at line 182 of file kuonUtils.h.

   {
     if( lhs.tv_sec < rhs.tv_sec )
     {
       return true;
     }
     else if( (lhs.tv_sec == rhs.tv_sec) && (lhs.tv_usec < rhs.tv_usec) )
     {
       return true;
     }
     else
     {
       return false;
     }
   }

bool kuon::operator==	(	const struct timeval &	lhs,
		const struct timeval &	rhs
	)

inline

Compare operator to test if left hand side time equals the right hand side time.

lhs == rhs <==> lhs time is the same time as the rhs.

Parameters

lhs	Left hand side time.
rhs	Right hand side time.

Returns: Returns true or false.

Definition at line 209 of file kuonUtils.h.

References getRealDeviceName().

   {
     return (lhs.tv_sec == rhs.tv_sec) && (lhs.tv_usec == rhs.tv_usec)?
               true: false;
   }

double kuon::radToDeg ( double r )

inline

Convert radians to degrees.

Parameters

r Radians.

Returns: Degrees.

Definition at line 114 of file kuonUtils.h.

References M_TAU.

   {
     return r / M_TAU * 360.0;
   }

uint_t kuon::strToVersion ( const std::string & str )

Convert version dotted string to integer equivalent.

Parameters

str	Dotted version string "M[.m[.R]]".

Returns: Version number.

Referenced by getStrError(), kuon::KuonRobot::getVersion(), and kuon::KuonDescBase::KuonDescBase().

Variable Documentation

const KuonSpecMotor_T kuon::KuonProdBaseStdSpecMotors

Initial value:

=
{
  { "left_front",
      KuonMotorIdLF, KuonMotorCtlrId0, RS160D_MOTOR_LEFT_ID,
      1.0,  200.0,  KuonMotorDirCcw
  },
  { "right_front",
      KuonMotorIdRF, KuonMotorCtlrId0, RS160D_MOTOR_RIGHT_ID,
      1.0,  200.0,  KuonMotorDirCw
  },
  { "left_rear",
      KuonMotorIdLR, KuonMotorCtlrId1, RS160D_MOTOR_LEFT_ID,
      1.0,  200.0,  KuonMotorDirCcw
  },
  { "right_rear",
      KuonMotorIdRR, KuonMotorCtlrId1, RS160D_MOTOR_RIGHT_ID,
      1.0,  200.0,  KuonMotorDirCw
  },
}

Specification of servos.

Default specification of motors, wheels, and tires.

Data:: name, motor_id, motor_ctlr_id, motor_index, gear_ratio, tire_radius(mm), dir

Definition at line 70 of file kuonProdBaseStd.cxx.

Referenced by kuon::KuonSpec::set().

Classes

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

Function Documentation

Variable Documentation