laelaps::LaeDesc Class Reference

Laelaps robotic mobile platform full description class. More...

#include <laeDesc.h>

Public Types
typedef std::map< std::string, LaeDescPowertrain * >	MapDescPowertrain
typedef std::map< std::string, LaeDescRangeSensor * >	MapDescRangeSensor

Public Member Functions
	LaeDesc ()
virtual	~LaeDesc ()
int	markAsDescribed ()
	Mark Laelaps hardware as fully described. More...
void	clear ()
	Clear description to the "unitialized" values.
bool	isDescribed () const
	Test if required base description is adequately described. More...
int	getProdId () const
	Get this base description's base product id. More...
std::string	getProdName () const
	Get this base description's name. More...
std::string	getProdBrief () const
	Get this base description's brief. More...
std::string	getProdHwVerString () const
	Get this robot's hardware version string. More...
uint_t	getProdHwVer () const
	Get this robot's packed hardware version number. More...
void	print (int indent=0)
	Print out description to stdout. More...

Static Public Member Functions
static std::string	prettyMotorCtlrName (int nCtlrId)
	Create pretty motor controller identifier string. More...
static std::string	prettyMotorCtlrName (int nCtlrId, byte_t addr)
	Create pretty motor controller identifier string. More...
static std::string	prettyMotorName (int nMotorId)
	Create pretty motor/powertrain identifier string. More...
static std::string	prettyMotorName (int nCtlrId, byte_t addr, int nMotorId)
	Create pretty motor/powertrain identifier string. More...
static const char *	getProdName (int eProdId)
	Get the Laelaps product name string given the product id. More...
static const char *	getProdBrief (int eProdId)
	Get the Laelaps product one-line brief description string given the product id. More...

Public Attributes
bool	m_bIsDescribed
	Laelaps is [not] fully described
int	m_eProdId
	base product id
std::string	m_strProdFamily
	product family
std::string	m_strProdModel
	product model
std::string	m_strProdName
	product name
std::string	m_strProdBrief
	product brief
std::string	m_strProdHwVer
	product hardware version string
uint_t	m_uProdHwVer
	product hardware version number
LaeDescOptions	m_options
LaeDescBase *	m_pDescBase
	base description
LaeDescBattery *	m_pDescBattery
	internal battery description
MapDescPowertrain	m_mapDescPowertrain
	powertrain descriptions
MapDescRangeSensor	m_mapDescRangeSensor
	range sensor descriptions
LaeDescImu *	m_pDescImu
	built-in imu description

Static Public Attributes
static const char *const	KeyRobotBase = "platform"
	robot base key
static const char *const	KeyBattery = "battery"
	internal battery key
static const char *const	KeyMotorCtlr []
	motor controller keys More...
static const char *const	KeyPowertrain []
	powertrain keys More...
static const char *const	KeyImu = "imu"
	built-in IMU keys
static const char *const	KeyRangeSensorMax []
	max range sensor keys More...
static const char *const	KeyRangeSensorStd []
	std range sensor keys More...
static const char *const	KeyFCam = "fcam"
	front camera keys

Protected Member Functions
void	setVersion ()
	Set version number from parsed version string.

Detailed Description

Laelaps robotic mobile platform full description class.

The description is determined from the XML etc configuration file. From those description components, the compiled description are assigned.

Definition at line 451 of file laeDesc.h.

Member Typedef Documentation

typedef std::map<std::string, LaeDescPowertrain*> laelaps::LaeDesc::MapDescPowertrain

Map of powertrain descriptions type.

Definition at line 455 of file laeDesc.h.

typedef std::map<std::string, LaeDescRangeSensor*> laelaps::LaeDesc::MapDescRangeSensor

Map of range sensor descriptions type.

Definition at line 458 of file laeDesc.h.

Constructor & Destructor Documentation

LaeDesc::LaeDesc

(

)

Default constructor.

Definition at line 655 of file laeDesc.cxx.

References laelaps::LaeProdIdUnknown, m_bIsDescribed, m_eProdId, m_pDescBase, m_pDescBattery, m_pDescImu, and m_uProdHwVer.

                 :
  m_strProdFamily(LaeProdFamily)
{
  m_bIsDescribed  = false;
  m_eProdId       = LaeProdIdUnknown;
  m_uProdHwVer    = 0;

  m_pDescBase     = NULL;
  m_pDescBattery  = NULL;
  m_pDescImu      = NULL;
}

LaeDesc::~LaeDesc ( )

virtual

Destructor.

Definition at line 667 of file laeDesc.cxx.

References clear().

{
  clear();
}

Member Function Documentation

std::string laelaps::LaeDesc::getProdBrief ( ) const

inline

Get this base description's brief.

Returns

Returns string.

Definition at line 588 of file laeDesc.h.

Referenced by laelaps::LaeRobot::getFullProdBrief().

    {
      return m_strProdBrief;
    }

const char * LaeDesc::getProdBrief ( int  eProdId )

static

Get the Laelaps product one-line brief description string given the product id.

Parameters

eProdId

Supported product id. See LaeProdId.

Returns

Returns product description string. An unidentified product id returns "".

Definition at line 808 of file laeDesc.cxx.

References laelaps::LaeProdIdLarge, and laelaps::LaeProdIdStd.

{
  switch( eProdId )
  {
    case LaeProdIdStd:
      return "RoadNarrows Laelaps Standard robotic mobile platform";
    case LaeProdIdLarge:
      return "RoadNarrows Laelaps Large robotic mobile platform";
    default:
      return "";
  }
}

uint_t laelaps::LaeDesc::getProdHwVer ( ) const

inline

Get this robot's packed hardware version number.

Returns

Number.

Definition at line 608 of file laeDesc.h.

References laelaps::LaeDescBase::print().

Referenced by laelaps::LaeRobot::connSensors(), and laelaps::LaeRobot::getVersion().

    {
      return m_uProdHwVer;
    }

std::string laelaps::LaeDesc::getProdHwVerString ( ) const

inline

Get this robot's hardware version string.

Returns

Returns string.

Definition at line 598 of file laeDesc.h.

Referenced by laelaps::LaeRobot::getVersionString().

    {
      return m_strProdHwVer;
    }

int laelaps::LaeDesc::getProdId ( ) const

inline

Get this base description's base product id.

Returns

Returns product id. See LaeProdId.

Definition at line 568 of file laeDesc.h.

Referenced by laelaps::LaeRobot::getProdId().

    {
      return m_eProdId;
    }

std::string laelaps::LaeDesc::getProdName ( ) const

inline

Get this base description's name.

Returns

Returns string.

Definition at line 578 of file laeDesc.h.

Referenced by laelaps::LaeRobot::getProdName().

    {
      return m_strProdName;
    }

const char * LaeDesc::getProdName ( int  eProdId )

static

Get the Laelaps product name string given the product id.

Parameters

eProdId

Supported product id. See LaeProdId.

Returns

Returns product name string. An unidentified product id returns "".

Definition at line 795 of file laeDesc.cxx.

References laelaps::LaeProdIdLarge, and laelaps::LaeProdIdStd.

{
  switch( eProdId )
  {
    case LaeProdIdStd:
      return "Laelaps-Standard";
    case LaeProdIdLarge:
      return "Laelaps-Large";
    default:
      return "";
  }
}

bool laelaps::LaeDesc::isDescribed ( ) const

inline

Test if required base description is adequately described.

Returns

Returns true or false.

Definition at line 558 of file laeDesc.h.

Referenced by laelaps::LaeRobot::connect(), and laelaps::LaeRobot::isDescribed().

    {
      return m_bIsDescribed;
    }

int LaeDesc::markAsDescribed

(

)

Mark Laelaps hardware as fully described.

The calling application context determines this state.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 672 of file laeDesc.cxx.

References KeyPowertrain, KeyRangeSensorMax, KeyRangeSensorStd, laelaps::LAE_ECODE_BAD_OP, laelaps::LAE_OK, LAE_VERSION, laelaps::LaeMotorsNumOf, laelaps::LaeProdIdLarge, laelaps::LaeProdIdStd, laelaps::LaeProdIdUnknown, m_bIsDescribed, laelaps::LaeDbProduct::m_eProdId, m_eProdId, m_mapDescPowertrain, m_mapDescRangeSensor, m_pDescBase, m_pDescBattery, m_pDescImu, laelaps::LaeDb::m_product, laelaps::LaeDescOptions::m_strPkgToF, m_strProdHwVer, laelaps::LaeDbProduct::m_uProdHwVer, m_uProdHwVer, laelaps::LaeDescOptions::PkgOptDeluxe, laelaps::RtDb, setVersion(), laelaps::ToFSensorMaxNumOf, and laelaps::ToFSensorStdNumOf.

Referenced by main(), and mainInit().

{
  const char *sKey;
  int         i;
  int         rc;

  setVersion();

  switch( m_eProdId )
  {
    case LaeProdIdStd:
    case LaeProdIdLarge:
      if( m_uProdHwVer < LAE_VERSION(2, 5, 0) )
      {
        m_pDescBase    = new LaeDescBase();
        m_pDescBattery = new LaeDescBattery();

        for(i = 0; i < LaeMotorsNumOf; ++i)
        {
          sKey = KeyPowertrain[i];
          m_mapDescPowertrain[sKey] = new LaeDescPowertrain(sKey);
        }

        // deluxe time-of-flight sensor package
        if( m_options.m_strPkgToF == LaeDescOptions::PkgOptDeluxe )
        {
          for(i = 0; i < ToFSensorMaxNumOf; ++i)
          {
            sKey = KeyRangeSensorMax[i];
            m_mapDescRangeSensor[sKey] = new LaeDescRangeSensor(sKey);
          }
        }
        // standard time-of-flight sensor package
        else
        {
          for(i = 0; i < ToFSensorStdNumOf; ++i)
          {
            sKey = KeyRangeSensorStd[i];
            m_mapDescRangeSensor[sKey] = new LaeDescRangeSensor(sKey);
          }
        }

        // imu built-in package
        m_pDescImu = new LaeDescImu();

        RtDb.m_product.m_eProdId    = m_eProdId;
        RtDb.m_product.m_uProdHwVer = m_uProdHwVer;

        rc = LAE_OK;
      }
      else
      {
        LOGERROR("Version %s: Laelaps robot version unsupported.",
            m_strProdHwVer.c_str());
        rc = -LAE_ECODE_BAD_OP;
      }
      break;

    case LaeProdIdUnknown:
      LOGERROR("Laelaps robot description is undefined.");
      rc = -LAE_ECODE_BAD_OP;
      break;
    default:
      LOGERROR("ProdId %d: Unknown Laelaps robot product id.", m_eProdId);
      rc = -LAE_ECODE_BAD_OP;
      break;
  }

  if( rc == LAE_OK )
  {
    m_bIsDescribed = true;
  }

  return rc;
}

std::string LaeDesc::prettyMotorCtlrName ( int  nCtlrId )

static

Create pretty motor controller identifier string.

Parameters

nCtlrId

Unique motor controller id.

Returns

String

Definition at line 596 of file laeDesc.cxx.

References KeyMotorCtlr.

Referenced by prettyMotorName().

{
  std::locale       loc;
  std::stringstream ss;
  std::string       str;

  ss << LaeDesc::KeyMotorCtlr[nCtlrId] << " motor controller";
  str = ss.str();

  str[0] = std::toupper(str[0], loc);

  return str;
}

std::string LaeDesc::prettyMotorCtlrName ( int  nCtlrId, byte_t  addr  )

static

Create pretty motor controller identifier string.

Parameters

nCtlrId	Unique motor controller id.
addr	Motor controller packet address.

Returns

String

Definition at line 610 of file laeDesc.cxx.

References KeyMotorCtlr.

{
  std::locale       loc;
  std::stringstream ss;
  std::string       str;

  ss << LaeDesc::KeyMotorCtlr[nCtlrId] << " motor controller (0x"
      << std::hex << std::setfill('0') << std::setw(2) << (unsigned)addr
      << ")";
  str = ss.str();

  str[0] = std::toupper(str[0], loc);

  return str;
}

std::string LaeDesc::prettyMotorName ( int  nMotorId )

static

Create pretty motor/powertrain identifier string.

Parameters

nMotorId

Unique motor id.

Returns

String

Definition at line 626 of file laeDesc.cxx.

References KeyPowertrain.

Referenced by prettyMotorName().

{
  std::locale       loc;
  std::stringstream ss;
  std::string       str;
  size_t            n;

  ss << LaeDesc::KeyPowertrain[nMotorId] << " motor (id=" << nMotorId << ")";
  str = ss.str();

  str[0] = std::toupper(str[0], loc);
  if( (n = str.find_first_of('_')) != str.npos )
  {
    str.replace(n, 1, " ");
  }

  return str;
}

std::string LaeDesc::prettyMotorName ( int  nCtlrId, byte_t  addr, int  nMotorId  )

static

Create pretty motor/powertrain identifier string.

Parameters

nCtlrId	Unique motor controller id.
addr	Motor controller packet address.
nMotorId	Unique motor id.

Returns

String

Definition at line 645 of file laeDesc.cxx.

References prettyMotorCtlrName(), and prettyMotorName().

{
  std::stringstream ss;

  ss << LaeDesc::prettyMotorCtlrName(nCtlrId, addr) << ": "
     << LaeDesc::prettyMotorName(nMotorId);

  return ss.str();
}

void LaeDesc::print

(

int

indent = 0

)

Print out description to stdout.

Parameters

indent

Left indentation.

Definition at line 821 of file laeDesc.cxx.

References m_eProdId, m_mapDescPowertrain, m_mapDescRangeSensor, m_pDescBase, m_pDescBattery, m_pDescImu, m_strProdBrief, m_strProdFamily, m_strProdHwVer, m_strProdModel, m_strProdName, m_uProdHwVer, laelaps::LaeDescBase::print(), laelaps::LaeDescBattery::print(), and laelaps::LaeDescImu::print().

Referenced by mainInit().

{
  printf("%*sRobot Description =\n", indent, "");
  printf("%*s{\n", indent, "");

  printf("%*sProduct Id         = %d\n", indent+2, "", m_eProdId);
  printf("%*sProduct Family     = %s\n", indent+2, "", m_strProdFamily.c_str());
  printf("%*sProduct Model      = %s\n", indent+2, "", m_strProdModel.c_str());
  printf("%*sProduct Full Name  = %s\n", indent+2, "", m_strProdName.c_str());
  printf("%*sProduct Brief      = %s\n", indent+2, "", m_strProdBrief.c_str());
  printf("%*sHardware Version   = %s\n", indent+2, "", m_strProdHwVer.c_str());
  printf("%*sHardware Version   = 0x%08x\n", indent+2, "", m_uProdHwVer);

  if( m_pDescBase != NULL )
  {
    m_pDescBase->print(indent+2);
  }

  if( m_pDescBattery != NULL )
  {
    m_pDescBattery->print(indent+2);
  }

  for(MapDescPowertrain::iterator iter = m_mapDescPowertrain.begin();
      iter != m_mapDescPowertrain.end();
      ++iter)
  {
    iter->second->print(indent+2);
  }

  for(MapDescRangeSensor::iterator iter = m_mapDescRangeSensor.begin();
      iter != m_mapDescRangeSensor.end();
      ++iter)
  {
    iter->second->print(indent+2);
  }

  if( m_pDescImu != NULL )
  {
    m_pDescImu->print(indent+2);
  }

  printf("%*s}\n", indent, "");
}

Member Data Documentation

const char *const LaeDesc::KeyMotorCtlr

static

Initial value:

=
{
  LaeKeyFront, LaeKeyRear
}

motor controller keys

Definition at line 462 of file laeDesc.h.

Referenced by laelaps::LaeTunes::LaeTunes(), prettyMotorCtlrName(), and laelaps::LaeDescOptions::print().

const char *const LaeDesc::KeyPowertrain

static

Initial value:

=
{
  LaeKeyLeftFront, LaeKeyRightFront,
  LaeKeyLeftRear,  LaeKeyRightRear
}

powertrain keys

Definition at line 463 of file laeDesc.h.

Referenced by markAsDescribed(), prettyMotorName(), and laelaps::LaeDescOptions::print().

const char *const LaeDesc::KeyRangeSensorMax

static

Initial value:

=
{
  "front", "left_front", "left", "left_rear",
  "rear", "right_rear", "right", "right_front"
}

max range sensor keys

Definition at line 465 of file laeDesc.h.

Referenced by laelaps::LaeTunes::LaeTunes(), markAsDescribed(), and laelaps::LaeDescOptions::print().

const char *const LaeDesc::KeyRangeSensorStd

static

Initial value:

=
{
  "front", "left_front", "right_front"
}

std range sensor keys

Definition at line 466 of file laeDesc.h.

Referenced by markAsDescribed(), and laelaps::LaeDescOptions::print().

---

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

• include/Laelaps/laeDesc.h
• sw/liblaelaps/laeDesc.cxx