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

Classes
class	Dim
	Object width x height x length dimensions class. More...

struct	LaeAlarmInfo
	Alarm information state structure. More...

class	LaeAlarms
	Alarm class. More...

class	LaeAsyncJob
	Asynchronous job base class. More...

class	LaeAux5VOutEnable
	Laelaps top deck auxilliary regulated 5V power out enable class. More...

class	LaeAuxBattOutEnable
	Laelaps top deck auxilliary battery power out enable class. More...

class	LaeBattery
	Battery Management and System Energy Monitoring (BMSEM) Class. More...

struct	LaeDb
	Simple real-time database structure. More...

struct	LaeDbAlarms
	System and subsystem alarms and warnings data tree. More...

struct	LaeDbConfig
	Robot configuration parameters. More...

struct	LaeDbEnable
	Enabled subsytems. More...

struct	LaeDbEnergy
	Energy monitoring data. More...

struct	LaeDbImu
	IMU sensor data. More...

struct	LaeDbKin
	Kinodynamics data. More...

struct	LaeDbKinPowertrain
	Powertrain kinodynamics data. More...

struct	LaeDbKinRobot
	Robot platform kinodynamics data. More...

struct	LaeDbMotorCtlr
	Motor controller data. More...

struct	LaeDbProduct
	Product data. More...

struct	LaeDbRange
	Range sensor data. More...

struct	LaeDbRobotStatus
	Robot top-level status. More...

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

class	LaeDescBase
	Robotic base platform description. More...

class	LaeDescBattery
	Battery description. More...

class	LaeDescImu
	Robotic built-in IMU description. More...

class	LaeDescOptions
	Package options class. More...

class	LaeDescPowertrain
	Robotic powertrain description. More...

class	LaeDescRangeSensor
	Range sensor description. More...

class	LaeGpio
	Laelaps Odroid GPIO base class. More...

class	LaeI2C

class	LaeI2CMux
	control register mask More...

class	LaeI2CMuxReset
	Laelaps I2C multiplexer reset class. More...

class	LaeKinAction
	Laelaps kinematics base action class. More...

class	LaeKinActionDutyCycle
	Laelaps kinematics duty cycle action class. More...

class	LaeKinActionTwist
	Laelaps kinematics velocity action class. More...

class	LaeKinActionVelocity
	Laelaps kinematics velocity action class. More...

class	LaeKinematics
	Laelaps kinematics class. More...

class	LaeMotorCtlrChipSelect
	RoboClaw motor controller chip select class. More...

class	LaeMotorCtlrEnable
	Laelaps motor controller power enable class. More...

class	LaeMotorCtlrState
	Robot base motor controller board state. More...

class	LaePath
	Robot path class. More...

class	LaePathFeedback
	Simple path feedback class. More...

class	LaePlatform
	Robot platform control and state data class. More...

class	LaePoint
	Laelaps 2D point class. More...

class	LaePose
	Laelaps 2D pose class. More...

class	LaePowertrain
	Powertrain data class. More...

class	LaePowertrainAttr
	Powertrain attributes class. More...

class	LaePowertrainState
	Powertrain state data class. More...

class	LaeRobot
	Laelaps robotic manipulator plus accesories class. More...

class	LaeRptDynamics
	Laelaps dynamics report. More...

class	LaeRptDynPowertrain
	Powertrain dynamics subreport. More...

class	LaeRptMotorCtlrHealth
	Robot motor health. More...

class	LaeRptMotorHealth
	Robot motor health. More...

class	LaeRptRobotStatus
	Robot global status report. More...

class	LaeSimplePath
	Robot simple path class. More...

class	LaeSimplePathFeedback
	Simple path feedback class. More...

class	LaeSimpleWaypoint
	Robot simple path waypoint. More...

class	LaeThread

class	LaeThreadAsync

class	LaeThreadImu

class	LaeThreadKin

class	LaeThreadRange

class	LaeThreadWd

class	LaeTunes
	Laelaps tuning data class. More...

class	LaeTunesBattery
	Laelaps battery tuning data class. More...

class	LaeTunesPowertrain
	Laelaps powertrain tuning data class. More...

class	LaeTunesVL6180
	Laelaps powertrain tuning data class. More...

class	LaeWatchDogReset
	Laelaps watchdog sub-processor reset class. More...

class	LaeWaypoint
	Robot fully-defined waypoint. More...

class	LaeWd

class	LaeXmlCfg
	LaeXmlCfg *Laelaps* XML configuration class. More...

class	LaeXmlTune
	LaeXmlTune *Laelaps* XML tuning class. More...

Functions
int	i2cTryOpen (LaeI2C &i2cBus, uint_t addr)
	Try to open a series of I²C devices to fine the required endpoint. More...

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 *Laelaps* error code. More...

const char *	boolstr (bool b)
	Boolean to string. 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	cap (int a, int min, int max)
	Cap value within limits [min, max]. More...

uint_t	cap (uint_t a, uint_t min, uint_t max)
	Cap value within limits [min, max]. More...

double	signof (double a)
	Sign of a. More...

int	signof (int a)
	Sign of a. More...

bool	operator< (const struct timeval &lhs, const struct timeval &rhs)
	Less than compare operator. More...

bool	operator== (const struct timeval &lhs, const struct timeval &rhs)
	Equality compare operator. More...

bool	operator> (const struct timeval &lhs, const struct timeval &rhs)
	Greater than compare operator. More...

bool	operator<= (const struct timeval &lhs, const struct timeval &rhs)
	Less than or equal to compare operator. More...

bool	operator>= (const struct timeval &lhs, const struct timeval &rhs)
	Greater than or equal to compare operator. More...

struct timeval	operator+ (const struct timeval &op1, const struct timeval &op2)
	Addition operator. More...

struct timeval	operator- (const struct timeval &op1, const struct timeval &op2)
	Subtraction operator. More...

long	dt_usec (struct timeval &t1, struct timeval &t0)
	Calculate delta time in microseconds. More...

double	dt (struct timeval &t1, struct timeval &t0)
	Calculate delta time. More...

bool	operator< (const struct timespec &lhs, const struct timespec &rhs)
	Less than compare operator. More...

bool	operator== (const struct timespec &lhs, const struct timespec &rhs)
	Equality compare operator. More...

bool	operator> (const struct timespec &lhs, const struct timespec &rhs)
	Greater than compare operator. More...

bool	operator<= (const struct timespec &lhs, const struct timespec &rhs)
	Less than or equal to compare operator. More...

bool	operator>= (const struct timespec &lhs, const struct timespec &rhs)
	Greater than or equal to compare operator. More...

struct timespec	operator+ (const struct timespec &op1, const struct timespec &op2)
	Addition operator. More...

struct timespec	operator- (const struct timespec &op1, const struct timespec &op2)
	Subtraction operator. More...

long long	dt_nsec (struct timespec &t1, struct timespec &t0)
	Calculate delta time in nanoseconds. More...

double	dt (struct timespec &t1, struct timespec &t0)
	Calculate delta time. More...

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

std::vector< std::string > &	split (const std::string &s, char delim, std::vector< std::string > &elems)
	Split string at the delimiter character. More...

std::vector< std::string >	split (const std::string &s, char delim)
	Split string at the delimiter character. More...

Detailed Description

The Laelaps namespace encapsulates all Laelaps related constructs.

< use to delete old code

The Laelaps namespace encapsulates all Laelaps related constructs.

Function Documentation

const char* laelaps::boolstr ( bool b )

inline

Boolean to string.

Parameters

b	Boolean value.

Returns: Pointer to null-terminated constant character string.

Definition at line 107 of file laeUtils.h.

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

int laelaps::cap	(	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 176 of file laeUtils.h.

Referenced by motor::roboclaw::RoboClaw::cmdQDriveWithProfileToPos(), sensor::vl6180::LaeRangeMuxSubproc::cmdTuneAls(), sensor::vl6180::LaeRangeMuxSubproc::cmdTuneToFSensor(), laelaps::LaeThread::createThread(), and sensor::vl6180::LaeVL6180Mux::tune().

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

uint_t laelaps::cap	(	uint_t	a,
		uint_t	min,
		uint_t	max
	)

inline

Cap value within limits [min, max].

Parameters

a	Value.
min	Minimum.
max	Maximum.

Returns: a: min ≤ a ≤ max

Definition at line 190 of file laeUtils.h.

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

double laelaps::degToRad ( double d )

inline

Convert degrees to radians.

Parameters

d Degrees.

Returns: Radians.

Definition at line 124 of file laeUtils.h.

References M_TAU.

Referenced by sensor::imu::LaeImuCleanFlight::convertRawToSI(), sensor::vl6180::LaeVL6180Mux::getFoV(), sensor::vl6180::LaeVL6180SensorInfo::getProps(), laelaps::LaeTunes::LaeTunes(), and laelaps::LaeXmlTune::setGlobalTrajTunes().

   {
     return d / 360.0 * M_TAU;
   }

double laelaps::dt	(	struct timeval &	t1,
		struct timeval &	t0
	)

Calculate delta time.

t1 - t0

Parameters

t1	Time 1.
t0	Time 0.

Returns: Returns dt as a double. May be negative.

double laelaps::dt	(	struct timespec &	t1,
		struct timespec &	t0
	)

Calculate delta time.

t1 - t0

Parameters

t1	Time 1.
t0	Time 0.

Returns: Returns dt as a double. May be negative.

long long laelaps::dt_nsec	(	struct timespec &	t1,
		struct timespec &	t0
	)

Calculate delta time in nanoseconds.

t1 - t0, t1 ≥ t0

Parameters

t1	Later time.
t0	Earlier time.

Returns: Returns dt in nanoseconds.

long laelaps::dt_usec	(	struct timeval &	t1,
		struct timeval &	t0
	)

Calculate delta time in microseconds.

t1 - t0, t1 ≥ t0

Parameters

t1	Later time.
t0	Earlier time.

Returns: Returns dt in microseconds.

double laelaps::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 162 of file laeUtils.h.

Referenced by motor::roboclaw::RoboClaw::cmdReadLogicCutoffs(), motor::roboclaw::RoboClaw::cmdReadMainBattCutoffs(), laelaps::LaeRobot::setGovernor(), laelaps::LaeThread::setHz(), and laelaps::LaePowertrain::updateStateDynamics().

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

std::string laelaps::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 laelaps::LaeI2C::open(), laelaps::LaeKinematics::open(), and sensor::imu::LaeImu::open().

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

Get the error string describing the Laelaps 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 LAE_ECODE_BADEC.

Parameters

ecode Instance of Laelaps Error Codes.

Returns: Returns the appropriate error code string.

int laelaps::i2cTryOpen	(	LaeI2C &	i2cBus,
		uint_t	addr
	)

Try to open a series of I²C devices to fine the required endpoint.

If the enpoint does not exist, the device is closed and the next device is tried.

On success, the device bus is left open.

Parameters

i2cBus	The I²C bus.
addr	Endpoint I²C device's 7/10-bit address.

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

Definition at line 67 of file laeI2C.cxx.

References laelaps::LaeI2C::check(), laelaps::LaeI2C::close(), and laelaps::LaeI2C::open().

Referenced by laelaps::LaeRobot::connect(), and laelaps::LaeI2C::unlock().

 {
   const char *devNames[] = { LaeDevI2C_0, LaeDevI2C_1, LaeDevI2C_2, NULL };
 
   int   rc;
 
   for(int i = 0; devNames[i] != NULL; ++i)
   {
     LOGDIAG2("Try I2C device %s.", devNames[i]);
 
     if( (rc = i2cBus.open(devNames[i])) == LAE_OK )
     {
       if( i2cBus.check(addr) )
       {
         LOGDIAG2("Address 0x%02x found on I2C device %s.", addr, devNames[i]);
         return LAE_OK;
       }
       else
       {
         LOGDIAG2("No address 0x%02x found on I2C device %s.",
             addr, devNames[i]);
         i2cBus.close();
       }
     }
   }
   rc = -LAE_ECODE_NO_DEV;
 }

int laelaps::iabs ( int a )

inline

Integer absolute value.

Parameters

a	Integer value.

Returns: |a|

Definition at line 148 of file laeUtils.h.

   {
     return a>=0? a: -a;
   }

struct timeval laelaps::operator+	(	const struct timeval &	op1,
		const struct timeval &	op2
	)

Addition operator.

op1 + op2

Parameters

op1	Left hand side time.
op2	Right hand side time.

Returns: Sum of times.

struct timespec laelaps::operator+	(	const struct timespec &	op1,
		const struct timespec &	op2
	)

Addition operator.

op1 + op2

Parameters

op1	Left hand side time.
op2	Right hand side time.

Returns: Sum of times.

struct timeval laelaps::operator-	(	const struct timeval &	op1,
		const struct timeval &	op2
	)

Subtraction operator.

op1 - op2, op1 ≥ op2.

Parameters

op1	Left hand side time.
op2	Right hand side time.

Returns: Difference of times.

struct timespec laelaps::operator-	(	const struct timespec &	op1,
		const struct timespec &	op2
	)

Subtraction operator.

op1 - op2, op1 ≥ op2.

Parameters

op1	Left hand side time.
op2	Right hand side time.

Returns: Difference of times.

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

Less than compare operator.

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

lhs < rhs

Parameters

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

Returns: Returns true or false.

bool laelaps::operator<	(	const struct timespec &	lhs,
		const struct timespec &	rhs
	)

Less than compare operator.

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

lhs < rhs

Parameters

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

Returns: Returns true or false.

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

Less than or equal to compare operator.

Compare if the left hand side time is equal or earlier than the right hand side time.

lhs ≤ rhs

Parameters

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

Returns: Returns true or false.

bool laelaps::operator<=	(	const struct timespec &	lhs,
		const struct timespec &	rhs
	)

Less than or equal to compare operator.

Compare if the left hand side time is equal or earlier than the right hand side time.

lhs ≤ rhs

Parameters

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

Returns: Returns true or false.

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

Equality compare operator.

Compare if the two times are equal.

lhs == rhs

Parameters

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

Returns: Returns true or false.

bool laelaps::operator==	(	const struct timespec &	lhs,
		const struct timespec &	rhs
	)

Equality compare operator.

Compare if the two times are equal.

lhs == rhs

Parameters

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

Returns: Returns true or false.

bool laelaps::operator>	(	const struct timeval &	lhs,
		const struct timeval &	rhs
	)

Greater than compare operator.

Compare if the left hand side time is later than the right hand side time.

lhs > rhs

Parameters

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

Returns: Returns true or false.

bool laelaps::operator>	(	const struct timespec &	lhs,
		const struct timespec &	rhs
	)

Greater than compare operator.

Compare if the left hand side time is later than the right hand side time.

lhs > rhs

Parameters

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

Returns: Returns true or false.

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

Greater than or equal to compare operator.

Compare if the left hand side time is equal or later than the right hand side time.

lhs ≥ rhs

Parameters

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

Returns: Returns true or false.

bool laelaps::operator>=	(	const struct timespec &	lhs,
		const struct timespec &	rhs
	)

Greater than or equal to compare operator.

Compare if the left hand side time is equal or later than the right hand side time.

lhs ≥ rhs

Parameters

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

Returns: Returns true or false.

double laelaps::radToDeg ( double r )

inline

Convert radians to degrees.

Parameters

r Radians.

Returns: Degrees.

Definition at line 136 of file laeUtils.h.

References M_TAU.

Referenced by sensor::vl6180::LaeRangeMuxSubproc::configure(), laelaps::LaeDescRangeSensor::makeDesc(), laelaps::LaeDescRangeSensor::print(), laelaps::LaeTunes::print(), and laelaps::LaeKinActionTwist::update().

   {
     return r / M_TAU * 360.0;
   }

double laelaps::signof ( double a )

inline

Sign of a.

Returns: Return 1.0 or -1.0.

Definition at line 200 of file laeUtils.h.

   {
     return a<0? -1.0: 1.0;
   }

int laelaps::signof ( int a )

inline

Sign of a.

Returns: Return 1 or -1.

Definition at line 210 of file laeUtils.h.

   {
     return a<0? -1: 1;
   }

std::vector<std::string>& laelaps::split	(	const std::string &	s,
		char	delim,
		std::vector< std::string > &	elems
	)

Split string at the delimiter character.

Parameters

	s	String to split.
	delem	Delimiter character.
[out]	elems	Vector of split strings.

Returns: Reference to vector of split strings.

Referenced by laelaps::LaeXmlCfg::load(), and laelaps::LaeXmlTune::load().

std::vector<std::string> laelaps::split	(	const std::string &	s,
		char	delim
	)

Split string at the delimiter character.

Parameters

s	String to split.
delem	Delimiter character.

Returns: Vector of split strings.

uint_t laelaps::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 laelaps::LaeXmlCfg::setBaseDesc(), and laelaps::LaeDesc::setVersion().

Classes

Functions

Detailed Description

Function Documentation