ArServerInfoRobot Class Reference

#include <ArServerInfoRobot.h>

List of all members.

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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

For bandwidth savings you should use updateNumbers and updateStrings instead of update.

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

1. Battery voltage (times 10) (2 Byte integer)
2. X position (4 byte floating point number)
3. Y position (4 byte floating point number)
4. Theta (2-byte floating point number)
5. Forward velocity (2-byte integer)
6. Rotation velocity (2-byte integer)

The updateStrings request broadcasts data regarding the current state of the robot. Request this at -1 to get the broadcasts and an initial packet with the inital data. It replies with the following data packet:

1. Status (Null-terminated string)
2. Mode (Null-terminated string)

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.

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.
void	updateNumbers (ArServerClient *client, ArNetPacket *packet)
	The function that sends updates about the robot off to the client.
void	updateStrings (ArServerClient *client, ArNetPacket *packet)
	The function that sends updates about the robot off to the client.
virtual	~ArServerInfoRobot ()
	Destructor.
Protected Member Functions
void	userTask (void)
Protected Attributes
ArFunctor2C< ArServerInfoRobot, ArServerClient *, ArNetPacket * >	myActivityTimeInfoCB
ArFunctor2C< ArServerInfoRobot, ArServerClient *, ArNetPacket * >	myBatteryInfoCB
std::string	myMode
std::string	myOldMode
std::string	myOldStatus
ArFunctor2C< ArServerInfoRobot, ArServerClient *, ArNetPacket * >	myPhysicalInfoCB
ArRobot *	myRobot
ArServerBase *	myServer
std::string	myStatus
ArFunctor2C< ArServerInfoRobot, ArServerClient *, ArNetPacket * >	myUpdateCB
ArFunctor2C< ArServerInfoRobot, ArServerClient *, ArNetPacket * >	myUpdateNumbersCB
ArFunctor2C< ArServerInfoRobot, ArServerClient *, ArNetPacket * >	myUpdateStringsCB
ArFunctorC< ArServerInfoRobot >	myUserTaskCB

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

• ArServerInfoRobot.h

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