/home/thomas/projects/usc/libirobot-create/src/irobot-create.cc File Reference

#include "config.h"
#include <bitset>
#include <cassert>
#include <sstream>
#include <unistd.h>
#include "irobot-create.hh"

Include dependency graph for irobot-create.cc:

Namespaces
namespace	iRobot
Defines
#define	INITIALIZE_SENSORS()
#define	MAKE_SENSOR_CMD(OP, CMD)
	Internal macro.
#define	GEN_SENSOR(PACKET, SENSOR, TYPE)
#define	CHAR_SENSOR(PACKET, SENSOR)   GEN_SENSOR (PACKET, SENSOR, char)
#define	UCHAR_SENSOR(PACKET, SENSOR)   GEN_SENSOR (PACKET, SENSOR, unsigned char)
#define	INT_SENSOR(PACKET, SENSOR)
#define	GROUP_SENSOR(PACKET, MIN, MAX)
#define	MK_SENSOR_GETTER(TYPE, NAME)

---

Define Documentation

#define CHAR_SENSOR	(	PACKET,
		SENSOR		)	GEN_SENSOR (PACKET, SENSOR, char)

#define GEN_SENSOR	(	PACKET,
		SENSOR,
		TYPE		)

Value:

case PACKET:                                  \
  {                                             \
    unsigned char v = 0;                        \
    if (!safeGet (stream, v))                   \
      return false;                             \
    SENSOR = static_cast<TYPE> (v);             \
  }                                             \
  break

#define GROUP_SENSOR	(	PACKET,
		MIN,
		MAX		)

Value:

{                                                             \
  case PACKET:                                                  \
    bool res = true;                                            \
    for (SensorPacket sensor = static_cast<SensorPacket> (MIN); \
         sensor < static_cast<SensorPacket> (MAX);              \
         sensor = static_cast<SensorPacket> (sensor + 1))       \
      res = res && readSensorPacket (sensor, stream);           \
    if (!res)                                                   \
      return false;                                             \
  }                                                             \
    break

 

#define INITIALIZE_SENSORS

(

)

#define INT_SENSOR	(	PACKET,
		SENSOR		)

Value:

case PACKET:                                  \
  {                                             \
    SENSOR = receiveInt16 (stream);             \
  }                                             \
  break

#define MAKE_SENSOR_CMD	(	OP,
		CMD		)

Value:

if (currentMode_ < IROBOT_CREATE_PASSIVE)                     \
    throw CommandNotAvailable ();                               \
  if (packets.size () > 255)                                    \
    throw InvalidArgument ();                                   \
                                                                \
  std::stringstream ss;                                         \
  for (sensorPackets_t::const_iterator it = packets.begin ();   \
       it != packets.end (); ++it)                              \
    {                                                           \
      if (*it < SENSOR_GROUP_0                                  \
          || *it > SENSOR_REQUESTED_LEFT_VELOCITY)              \
        throw InvalidArgument ();                               \
      const unsigned char p = *it;                              \
      ss << p;                                                  \
      CMD;                                                      \
    }                                                           \
                                                                \
  const unsigned char op  = (OP);                               \
  const unsigned char size = packets.size ();                   \
  stream_ << op << size << ss.str ();                           \
  stream_.flush ()

Internal macro.

#define MK_SENSOR_GETTER	(	TYPE,
		NAME		)

Value:

TYPE                                          \
  Create::NAME ()                               \
  {                                             \
    updateSensors ();                           \
    return NAME##_;                             \
  }

#define UCHAR_SENSOR	(	PACKET,
		SENSOR		)	GEN_SENSOR (PACKET, SENSOR, unsigned char)

---