WorldState.cc File Reference
Detailed Description
Implements WorldState, maintains information about the robot's environment, namely sensors and power status.
- Author:
- ejt (Creator)
- Author
- ejt
- Name
- tekkotsu-3_0
- Revision
- 1.40
- State
- Exp
- Date
- 2006/09/29 16:56:09
Definition in file WorldState.cc.
#include "WorldState.h"
#include "Shared/get_time.h"
#include "Events/EventRouter.h"
#include "ERS210Info.h"
#include "ERS220Info.h"
#include "ERS7Info.h"
#include "Shared/Config.h"
#include "IPC/ProcessID.h"
#include <OPENR/core_macro.h>
#include <OPENR/ObjcommTypes.h>
#include <OPENR/OPENR.h>
#include <OPENR/OPENRAPI.h>
#include <OPENR/OPENRMessages.h>
#include <OPENR/OPower.h>
Include dependency graph for WorldState.cc:
Go to the source code of this file.
Defines | |
| #define | GETD(cpc) (((float)sensor.GetData(cpc)->frame[lastFrame].value) / 1.0E6f) |
| returns value from OPEN-R, converted from micro in int to base in float | |
| #define | GETB(cpc) ((bool)sensor.GetData(cpc)->frame[lastFrame].value) |
| returns value from OPEN-R, as bool | |
| #define | GETSENSOR(cpc) ((float)sensor.GetData(cpc)->frame[lastFrame].value) |
| return value from OPEN-R, as int | |
| #define | GETSIG(cpc) ((word)sensor.GetData(cpc)->frame[lastFrame].signal) |
| returns signal from OPEN-R as word | |
| #define | GETDUTY(cpc) ((float)((OJointValue*)&sensor.GetData(cpc)->frame[lastFrame])->pwmDuty/512.0f) |
| returns duty cycle from OPEN-R as float; -1 (full reverse) to 0 (idle) to 1 (full forward) | |
Variables | |
| WorldState * | state = NULL |
| the global state object, is a shared memory region, created by MainObject | |
Define Documentation
| #define GETB | ( | cpc | ) | ((bool)sensor.GetData(cpc)->frame[lastFrame].value) |
returns value from OPEN-R, as bool
Definition at line 22 of file WorldState.cc.
Referenced by WorldState::read().
| #define GETD | ( | cpc | ) | (((float)sensor.GetData(cpc)->frame[lastFrame].value) / 1.0E6f) |
returns value from OPEN-R, converted from micro in int to base in float
Definition at line 21 of file WorldState.cc.
Referenced by WorldState::read().
| #define GETDUTY | ( | cpc | ) | ((float)((OJointValue*)&sensor.GetData(cpc)->frame[lastFrame])->pwmDuty/512.0f) |
returns duty cycle from OPEN-R as float; -1 (full reverse) to 0 (idle) to 1 (full forward)
Definition at line 25 of file WorldState.cc.
Referenced by WorldState::read().
| #define GETSENSOR | ( | cpc | ) | ((float)sensor.GetData(cpc)->frame[lastFrame].value) |
return value from OPEN-R, as int
Definition at line 23 of file WorldState.cc.
Referenced by WorldState::read().
| #define GETSIG | ( | cpc | ) | ((word)sensor.GetData(cpc)->frame[lastFrame].signal) |
Variable Documentation
| WorldState* state = NULL |
the global state object, is a shared memory region, created by MainObject
Definition at line 34 of file WorldState.cc.
Referenced by Wireless::blockingSend(), BatteryMonitorBehavior::calcFlipDelay(), Kinematics::calculateGroundPlane(), Wireless::close(), Wireless::connect(), MutexLock< num_doors >::do_try_lock(), WorldStatePool::doReleaseResource(), WorldStatePool::doUseResource(), ProcessID::getID(), MotionManager::getOutputs(), Controller::init(), Wireless::listen(), MutexLock< num_doors >::lock(), ValueEditControl< T >::pause(), WorldStateVelDaemon::processEvent(), WorldStateSerializerBehavior::processEvent(), WalkToTargetNode::processEvent(), VisualTargetCloseTrans::processEvent(), ValueEditControl< T >::processEvent(), SensorObserverControl::processEvent(), PostureEditor::processEvent(), FlashIPAddrBehavior::processEvent(), BatteryMonitorBehavior::processEvent(), AutoGetupBehavior::processEvent(), Wireless::receive(), Wireless::ReceiveCont(), BatteryCheckControl::refresh(), BatteryCheckControl::report(), Wireless::send(), CameraStreamBehavior::sendSensors(), BatteryMonitorBehavior::setFlipper(), MotionManager::setPID(), WalkCalibration::setupMoving(), FlashIPAddrBehavior::setupSequence(), BatteryMonitorBehavior::shouldWarn(), BatteryMonitorBehavior::startWarning(), WorldStateVelDaemon::trapEvent(), Controller::trapEvent(), MutexLock< num_doors >::try_lock(), MutexLock< num_doors >::unlock(), Kinematics::update(), MotionManager::updatePIDs(), SensorObserverControl::updateRT(), and MotionManager::updateWorldState().
