WorldState.cc File Reference

Implements WorldState, maintains information about the robot's environment, namely sensors and power status. More...

#include "WorldState.h"
#include "Shared/RobotInfo.h"
#include "IPC/ProcessID.h"
#include <vector>
#include "Shared/get_time.h"
#include "Events/EventRouter.h"
#include "Events/EventBase.h"
#include "ERS210Info.h"
#include "ERS220Info.h"
#include "ERS7Info.h"
#include "Shared/Config.h"
#include "local/DataSource.h"

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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)   (((OJointValue*)(void*)&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
WorldStateLookup	state
	the global state object, points into a shared memory region, created by MainObject

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Detailed Description

Implements WorldState, maintains information about the robot's environment, namely sensors and power status.

Author:

ejt (Creator)

Definition in file WorldState.cc.

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Define Documentation

#define GETB

(

cpc

)

((bool)sensor.GetData(cpc)->frame[lastFrame].value)

returns value from OPEN-R, as bool

Definition at line 24 of file WorldState.cc.

#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 23 of file WorldState.cc.

#define GETDUTY

(

cpc

)

(((OJointValue*)(void*)&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 27 of file WorldState.cc.

#define GETSENSOR

(

cpc

)

((float)sensor.GetData(cpc)->frame[lastFrame].value)

return value from OPEN-R, as int

Definition at line 25 of file WorldState.cc.

#define GETSIG

(

cpc

)

((word)sensor.GetData(cpc)->frame[lastFrame].signal)

returns signal from OPEN-R as word

Definition at line 26 of file WorldState.cc.

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Variable Documentation

WorldStateLookup state

the global state object, points into a shared memory region, created by MainObject

Definition at line 35 of file WorldState.cc.

Referenced by Wireless::blockingSend(), BatteryMonitorBehavior::calcFlipDelay(), Kinematics::calculateGroundPlane(), Wireless::connect(), ArmController::connect(), MotionManager::convertMotion(), Kodu::Parser::KodeCreator::createGrabKode(), WorldStateSerializerBehavior::doEvent(), RecordMotionNode::doEvent(), FlashIPAddrBehavior::doEvent(), BatteryMonitorBehavior::doEvent(), ArmController::doEvent(), Grasper::Verify::CheckGripperLoad::doStart(), DeadReckoningBehavior< ParticleT >::doStart(), EmergencyStopMC::freezeJoints(), CreateOdometry::getCreateOdometry(), WorldState::getCurrent(), ArmMC::getGripperLoad(), MotionManager::getOutputs(), ArmMC::incrementGrasp(), PostureMC::isAlive(), HeadPointerMC::isAlive(), ArmMC::isAlive(), Wireless::listen(), ArmController::pointPicked(), Wireless::pollProcess(), Wireless::pollSetup(), RecordMotionNode::preStart(), TorqueCalibrate::TakeMeasurementControl::processEvent(), SensorObserverControl::processEvent(), PostureEditor::processEvent(), PostureEditor::refresh(), Wireless::send(), CameraStreamBehavior::sendSensors(), EventProxy::sendState(), BatteryMonitorBehavior::setFlipper(), ArmMC::setOutputCmd(), MotionManager::setPID(), WalkCalibration::setupMoving(), BatteryMonitorBehavior::shouldWarn(), XWalkMC::start(), BatteryMonitorBehavior::startWarning(), SineMC::sync(), HeadPointerMC::takeSnapshot(), ArmMC::takeSnapshot(), Controller::trapEvent(), Kinematics::update(), XWalkMC::updateOutputs(), EmergencyStopMC::updateOutputs(), XWalkMC::updateOutputsInitial(), MotionManager::updatePIDs(), SensorObserverControl::updateRT(), and LogNode::writeSensor().