The NeatoController class is used to communicate with the Neato robot. More...

#include <neatocontroller.hpp>

Inheritance diagram for regilo::NeatoController< ProtocolController >:

Public Member Functions
	NeatoController ()
	Default constructor.

	NeatoController (const std::string &logPath)
	Constructor with a log file specified by a path. More...

	NeatoController (std::iostream &logStream)
	Constructor with a log specified by a stream. More...

virtual	~NeatoController ()=default
	Default destructor.

virtual bool	getTestMode () const override
	Get whether the Neato is in the test mode. More...

virtual void	setTestMode (bool testMode) override
	Set or unset the test mode. More...

virtual bool	getLdsRotation () const override
	Get whether the Neato has LDS rotation on or off. More...

virtual void	setLdsRotation (bool ldsRotation) override
	Set LDS rotation on or off. More...

virtual void	setMotor (int left, int right, int speed) override
	Set the specified motor to run in a direction at a requested speed. More...

virtual std::string	getTime () override
	Get the current scheduler time. More...

Public Member Functions inherited from regilo::INeatoController
virtual	~INeatoController ()=default
	Default destructor.

Public Member Functions inherited from regilo::IScanController
virtual	~IScanController ()=default
	Default destructor.

Public Member Functions inherited from regilo::IController
virtual	~IController ()=default
	Default destructor.

virtual void	connect (const std::string &endpoint)=0
	Connect the controller to a device. More...

virtual bool	isConnected () const =0
	Test if the controller is connected. More...

virtual std::string	getEndpoint () const =0
	Get the endpoint of device. More...

virtual std::shared_ptr< ILog >	getLog ()=0
	Get the current Log. More...

virtual std::shared_ptr< const ILog >	getLog () const =0
	Get the current Log (a const variant). More...

virtual void	setLog (std::shared_ptr< ILog > log)=0
	Set a Log (it can be shared between more controllers). More...

virtual std::string	sendCommand (const std::string &command)=0
	Send a command to the device. More...

Public Member Functions inherited from regilo::ScanController< ProtocolController >
virtual	~ScanController ()=default
	Default destructor.

virtual ScanData	getScan (bool fromDevice=true) override final
	Get a scan from the device. More...

Static Public Attributes
static std::string	ON = "on"
	A string that represents the ON value.

static std::string	OFF = "off"
	A string that represents the OFF value.

static std::string	LDS_SCAN_HEADER = "AngleInDegrees,DistInMM,Intensity,ErrorCodeHEX"
	A header of the LDS scan output.

static std::string	LDS_SCAN_FOOTER = "ROTATION_SPEED,"
	A footer of the LDS scan output.

static std::string	CMD_TEST_MODE = "testmode %s"
	A template for the `testmode` command.

static std::string	CMD_SET_LDS_ROTATION = "setldsrotation %s"
	A template for the `setldsrotation` command.

static std::string	CMD_SET_MOTOR = "setmotor %d %d %d"
	A template for the `setmotor` command.

static std::string	CMD_GET_TIME = "gettime"
	A template for the `gettime` command.

static std::string	CMD_GET_LDS_SCAN = "getldsscan"
	A template for the `getldsscan` command.

Protected Member Functions
virtual std::string	getScanCommand () const override
	Get a string that can be used for getting a scan. More...

virtual bool	parseScanData (std::istream &in, ScanData &data) override
	Parse the raw scan data. More...

Additional Inherited Members
Protected Attributes inherited from regilo::ScanController< ProtocolController >
std::size_t	lastScanId = 0
	A scan id (starting from zero) that is used for new scans.

Detailed Description

template<typename ProtocolController>
class regilo::NeatoController< ProtocolController >

The NeatoController class is used to communicate with the Neato robot.

Constructor & Destructor Documentation

template<typename ProtocolController >

regilo::NeatoController< ProtocolController >::NeatoController ( const std::string & logPath )

Constructor with a log file specified by a path.

Parameters

logPath Path to the log file.

template<typename ProtocolController >

regilo::NeatoController< ProtocolController >::NeatoController ( std::iostream & logStream )

Constructor with a log specified by a stream.

Parameters

logStream The log stream.

Member Function Documentation

template<typename ProtocolController >

virtual bool regilo::NeatoController< ProtocolController >::getLdsRotation ( ) const

inlineoverridevirtual

Get whether the Neato has LDS rotation on or off.

Returns: True if the LIDAR is rotating.

Implements regilo::INeatoController.

template<typename ProtocolController >

virtual std::string regilo::NeatoController< ProtocolController >::getScanCommand ( ) const

inlineoverrideprotectedvirtual

Get a string that can be used for getting a scan.

Returns: A command for getting a scan.

Implements regilo::ScanController< ProtocolController >.

template<typename ProtocolController >

virtual bool regilo::NeatoController< ProtocolController >::getTestMode ( ) const

inlineoverridevirtual

Get whether the Neato is in the test mode.

Returns: True if the Neato is in the test mode.

Implements regilo::INeatoController.

template<typename ProtocolController >

std::string regilo::NeatoController< ProtocolController >::getTime ( )

overridevirtual

Get the current scheduler time.

Returns: "DayOfWeek HourOf24:Min:Sec" (example: "Sunday 13:57:09").

Implements regilo::INeatoController.

template<typename ProtocolController >

bool regilo::NeatoController< ProtocolController >::parseScanData	(	std::istream &	in,
		ScanData &	data
	)

overrideprotectedvirtual

Parse the raw scan data.

Parameters

in	The input stream that stores the raw scan data.
data	Output for the scanned data.

Returns: True if the parsing ends without an error.

Implements regilo::ScanController< ProtocolController >.

template<typename ProtocolController >

void regilo::NeatoController< ProtocolController >::setLdsRotation ( bool ldsRotation )

overridevirtual

Set LDS rotation on or off.

Parameters

ldsRotation True for starting the LIDAR rotation.

Implements regilo::INeatoController.

template<typename ProtocolController >

void regilo::NeatoController< ProtocolController >::setMotor	(	int	left,
		int	right,
		int	speed
	)

overridevirtual

Set the specified motor to run in a direction at a requested speed.

Parameters

left	Distance in millimeters to drive the left wheel (pos = forward, neg = backward).
right	Distance in millimeters to drive the right wheel (pos = forward, neg = backward).
speed	Speed in millimeters/second.

Implements regilo::INeatoController.

template<typename ProtocolController >

void regilo::NeatoController< ProtocolController >::setTestMode ( bool testMode )

overridevirtual

Set or unset the test mode.

Parameters

testMode True for setting the test mode.

Implements regilo::INeatoController.

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

include/regilo/neatocontroller.hpp

Public Member Functions

Static Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename ProtocolController> class regilo::NeatoController< ProtocolController >

Constructor & Destructor Documentation

Member Function Documentation

template<typename ProtocolController>
class regilo::NeatoController< ProtocolController >