/usr/include/Aria/ArRobotBatteryPacketReader.h is in libaria-dev 2.8.0+repack-1.2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 | /*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARROBOTBATTERYPACKETREADER_H
#define ARROBOTBATTERYPACKETREADER_H
#include "ariaTypedefs.h"
#include "ariaUtil.h"
#include "ArFunctor.h"
class ArRobot;
class ArRobotPacket;
/// This class will read a config packet from the robot
class ArRobotBatteryPacketReader
{
public:
/// Constructor
AREXPORT ArRobotBatteryPacketReader(ArRobot *robot);
/// Destructor
AREXPORT ~ArRobotBatteryPacketReader();
/// Request a single packet..
AREXPORT void requestSinglePacket(void);
/// Request a continous stream of packets
AREXPORT void requestContinuousPackets(void);
/// Stop the stream of packets
AREXPORT void stopPackets(void);
/// See if we've requested packets
AREXPORT bool haveRequestedPackets(void);
/// See if we've gotten the data
bool hasPacketArrived(void) const { return myPacketArrived; }
/// Gets the number of batteries
int getNumBatteries(void) const { return myNumBatteries; }
/// Gets the number of bytes per battery
int getNumBytesPerBattery(void) const { return myNumBytesPerBattery; }
/// Gets the flags1 for a particular battery
int getFlags1(int battery) { return myFlags1[battery]; }
/// Gets the flags2 for a particular battery
int getFlags2(int battery) { return myFlags2[battery]; }
/// Gets the flags3 for a particular battery
int getFlags3(int battery) { return myFlags3[battery]; }
/// Gets the relative state of charge for a particular battery
int getRelSOC(int battery) { return myRelSOC[battery]; }
/// Gets the absolute state of charge for a particular battery
int getAbsSOC(int battery) { return myAbsSOC[battery]; }
protected:
/// internal, packet handler
AREXPORT bool packetHandler(ArRobotPacket *packet);
/// internal, packet handler
AREXPORT void connectCallback(void);
// the robot
ArRobot *myRobot;
int myNumBatteries;
int myNumBytesPerBattery;
std::map<int, int> myFlags1;
std::map<int, int> myFlags2;
std::map<int, int> myFlags3;
std::map<int, int> myRelSOC;
std::map<int, int> myAbsSOC;
// whether our data has been received or not
bool myPacketArrived;
// last time we requested a packet (we'll only ask every 200 ms)
ArTime myLastPacketRequest;
bool myRequestedBatteryPackets;
// the callback
ArRetFunctor1C<bool, ArRobotBatteryPacketReader, ArRobotPacket *> myPacketHandlerCB;
ArFunctorC<ArRobotBatteryPacketReader> myConnectCB;
};
#endif // ARROBOTBATTERYPACKETREADER_H
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