rm_referee::Base Class Reference

#include <data.h>

Classes
struct	SerialPortState

Public Member Functions
void	initSerial (ros::NodeHandle &nh)
bool	ensurePortOpen (size_t index, const ros::Time &now)
void	handlePortIoFailure (size_t index, const ros::Time &now, const std::string &action, const std::exception &e)
bool	isPortFresh (size_t index, const ros::Time &now, const ros::Duration &freshness) const
bool	isActivePortFresh (const ros::Time &now, const ros::Duration &freshness) const
bool	shouldProcessPort (size_t index, const ros::Time &now, const ros::Duration &freshness) const
void	activatePort (size_t index)
void	markValidFrame (size_t index, const ros::Time &stamp, const ros::Duration &freshness)
void	refreshOnlineState (const ros::Time &now, const ros::Duration &freshness)
bool	writeActive (const uint8_t *data, size_t data_len)
uint8_t	getCRC8CheckSum (unsigned char *pch_message, unsigned int dw_length, unsigned char uc_crc_8)
uint32_t	verifyCRC8CheckSum (unsigned char *pch_message, unsigned int dw_length)
void	appendCRC8CheckSum (unsigned char *pch_message, unsigned int dw_length)
uint16_t	getCRC16CheckSum (uint8_t *pch_message, uint32_t dw_length, uint16_t w_crc)
uint32_t	verifyCRC16CheckSum (uint8_t *pch_message, uint32_t dw_length)
void	appendCRC16CheckSum (uint8_t *pch_message, uint32_t dw_length)

Public Attributes
std::array< SerialPortState, kMaxSerialPorts >	serial_ports_ {}
size_t	serial_port_count_ = 0
int	active_port_index_ = -1
ros::Duration	reopen_interval_ { 1.0 }
int	client_id_ = 0
int	robot_id_ = 0
int	capacity_recent_mode_
int	capacity_expect_mode_
std::string	robot_color_
bool	referee_data_is_online_ = false

Static Public Attributes
static constexpr size_t	kMaxSerialPorts = 2

Member Function Documentation

activatePort()

void rm_referee::Base::activatePort ( size_t index )

inline

appendCRC16CheckSum()

void rm_referee::Base::appendCRC16CheckSum ( uint8_t * pch_message, uint32_t dw_length )

inline

appendCRC8CheckSum()

void rm_referee::Base::appendCRC8CheckSum ( unsigned char * pch_message, unsigned int dw_length )

inline

ensurePortOpen()

bool rm_referee::Base::ensurePortOpen ( size_t index, const ros::Time & now )

inline

getCRC16CheckSum()

uint16_t rm_referee::Base::getCRC16CheckSum ( uint8_t * pch_message, uint32_t dw_length, uint16_t w_crc )

inline

getCRC8CheckSum()

uint8_t rm_referee::Base::getCRC8CheckSum ( unsigned char * pch_message, unsigned int dw_length, unsigned char uc_crc_8 )

inline

handlePortIoFailure()

void rm_referee::Base::handlePortIoFailure ( size_t index, const ros::Time & now, const std::string & action, const std::exception & e )

inline

initSerial()

void rm_referee::Base::initSerial ( ros::NodeHandle & nh )

inline

isActivePortFresh()

bool rm_referee::Base::isActivePortFresh ( const ros::Time & now, const ros::Duration & freshness ) const

inline

isPortFresh()

bool rm_referee::Base::isPortFresh ( size_t index, const ros::Time & now, const ros::Duration & freshness ) const

inline

markValidFrame()

void rm_referee::Base::markValidFrame ( size_t index, const ros::Time & stamp, const ros::Duration & freshness )

inline

refreshOnlineState()

void rm_referee::Base::refreshOnlineState ( const ros::Time & now, const ros::Duration & freshness )

inline

shouldProcessPort()

bool rm_referee::Base::shouldProcessPort ( size_t index, const ros::Time & now, const ros::Duration & freshness ) const

inline

verifyCRC16CheckSum()

uint32_t rm_referee::Base::verifyCRC16CheckSum ( uint8_t * pch_message, uint32_t dw_length )

inline

verifyCRC8CheckSum()

uint32_t rm_referee::Base::verifyCRC8CheckSum ( unsigned char * pch_message, unsigned int dw_length )

inline

writeActive()

bool rm_referee::Base::writeActive ( const uint8_t * data, size_t data_len )

inline

Member Data Documentation

active_port_index_

int rm_referee::Base::active_port_index_ = -1

capacity_expect_mode_

int rm_referee::Base::capacity_expect_mode_

capacity_recent_mode_

int rm_referee::Base::capacity_recent_mode_

client_id_

int rm_referee::Base::client_id_ = 0

kMaxSerialPorts

size_t rm_referee::Base::kMaxSerialPorts = 2

staticconstexpr

referee_data_is_online_

bool rm_referee::Base::referee_data_is_online_ = false

reopen_interval_

ros::Duration rm_referee::Base::reopen_interval_ { 1.0 }

robot_color_

std::string rm_referee::Base::robot_color_

robot_id_

int rm_referee::Base::robot_id_ = 0

serial_port_count_

size_t rm_referee::Base::serial_port_count_ = 0

serial_ports_

std::array<SerialPortState, kMaxSerialPorts> rm_referee::Base::serial_ports_ {}

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

• rm_referee/include/rm_referee/common/data.h