RobotCommandQueue Class Reference

Public Member Functions
Construction
	RobotCommandQueue (XMLNode &_node)
	~RobotCommandQueue ()
Hardware Properties
double	GetCommunicationTime () const
	Get the longest communication time for any piece of hardware.
ActuatorInterface *	GetActuator () const noexcept
	Get the robot's base/actuator.
SensorInterface *	GetSensor () const noexcept
	Get the robot's sensor.
Command Queue Manipulation
std::shared_ptr< Command >	GetCurrentCommand () const
	Get the current command that the robot is executing.
void	EnqueueCommand (Command &&_command)
void	ClearCommandQueue ()
	Clear out the command queue.
bool	IsIdle () const
bool	IsLocalizing () const
	Check if the robot has a localizing command currently on the queue.
Robot Control
bool	FullStop ()

Protected Member Functions
Helpers
void	StartQueue ()
	Initialize the command queue and start it in a separate thread.
void	StopQueue ()
void	QueueFunction ()
	The queue function to run in a separate thread.
void	SendToRobot (const Command &_command)

Detailed Description

A command queue for controlling a hardware robot through one or more hardware interfaces.

We expect all hardware robots to be able to set their actuators according to each possible control in the software robot's dynamics model. If this is not the case, then the actuator settings need to be adjusted to reflect the physical robot's capabilities.

This object supports a queue of 'commands', where a command is (currently) a set of controls executed for some length of time. The primary means of controlling the hardware robot is thus manipulation of the command queue, which allows us to set and execute commands asynchronously.

Currently this object supports up to one robot base and one sensor.

Note

For now we are assuming the entire queue will use the longest communication time for each component. We may wish to refine this to check/use the specific times for individual components.

Constructor & Destructor Documentation

RobotCommandQueue()

RobotCommandQueue::RobotCommandQueue

(

XMLNode &

_node

)

Create a robot command queue from an XML specification of the hardware settings.

Parameters

_node

The XML node.

Member Function Documentation

EnqueueCommand()

void RobotCommandQueue::EnqueueCommand

(

Command &&

_command

)

Add a command to the end of the robot's command queue.

Parameters

_command

The command to execute.

IsIdle()

bool RobotCommandQueue::IsIdle

(

)

const

Check if the robot is currently idle and has no queued commands. This will return false if you have ordered the robot to wait.

FullStop()

bool RobotCommandQueue::FullStop

(

)

Halt the hardware robot immediately. This should NOT touch the command queue in order to avoid deadlock conditions (do that separately).

Returns

True if the hardware acknowledged the command. THIS DOES NOT GUARANTEE THAT IT WORKED!

StopQueue()

void RobotCommandQueue::StopQueue ( )

protected

Stop the command queue and release its resources. Commands already in the queue will be cleared.

SendToRobot()

void RobotCommandQueue::SendToRobot ( const Command &  _command )

protected

Send a command to the robot. Must check for and recognize empty controls as 'wait' commands.

Parameters

_command

Command to send to robot

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

• RobotCommandQueue.h
• RobotCommandQueue.cpp
• RobotCommandQueue_pmpl.cpp
• RobotCommandQueue_sim.cpp