AREXPORT void ArActionDesired::log(void) const
{
// all those maxes and movement parameters
if (getMaxVelStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "\tMaxTransVel %.0f", getMaxVel());
if (getMaxNegVelStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "\tMaxTransNegVel %.0f",
getMaxNegVel());
if (getTransAccelStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "\tTransAccel %.0f", getTransAccel());
if (getTransDecelStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "\tTransDecel %.0f", getTransDecel());
if (getMaxRotVelStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "%25s\tMaxRotVel %.0f", "",
getMaxRotVel());
if (getRotAccelStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "%25s\tRotAccel %.0f", "",
getRotAccel());
if (getRotDecelStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "%25s\tRotDecel %.0f", "",
getRotDecel());
if (getMaxLeftLatVelStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "%12s\tMaxLeftLatVel %.0f", "",
getMaxLeftLatVel());
if (getMaxRightLatVelStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "%12s\tMaxRightLatVel %.0f", "",
getMaxRightLatVel());
if (getLatAccelStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "%12s\tLatAccel %.0f", "",
getLatAccel());
if (getLatDecelStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "%12s\tLatDecel %.0f", "",
getLatDecel());
// the actual movement part
if (getVelStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "\tVel %.0f", getVel());
if (getHeadingStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "%25s\tHeading %.0f", "",
getHeading());
if (getDeltaHeadingStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "%25s\tDeltaHeading %.0f", "",
getDeltaHeading());
if (getRotVelStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "%25s\tRotVel %.0f", "",
getRotVel());
if (getLatVelStrength() >= ArActionDesired::MIN_STRENGTH)
ArLog::log(ArLog::Normal, "%12s\tLatVel %.0f", "",
getLatVel());
}
/**
Like most memory stuff this won't work across DLL's in windows,
it should work fine in linux or with static library files in windows.
**/
AREXPORT std::string ArRobotConfigPacketReader::buildStringMovement(void) const
{
std::string ret;
char line[32000];
sprintf(line, "TransVelMax %d TransAccel %d TransDecel %d\n",
getTransVelMax(), getTransAccel(), getTransDecel());
ret += line;
sprintf(line, "RotVelMax %d RotAccel %d RotDecel %d\n",
getRotVelMax(), getRotAccel(), getRotDecel());
ret += line;
if (myRobot->hasLatVel())
{
sprintf(line, "LatVelMax %d LatAccel %d LatDecel %d\n",
getLatVelMax(), getLatAccel(), getLatDecel());
ret += line;
}
return ret;
}
/**
Like most memory stuff this won't work across DLL's in windows,
it should work fine in linux or with static library files in windows.
**/
AREXPORT std::string ArRobotConfigPacketReader::buildString(void) const
{
std::string ret;
char line[32000];
sprintf(line, "General information:\n");
ret += line;
sprintf(line, "Robot is type '%s' subtype '%s'\n",
getType(), getSubType());
ret += line;
sprintf(line, "serial number '%s' name '%s'\n",
getSerialNumber(), getName());
ret += line;
sprintf(line, "firmware version '%s'\n",
getFirmwareVersion());
ret += line;
sprintf(line, "Intrinsic properties and unsettable maxes:\n");
ret += line;
sprintf(line, "TransVelTop %d TransAccelTop %d\n",
getTransVelTop(), getTransAccelTop());
ret += line;
sprintf(line, "RotVelTop %d RotAccelTop %d\n",
getRotVelTop(), getRotAccelTop());
ret += line;
if (myRobot->hasLatVel())
{
sprintf(line, "LatVelTop %d LatAccelTop %d\n",
getLatVelTop(), getLatAccelTop());
ret += line;
}
sprintf(line, "PWMMax %d ResetBaud %s\n", getPwmMax(),
ArUtil::convertBool(getResetBaud()));
ret += line;
sprintf(line, "Current values:\n");
ret += line;
sprintf(line, "TransVelMax %d TransAccel %d TransDecel %d\n",
getTransVelMax(), getTransAccel(), getTransDecel());
ret += line;
sprintf(line, "RotVelMax %d RotAccel %d RotDecel %d\n",
getRotVelMax(), getRotAccel(), getRotDecel());
ret += line;
if (myRobot->hasLatVel())
{
sprintf(line, "LatVelMax %d LatAccel %d LatDecel %d\n",
getLatVelMax(), getLatAccel(), getLatDecel());
ret += line;
}
sprintf(line, "Accessories:\n");
ret += line;
sprintf(line,
"Gripper %s FrontSonar %s RearSonar %s Charger %d GyroType %d\n",
ArUtil::convertBool(getHasGripper()),
ArUtil::convertBool(getFrontSonar()),
ArUtil::convertBool(getRearSonar()),
getHasCharger(),
getGyroType());
ret += line;
sprintf(line, "FrontBumps %d RearBumps %d\n",
getFrontBumps(), getRearBumps());
ret += line;
sprintf(line, "Settings:\n");
ret += line;
sprintf(line, "SipCycle %d SonarCycle %d HostBaud %d Aux1Baud %d\n", getSipCycleTime(), getSonarCycle(), getHostBaud(), getAux1Baud());
ret += line;
sprintf(line, "StallVal %d StallCount %d RevCount %d Watchdog %d\n",
getStallVal(), getStallCount(), getRevCount(), getWatchdog());
ret += line;
sprintf(line, "GyroRateLimit %d\n",
getGyroRateLimit());
ret += line;
sprintf(line, "JoyVel %d JoyRVel %d NormalMotorPackets %s\n", getJoyVel(), getJoyRotVel(), ArUtil::convertBool(getNormalMPacs()));
ret += line;
sprintf(line, "PID Settings:\n");
ret += line;
sprintf(line, "Trans kp %d kv %d ki %d\n", getTransKP(),
getTransKV(), getTransKI());
ret += line;
sprintf(line, "Rot kp %d kv %d ki %d\n", getRotKP(), getRotKV(),
getRotKI());
ret += line;
sprintf(line, "Other:\n");
ret += line;
sprintf(line, "DriftFactor %d KinematicsDelay %d\n", getDriftFactor(),
getKinematicsDelay());
ret += line;
sprintf(line, "Aux2Baud setting %d Aux3Baud setting %d\n", getAux2Baud(), getAux3Baud());
ret += line;
sprintf(line, "PDBPort setting %d\n", getPDBPort());
ret += line;
sprintf(line, "TicksMM %d GyroCW %d GyroCCW %d\n", getTicksMM(),
getGyroCW(), getGyroCCW());
ret += line;
sprintf(line, "ShutdownVoltage %d PowerbotChargeTreshold %d\n",
getShutdownVoltage(), getPowerbotChargeThreshold());
ret += line;
char buf[128];
int i, j;
unsigned int value = getPowerBits();
int bit;
buf[0] = '\0';
for (j = 0, bit = 1; j < 16; ++j, bit *= 2)
{
if (j == 8)
sprintf(buf, "%s ", buf);
if (value & bit)
sprintf(buf, "%s%d", buf, 1);
else
sprintf(buf, "%s%d", buf, 0);
}
sprintf(line, "HighTempShutdown %d PowerBits %s\n",
getHighTemperatureShutdown(), buf);
ret += line;
return ret;
}