fob Class Reference

Ascension Flock of Birds. More...

#include <fob.h>

Collaboration diagram for fob:

List of all members.

Classes

class bird

A bird in a Flock of Birds. More...

struct change_option

Flock of Birds change command.

struct command

Flock of Birds command.

struct error_t

Describes an internal flock hardware error. More...

struct examine_option

Flock of Birds examine command.

Public Types

enum hemisphere {
AFT, FORWARD, LEFT, RIGHT,
UP, DOWN
}

Hemisphere in which all sensors are operating.

enum port_speed { FAST, SLOW }

Serial port speed.

enum error_level { WARNING1, WARNING2, FATAL }

Serverity of hardware error.

typedef unsigned char mode

Desired output format for a bird.

typedef std::vector< fob::bird * > bird_list

A list of birds.

Public Member Functions

fob (void)

Constructor.

fob (const std::string &device_name, fob::hemisphere hemi, port_speed speed=FAST, unsigned long sleep_ms=500)

Constructor with options.

~fob (void)

Destructor.

const fob & open (const std::string &device_name, fob::hemisphere hemisphere, port_speed speed=FAST, unsigned long sleep_ms=500)

Opens the flock of birds.

bool close (void)

Closes the flock of birds.

fob::bird_list & get_birds (void)

Returns a list of birds in the flock.

bool fly (void)

Sets the birds flying.

bool print_bird_status (void)

Print out status of each bird.

operator bool (void) const

Return false if flock is in an error state.

const std::string & get_error (void) const

Returns a string describing the current error.

void set_sleep (unsigned long ms)

Sets the amount of time to sleep between flock commands (in ms).

unsigned long get_sleep (void) const

Returns the amount of time to sleep (in ms) between flock commands.

void set_error_level (error_level lvl)

Sets the error level at which flock hardware errors will cause the fob object enter an error state.

Static Public Attributes

static const mode POSITION = 0x01

Request position information from bird.

static const mode ORIENTATION = 0x02

Request orientation information from bird.

static const mode BUTTONS = 0x04

Request button information from bird.

static const unsigned char BUTTON_NONE = 0x0

No button pressed.

static const unsigned char BUTTON_LEFT = 0x10

Left button mask.

static const unsigned char BUTTON_MIDDLE = 0x30

Middle button mask.

static const unsigned char BUTTON_RIGHT = 0x70

Right button mask.

Friends

void * get_flock_data (void *flock)

Thread data retrieval function.

Detailed Description

Ascension Flock of Birds.

All orientation and position information is returned in units that make sense to OpenGL's reference frame (x: screen right, y: screen up, z: out of screen). Note that this is different from the Flock of Birds' default reference frame (x: out of screen, y: screen left, z: screen down). Use this object as follows:

 //open the flock of birds that is on the 2nd serial port and
 //with sensors in front of the main transmitter
 //sleep about 500ms between configuration commands
 fob flock( "/dev/ttyS1", fob::FORWARD, fob::FAST, 500 );

 //make sure that everything opened ok
 if( !flock ) {
   //something went wrong
   std::cerr << "error: " << flock.get_error( ) << std::endl;
   return 1;
 }

 //get a list of all birds in the flock
 fob::bird_list birds = flock.get_birds( );

 //we want position, orientation, button information from all birds
 for( unsigned int i = 0; i < birds.size( ); ++i ) {
   birds[ i ]->set_mode( fob::POSITION | fob::ORIENTATION | fob::BUTTONS );
 }

 //set the flock flying
 flock.fly( );

 //give the birds a little time to startup
 sleep( 1 );

 //main loop
 math::vector3 position;
 math::quaternion orientation;
 unsigned char buttons;
 while( 1 ) {
   for( unsigned int i = 0; i < birds.size( ); ++i ) {
     //get latest info from birds
     birds[ i ]->get_position( position );
     birds[ i ]->get_quaternion( orientation );
     birds[ i ]->get_buttons( buttons );
   
     std::cout << "bird i: pos:     " << position << std::endl;
     std::cout << "bird i: quat:    " << orientation << std::endl;
     std::cout << "bird i: buttons: " 
       << ((buttons == fob::BUTTON_LEFT)   ? 1 | 0)
       << ((buttons == fob::BUTTON_MIDDLE) ? 1 | 0)
       << ((buttons == fob::BUTTON_LEFT)   ? 1 | 0) << std::endl;
   }
 }

 //close the flock (optional)
 flock.close( );

Definition at line 115 of file fob.h.

Constructor & Destructor Documentation

fob::fob ( void )

Constructor.

Creates an fob object. It does not open the flock. To open the flock, call fob::open.

Definition at line 1090 of file fob.cpp.

References get_flock_data.

fob::fob	(	const std::string &	device_name,
		fob::hemisphere	hemi,
		fob::port_speed	speed = `FAST`,
		unsigned long	sleep_ms = `500`
	)

Constructor with options.

Creates an fob object. Opens the flock.

Parameters:

	device_name	Serial port the flock is connected too.
	hemi	Hemisphere in which all birds of the flock will operate.
	speed	Speed at which the host system will communicate with the flock hardware. Use fob::SLOW for older flock hardware.
	sleep_ms	Amount of time to sleep between sending commands to the flock hardware (in ms).

Definition at line 1109 of file fob.cpp.

References get_flock_data, and open().

fob::~fob ( void )

Destructor.

Closes the flock of birds and reclaims any memory used by the fob object.

Definition at line 1133 of file fob.cpp.

References close().

Member Function Documentation

void fob::set_error_level ( error_level lvl ) [inline]

Sets the error level at which flock hardware errors will cause the fob object enter an error state.

Parameters:

lvl

Error levels below this parameter will not be reported.

Definition at line 689 of file fob.h.

void fob::set_sleep ( unsigned long ms ) [inline]

Sets the amount of time to sleep between flock commands (in ms).

Sending data to the flock to fast results in placing the flock into an unstable state. One can use this method to set a small amount of time the library should sleep when sending data to the flock. Note that this time only effects the flock startup time. It does not effect the rate at which flock data is retrieved.

Parameters:

ms

Time to sleep in milliseconds.

Definition at line 675 of file fob.h.

Referenced by open().

Friends And Related Function Documentation

void* get_flock_data ( void * flock ) [friend]

Thread data retrieval function.

Parameters:

flock

A fob* pointing to the flock of birds this thread is getting data from. There is no reason for you to use the method, as it is used internally by fob.

Definition at line 1431 of file fob.cpp.

Referenced by fob().


Classes
class	bird
	A bird in a Flock of Birds. More...
struct	change_option
	Flock of Birds change command.
struct	command
	Flock of Birds command.
struct	error_t
	Describes an internal flock hardware error. More...
struct	examine_option
	Flock of Birds examine command.
Public Types
enum	hemisphere { AFT, FORWARD, LEFT, RIGHT, UP, DOWN }
	Hemisphere in which all sensors are operating.
enum	port_speed { FAST, SLOW }
	Serial port speed.
enum	error_level { WARNING1, WARNING2, FATAL }
	Serverity of hardware error.
typedef unsigned char	mode
	Desired output format for a bird.
typedef std::vector< fob::bird * >	bird_list
	A list of birds.
Public Member Functions
	fob (void)
	Constructor.
	fob (const std::string &device_name, fob::hemisphere hemi, port_speed speed=FAST, unsigned long sleep_ms=500)
	Constructor with options.
	~fob (void)
	Destructor.
const fob &	open (const std::string &device_name, fob::hemisphere hemisphere, port_speed speed=FAST, unsigned long sleep_ms=500)
	Opens the flock of birds.
bool	close (void)
	Closes the flock of birds.
fob::bird_list &	get_birds (void)
	Returns a list of birds in the flock.
bool	fly (void)
	Sets the birds flying.
bool	print_bird_status (void)
	Print out status of each bird.
	operator bool (void) const
	Return `false` if flock is in an error state.
const std::string &	get_error (void) const
	Returns a string describing the current error.
void	set_sleep (unsigned long ms)
	Sets the amount of time to sleep between flock commands (in ms).
unsigned long	get_sleep (void) const
	Returns the amount of time to sleep (in ms) between flock commands.
void	set_error_level (error_level lvl)
	Sets the error level at which flock hardware errors will cause the fob object enter an error state.
Static Public Attributes
static const mode	POSITION = 0x01
	Request position information from bird.
static const mode	ORIENTATION = 0x02
	Request orientation information from bird.
static const mode	BUTTONS = 0x04
	Request button information from bird.
static const unsigned char	BUTTON_NONE = 0x0
	No button pressed.
static const unsigned char	BUTTON_LEFT = 0x10
	Left button mask.
static const unsigned char	BUTTON_MIDDLE = 0x30
	Middle button mask.
static const unsigned char	BUTTON_RIGHT = 0x70
	Right button mask.
Friends
void *	get_flock_data (void *flock)
	Thread data retrieval function.