#include <FalconFirmwareNovintSDK.h>
Inherits libnifalcon::FalconFirmware.
Public Member Functions | |
FalconFirmwareNovintSDK () | |
virtual | ~FalconFirmwareNovintSDK () |
virtual std::string | getRawReturn () |
bool | runIOLoop () |
int32_t | getGripInfoSize () |
const uint8_t * | getGripInfo () |
Protected Member Functions | |
void | formatInput () |
bool | formatOutput () |
Protected Attributes | |
uint8_t | m_gripInfo |
uint8_t | m_rawData [128] |
uint8_t | m_rawInput [17] |
uint8_t | m_rawOutput [17] |
uint8_t | m_rawOutputInternal [17] |
unsigned int | m_currentOutputIndex |
unsigned int | m_rawDataSize |
Private Member Functions | |
DECLARE_LOGGER () |
Input and output strings are printable. Each string starts with 0x3c ('<') and ends with 0x3e ('>'), and the byte range is 0x41 ('A') to 0x50 ('P').
A null input/output string looks like:
<AAAAAAAAAAAAAA>
However, after any amount of usage, the input/output string will probably look something like:
<HNGPOKOPFPOPAA>
Input Packet Byte Definitions:
Homing and LED Controls (Value of j0 byte):
Output packet byte definitions:
Buttons and Homing Control Report (Value of j0 byte) - Directions taken from looking at the Falcon from the front:
Example:
libnifalcon::FalconFirmwareNovintSDK::FalconFirmwareNovintSDK | ( | ) |
Constructor
libnifalcon::FalconFirmwareNovintSDK::~FalconFirmwareNovintSDK | ( | ) | [virtual] |
Destructor
libnifalcon::FalconFirmwareNovintSDK::DECLARE_LOGGER | ( | ) | [private] |
Reimplemented from libnifalcon::FalconFirmware.
void libnifalcon::FalconFirmwareNovintSDK::formatInput | ( | ) | [protected] |
Formats current input (forces, LED commands, etc...) for sending to falcon.
bool libnifalcon::FalconFirmwareNovintSDK::formatOutput | ( | ) | [protected] |
Formats current output from falcon (joint positions, calibration, etc...)
const uint8_t* libnifalcon::FalconFirmwareNovintSDK::getGripInfo | ( | ) | [inline, virtual] |
Accessor for raw grip info
Implements libnifalcon::FalconFirmware.
int32_t libnifalcon::FalconFirmwareNovintSDK::getGripInfoSize | ( | ) | [inline, virtual] |
Returns size of the grip data portion of the message. Currently always 1.
Implements libnifalcon::FalconFirmware.
std::string libnifalcon::FalconFirmwareNovintSDK::getRawReturn | ( | ) | [virtual] |
Get the raw data string returned from the falcon
Reimplemented from libnifalcon::FalconFirmware.
bool libnifalcon::FalconFirmwareNovintSDK::runIOLoop | ( | ) | [virtual] |
Runs device polling, then tries to write next command to device, or read return from device if write has already happened.
Implements libnifalcon::FalconFirmware.
unsigned int libnifalcon::FalconFirmwareNovintSDK::m_currentOutputIndex [protected] |
How far the firmware object is into parsing the current packet
uint8_t libnifalcon::FalconFirmwareNovintSDK::m_gripInfo [protected] |
Internal representation of grip data (buttons pressed, etc...)
uint8_t libnifalcon::FalconFirmwareNovintSDK::m_rawData[128] [protected] |
Raw buffer to read into
unsigned int libnifalcon::FalconFirmwareNovintSDK::m_rawDataSize [protected] |
Amount of data last returned from communications object read
uint8_t libnifalcon::FalconFirmwareNovintSDK::m_rawInput[17] [protected] |
Raw buffer for formatting input. Plus one character to make it zero terminated
uint8_t libnifalcon::FalconFirmwareNovintSDK::m_rawOutput[17] [protected] |
Raw buffer for last full output packet. Plus one character to make it zero terminated
uint8_t libnifalcon::FalconFirmwareNovintSDK::m_rawOutputInternal[17] [protected] |
Raw buffer for formatting output incrementally. Plus one character to make it zero terminated