cframe Struct Reference

A structure for containing communication frames. More...

#include <cframe.h>

Data Fields
long	seqno
	count of messages sent by the cart
long	timestamp
	cart-maintained clock (ms since start-up)
double	cmd_irad
	desired turning radius (inverse, in (1/m))
double	cur_irad
	current turning radius
char	steer_limit_error [10]
	(undocumented)
double	cmd_speed
	desired speed (m/s)
double	cur_speed
	current speed
double	cur_throttle
	of full throttle
char	speed_limit_error [10]
	(undocumented)
double	gps_lat
	GPS latitude (degrees).
double	gps_lon
	GPS longitude (degrees).
double	gps_speed_east
	eastward velocity (m/s)
double	gps_speed_north
	northward velocity (m/s)
double	gps_epe
	GPS estimated position error (m).
char	gps_status [10]
	(undocumented)
char	status [10]
	status of the cart/driver connection
char	cmd_mode [10]
	desired cart mode
char	cur_mode [10]
	cart's driving mode
int	error_code
	current error number
size_t	msg_len
	length of the message associated with this frame in bytes
unsigned char	checksum
	checksum of the message associated with this frame

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Detailed Description

A structure for containing communication frames.

Definition at line 7 of file cframe.h.

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Field Documentation

unsigned char cframe::checksum

checksum of the message associated with this frame Definition at line 54 of file cframe.h. Referenced by cartcomm_decode_msg().

double cframe::cmd_irad

desired turning radius (inverse, in (1/m)) Definition at line 14 of file cframe.h. Referenced by cartcomm_encode_msg(), drive(), driver_rosetta(), parse_avpair(), print_cframe(), and recorder_export().

char cframe::cmd_mode[10]

desired cart mode Definition at line 45 of file cframe.h. Referenced by cartcomm_encode_msg(), drive(), parse_avpair(), print_cframe(), and recorder_export().

double cframe::cmd_speed

desired speed (m/s) Definition at line 21 of file cframe.h. Referenced by cartcomm_encode_msg(), drive(), driver_rosetta(), parse_avpair(), print_cframe(), and recorder_export().

double cframe::cur_irad

current turning radius Definition at line 16 of file cframe.h. Referenced by cartcomm_encode_msg(), drive(), parse_avpair(), print_cframe(), and recorder_export().

char cframe::cur_mode[10]

cart's driving mode Definition at line 47 of file cframe.h. Referenced by cartcomm_encode_msg(), driver_rosetta(), parse_avpair(), print_cframe(), and recorder_export().

double cframe::cur_speed

current speed Definition at line 23 of file cframe.h. Referenced by cartcomm_encode_msg(), parse_avpair(), print_cframe(), and recorder_export().

double cframe::cur_throttle

of full throttle Definition at line 25 of file cframe.h. Referenced by cartcomm_encode_msg(), parse_avpair(), print_cframe(), and recorder_export().

int cframe::error_code

current error number Definition at line 49 of file cframe.h. Referenced by cartcomm_encode_msg(), parse_avpair(), print_cframe(), and recorder_export().

double cframe::gps_epe

GPS estimated position error (m). Definition at line 38 of file cframe.h. Referenced by cartcomm_encode_msg(), parse_avpair(), print_cframe(), and recorder_export().

double cframe::gps_lat

GPS latitude (degrees). Definition at line 30 of file cframe.h. Referenced by cartcomm_encode_msg(), parse_avpair(), print_cframe(), and recorder_export().

double cframe::gps_lon

GPS longitude (degrees). Definition at line 32 of file cframe.h. Referenced by cartcomm_encode_msg(), parse_avpair(), print_cframe(), and recorder_export().

double cframe::gps_speed_east

eastward velocity (m/s) Definition at line 34 of file cframe.h. Referenced by cartcomm_encode_msg(), parse_avpair(), print_cframe(), and recorder_export().

double cframe::gps_speed_north

northward velocity (m/s) Definition at line 36 of file cframe.h. Referenced by cartcomm_encode_msg(), parse_avpair(), print_cframe(), and recorder_export().

char cframe::gps_status[10]

(undocumented) Definition at line 40 of file cframe.h. Referenced by cartcomm_encode_msg(), parse_avpair(), print_cframe(), and recorder_export().

size_t cframe::msg_len

length of the message associated with this frame in bytes Definition at line 52 of file cframe.h. Referenced by cartcomm_decode_msg(), and parse_avpair().

long cframe::seqno

count of messages sent by the cart Definition at line 9 of file cframe.h. Referenced by cartcomm_encode_msg(), drive(), parse_avpair(), print_cframe(), and recorder_export().

char cframe::speed_limit_error[10]

(undocumented) Definition at line 27 of file cframe.h. Referenced by cartcomm_encode_msg(), parse_avpair(), print_cframe(), and recorder_export().

char cframe::status[10]

status of the cart/driver connection Definition at line 43 of file cframe.h. Referenced by cartcomm_encode_msg(), cartcomm_synchronize(), parse_avpair(), print_cframe(), and recorder_export().

char cframe::steer_limit_error[10]

(undocumented) Definition at line 18 of file cframe.h. Referenced by cartcomm_encode_msg(), parse_avpair(), print_cframe(), and recorder_export().

long cframe::timestamp

cart-maintained clock (ms since start-up) Definition at line 11 of file cframe.h. Referenced by cartcomm_encode_msg(), parse_avpair(), print_cframe(), and recorder_export().

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

• cartcomm/include/cartcomm/cframe.h

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