From bd6eb9a015abcbd688f1c412598e901cfb5feb7f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jos=C3=A9=20Luis=20Rivero=20Partida?= <jrivero@iri.upc.edu>
Date: Thu, 12 May 2011 09:40:38 +0000
Subject: [PATCH] Support to retrieve all status information at one call
get_status() will return an struct of type TSegwayRMP400Status
---
src/segway_RMP400.cpp | 10 ++++++++++
src/segway_RMP400.h | 12 ++++++++++++
2 files changed, 22 insertions(+)
diff --git a/src/segway_RMP400.cpp b/src/segway_RMP400.cpp
index e33cc09..002f688 100644
--- a/src/segway_RMP400.cpp
+++ b/src/segway_RMP400.cpp
@@ -155,6 +155,16 @@ CSegwayRMP400::set_wheel_radius(const float radius)
wheel_radius_ = radius;
}
+TSegwayRMP400Status
+CSegwayRMP400::get_status()
+{
+ TSegwayRMP400Status status;
+ status.rmp200[0] = segways_[0]->get_status();
+ status.rmp200[1] = segways_[1]->get_status();
+
+ return status;
+}
+
float
CSegwayRMP400::get_forward_displacement()
{
diff --git a/src/segway_RMP400.h b/src/segway_RMP400.h
index 595f51b..a7ddf7e 100644
--- a/src/segway_RMP400.h
+++ b/src/segway_RMP400.h
@@ -16,6 +16,11 @@ const int NUM_SEGWAY_200 = 2;
enum SegwayRMP400_status { rmp400_off, rmp400_connected };
+struct TSegwayRMP400Status
+{
+ TSegwayRMP200Status rmp200[2];
+};
+
class CSegwayRMP400
{
private:
@@ -137,6 +142,13 @@ class CSegwayRMP400
*/
bool is_connected() const;
+ /**
+ * \brief function to return whole platform status
+ *
+ * It will return the two segway internal status
+ */
+ TSegwayRMP400Status get_status(void);
+
/**
* \brief function to return the total forward displacement
*
--
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