Class representing TRIK controller board and devices installed on it, also provides access to peripherals like motors and sensors. More...

#include <brick.h>

Inheritance diagram for trikControl::Brick:

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Collaboration diagram for trikControl::Brick:

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Public Slots
void	configure (const QString &portName, const QString &deviceName) override

void	playSound (const QString &soundFileName) override

void	playTone (int hzFreq, int msDuration) override

void	say (const QString &text) override

void	stop () override

MotorInterface *	motor (const QString &port) override

PwmCaptureInterface *	pwmCapture (const QString &port) override

SensorInterface *	sensor (const QString &port) override

QStringList	motorPorts (MotorInterface::Type type) const override

QStringList	pwmCapturePorts () const override

QStringList	sensorPorts (SensorInterface::Type type) const override

QStringList	encoderPorts () const override

VectorSensorInterface *	accelerometer () override

GyroSensorInterface *	gyroscope () override

LineSensorInterface *	lineSensor (const QString &port) override

ColorSensorInterface *	colorSensor (const QString &port) override

ObjectSensorInterface *	objectSensor (const QString &port) override

I2cDeviceInterface *	i2c (int bus, int address) override

QVector< uint8_t >	getStillImage () override

SoundSensorInterface *	soundSensor (const QString &port) override

EncoderInterface *	encoder (const QString &port) override

BatteryInterface *	battery () override

KeysInterface *	keys () override

DisplayInterface *	display () override

LedInterface *	led () override

GamepadInterface *	gamepad () override

FifoInterface *	fifo (const QString &port) override

MarkerInterface *	marker () override

EventDeviceInterface *	eventDevice (const QString &deviceFile) override

void	stopEventDevice (const QString &deviceFile) override

Public Slots inherited from trikControl::BrickInterface
virtual void	configure (const QString &portName, const QString &deviceName)=0
	Configures given device on given port. More...

virtual void	playSound (const QString &soundFileName)=0
	Plays given music file on a speaker (in format accepted by aplay or cvlc utilities). More...

virtual void	playTone (int hzFreq, int msDuration)=0
	Generates sound with given frequency and given duration, plays it on a speaker. More...

virtual void	say (const QString &text)=0
	Uses text synthesis to say given text on a speaker. More...

virtual void	stop ()=0
	Stops all motors and shuts down all current activity. More...

virtual trikControl::MotorInterface *	motor (const QString &port)=0
	Returns reference to motor of a given type on a given port. More...

virtual trikControl::PwmCaptureInterface *	pwmCapture (const QString &port)=0
	Returns reference to PWM signal capture device on a given port. More...

virtual trikControl::SensorInterface *	sensor (const QString &port)=0
	Returns reference to sensor on a given port. More...

virtual QStringList	motorPorts (MotorInterface::Type type) const =0
	Retruns list of ports for motors of a given type. More...

virtual QStringList	pwmCapturePorts () const =0
	Returns list of PWM signal capture device ports. More...

virtual QStringList	sensorPorts (SensorInterface::Type type) const =0
	Returns list of ports for sensors of a given type. More...

virtual QStringList	encoderPorts () const =0
	Returns list of encoder ports. More...

virtual trikControl::VectorSensorInterface *	accelerometer ()=0
	Returns on-board accelerometer. More...

virtual trikControl::GyroSensorInterface *	gyroscope ()=0
	Returns on-board gyroscope. More...

virtual trikControl::LineSensorInterface *	lineSensor (const QString &port)=0
	Returns high-level line detector sensor using camera on given port (video0 or video1). More...

virtual trikControl::ColorSensorInterface *	colorSensor (const QString &port)=0
	Returns high-level color sensor using camera on given port (video0 or video1). More...

virtual trikControl::ObjectSensorInterface *	objectSensor (const QString &port)=0
	Returns high-level object detector sensor using camera on given port (video0 or video1). More...

virtual trikControl::I2cDeviceInterface *	i2c (int bus, int address)=0
	Returns i2c device object. More...

virtual QVector< uint8_t >	getStillImage ()=0
	Returns QVector<uin8_t> with image using camera on given port (video0 or video1). More...

virtual trikControl::SoundSensorInterface *	soundSensor (const QString &port)=0
	Returns high-level sound detector sensor using microphones. More...

virtual trikControl::EncoderInterface *	encoder (const QString &port)=0
	Returns encoder on given port. More...

virtual trikControl::BatteryInterface *	battery ()=0
	Returns battery. More...

virtual trikControl::KeysInterface *	keys ()=0
	Returns keys on a control brick. More...

virtual trikControl::DisplayInterface *	display ()=0
	Returns class that provides drawing on display. More...

virtual trikControl::LedInterface *	led ()=0
	Returns LED control class. More...

virtual trikControl::GamepadInterface *	gamepad ()=0
	Returns handler for Android gamepad. More...

virtual trikControl::FifoInterface *	fifo (const QString &port)=0
	Returns custom FIFO file which can be used as sensor. More...

virtual trikControl::MarkerInterface *	marker ()=0
	Returns marker. More...

virtual trikControl::EventDeviceInterface *	eventDevice (const QString &deviceFile)=0
	Returns custom event device that can be used as a sensor, for example, for custom gamepad support. More...

virtual void	stopEventDevice (const QString &deviceFile)=0
	Stops listening given event device and destroys its watcher object. More...

Public Member Functions
	Brick (const QString &systemConfig, const QString &modelConfig, const QString &mediaPath)
	Constructor. More...

	Brick (trikHal::HardwareAbstractionInterface &hardwareAbstraction, const QString &systemConfig, const QString &modelConfig, const QString &mediaPath)
	Secondary constructor, takes explicit hardware abstraction object. More...

	~Brick () override

void	reset () override
	Do reset (stop motors, reset keys, clear screen, etc). More...

DisplayWidgetInterface *	graphicsWidget () override
	Returns a widget on which display output is drawn. More...

QString	configVersion () const override
	Returns version of system configuration file. More...

Additional Inherited Members
Signals inherited from trikControl::BrickInterface
void	stopped ()
	Emitted when all deferred deinitialization is completed and brick completely stopped. More...

Detailed Description

Class representing TRIK controller board and devices installed on it, also provides access to peripherals like motors and sensors.

Is NOT thread-safe.

Constructor & Destructor Documentation

Brick::Brick	(	const QString &	systemConfig,
		const QString &	modelConfig,
		const QString &	mediaPath
	)

Constructor.

Parameters

systemConfig	- file name (with path) of system config, absolute or relative to current directory.
modelConfig	- file name (with path) of model config, absolute or relative to current directory.
mediaPath	- path to the directory with media files (it is expected to be ending with "/").

Brick::Brick	(	trikHal::HardwareAbstractionInterface &	hardwareAbstraction,
		const QString &	systemConfig,
		const QString &	modelConfig,
		const QString &	mediaPath
	)

Secondary constructor, takes explicit hardware abstraction object.

Parameters

hardwareAbstraction	- hardware abstraction layer implementation.
systemConfig	- file name (with path) of system config, absolute or relative to current directory.
modelConfig	- file name (with path) of model config, absolute or relative to current directory.
mediaPath	- path to the directory with media files (it is expected to be ending with "/").

Brick::~Brick ( )

override

Member Function Documentation

VectorSensorInterface * Brick::accelerometer ( )

overrideslot

BatteryInterface * Brick::battery ( )

overrideslot

ColorSensorInterface * Brick::colorSensor ( const QString & port )

overrideslot

void Brick::configure	(	const QString &	portName,
		const QString &	deviceName
	)

overrideslot

QString Brick::configVersion ( ) const

overridevirtual

Returns version of system configuration file.

Implements trikControl::BrickInterface.

DisplayInterface * Brick::display ( )

overrideslot

EncoderInterface * Brick::encoder ( const QString & port )

overrideslot

QStringList Brick::encoderPorts ( ) const

overrideslot

EventDeviceInterface * Brick::eventDevice ( const QString & deviceFile )

overrideslot

trikControl::FifoInterface * Brick::fifo ( const QString & port )

overrideslot

GamepadInterface * Brick::gamepad ( )

overrideslot

QVector< uint8_t > Brick::getStillImage ( )

overrideslot

DisplayWidgetInterface * Brick::graphicsWidget ( )

overridevirtual

Returns a widget on which display output is drawn.

Implements trikControl::BrickInterface.

GyroSensorInterface * Brick::gyroscope ( )

overrideslot

I2cDeviceInterface * Brick::i2c	(	int	bus,
		int	address
	)

overrideslot

KeysInterface * Brick::keys ( )

overrideslot

LedInterface * Brick::led ( )

overrideslot

LineSensorInterface * Brick::lineSensor ( const QString & port )

overrideslot

MarkerInterface * Brick::marker ( )

overrideslot

MotorInterface * Brick::motor ( const QString & port )

overrideslot

QStringList Brick::motorPorts ( MotorInterface::Type type ) const

overrideslot

ObjectSensorInterface * Brick::objectSensor ( const QString & port )

overrideslot

void Brick::playSound ( const QString & soundFileName )

overrideslot

void Brick::playTone	(	int	hzFreq,
		int	msDuration
	)

overrideslot

PwmCaptureInterface * Brick::pwmCapture ( const QString & port )

overrideslot

QStringList Brick::pwmCapturePorts ( ) const

overrideslot

void Brick::reset ( )

overridevirtual

Do reset (stop motors, reset keys, clear screen, etc).

We should call it before executing any script with this instance.

Todo:: Temporary, we need more carefully init/deinit range sensors.

Implements trikControl::BrickInterface.

void Brick::say ( const QString & text )

overrideslot

SensorInterface * Brick::sensor ( const QString & port )

overrideslot

QStringList Brick::sensorPorts ( SensorInterface::Type type ) const

overrideslot

SoundSensorInterface * Brick::soundSensor ( const QString & port )

overrideslot

void Brick::stop ( )

overrideslot

Todo:: : Also be able to stop initializing sensor.

void Brick::stopEventDevice ( const QString & deviceFile )

overrideslot

The documentation for this class was generated from the following files:

trikControl/src/brick.h
trikControl/src/brick.cpp

Public Slots

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation