rpos::robot_platforms::SlamwareCorePlatform Class

SlamwareCorePlatform denotes a connection to a Slamware-based robot, which can be used to fetch status from the robot and control the robot.

Header File

rpos/robot_platforms/slamware_core_platform.h

Applies to

• Slamware
• Mapper (partial)

Base Class

Derived from rpos::core::RobotPlatform

Constructors

SlamwareCorePlatform(boost::shared_ptr<detail::SlamwareCorePlatformImpl> impl);

Used only by SDK itself

SlamwareCorePlatform(const SlamwareCorePlatform&);

Copy constructor

Operators

SlamwareCorePlatform& operator=(const SlamwareCorePlatform&);

Assignment operator

Static Methods

static SlamwareCorePlatform connect(
    const std::string& host,
    int port,
    int timeoutInMs = 10000
) throw(ConnectionTimeOutException, ConnectionFailException);

Connect to specific robot

Name	Data type	Comments
host	const std::string&	IP address to Slamware-based robot
port	int	Port to Slamware-based robot
timeoutInMs	int	Connection timeout (in ms)
Return Value	SlamwareCorePlatform	Returns SlamwareCorePlatform object on success

Methods

void disconnect();

Disconnect from the robot

Artifacts-related Methods (only applies to Slamware)

std::vector<core::Line> getLines(features::artifact_provider::ArtifactUsage usage);

Retrieves all the virtual walls and virtual tracks stored in the current SLAMWARE system.

Name	Data type	Comments
usage	features::artifact_provider::ArtifactUsage	Specifies the type of artifacts
Return Value	std::vector<core::Line>	Fetched lines

bool addLine(features::artifact_provider::ArtifactUsage usage, const core::Line& line);

Add on virtual track or virtual wall object.

Name	Data type	Comments
usage	features::artifact_provider::ArtifactUsage	Specifies the type of artifacts
line	const core::Line&	The line to add
Return Value	bool	true for success, otherwise false

bool addLines(features::artifact_provider::ArtifactUsage usage, const std::vector<core::Line>& lines);

Add one or more virtual track or virtual wall objects in batch.

Name	Data type	Comments
usage	features::artifact_provider::ArtifactUsage	Specifies the type of artifacts
lines	const std::vector<core::Line>&	Lines to add
Return Value	bool	true for success, otherwise false

bool removeLineById(features::artifact_provider::ArtifactUsage usage, rpos::core::SegmentID id)

Remove specified virtual wall or virtual track based on the object id.

Name	Data type	Comments
usage	features::artifact_provider::ArtifactUsage	Specifies the type of artifacts
id	rpos::core::SegmentID	ID to the line to remove
Return Value	bool	true for successful removal, otherwise false

bool clearLines(features::artifact_provider::ArtifactUsage usage)

Clear all virtual walls or virtual tracks specified by the usage parameter.

Name	Data type	Comments
usage	features::artifact_provider::ArtifactUsage	Specifies the type of artifacts to remove
Return Value	bool	true for successful removal, otherwise false

bool moveLine(features::artifact_provider::ArtifactUsage usage, const core::Line& line);

Set artifact object (virtual wall or virtual track) specified by the line object with the same id to a new position.

Name	Data type	Comments
usage	features::artifact_provider::ArtifactUsage	Specifies the type of artifacts to move
line	const core::Line&	The line to move
Return Value	bool	true for successful movement, otherwise false

bool moveLines(features::artifact_provider::ArtifactUsage usage, const std::vector<core::Line>& lines);

Set multiple artifact objects (virtual walls or virtual tracks) specified by the line objects with the same ids to new positions.

Name	Data type	Comments
usage	features::artifact_provider::ArtifactUsage	Specifies the type of artifacts to move
lines	const std::vector<core::Line>&	Lines to move
Return Value	bool	true for successful movement, otherwise false

std::vector<core::Line> getWalls();

Get all virtual wall objects stored in the SLAMWARE system.

Name	Data type	Comments
Return Value	std::vector<core::Line>	Fetched virtual walls

bool addWall(const core::Line& wall);

Add one virtual wall line.

Name	Data type	Comments
wall	const core::Line&	Virtual wall to add
Return Value	bool	true for success, otherwise false

bool addWalls(const std::vector<core::Line>& walls);

Add one or more virtual walls.

Name	Data type	Comments
walls	const std::vector<core::Line>&	Virtual walls to add
Return Value	bool	true for success, otherwise false

bool clearWallById(const core::SegmentID& id);

Remove the virtual wall object specified by the id.

Name	Data type	Comments
id	const core::SegmentID	ID to the virtual wall to remove
Return Value	bool	true for successful removal, otherwise false

bool clearWalls();

Clear all virtual wall objects.

Name	Data type	Comments
Return Value	bool	true for successful removal, otherwise false

Localization-related Methods

std::vector<features::location_provider::MapType> getAvailableMaps();

Get all available map types.

Name	Data type	Comments
Return Value	std::vector<features::location_provider::MapType>	支持的地图类型

features::location_provider::Map getMap(features::location_provider::MapType type, core::RectangleF area, features::location_provider::MapKind kind);

Get the map data object with the specified map kind and areas.

Name	Data type	Comments
type	features::location_provider::MapType	The type of the map to fetch
area	core::RectangleF	The area of the map to fetch
kind	features::location_provider::MapKind	The kind of the map to fetch
Return Value	features::location_provider::Map	The map object

Example

rpos::feature::location_provider::MapType mapType = rpos::feature::location_provider::MapType::MapTypeBitmap8Bit;
rpos::feature::location_provider::Mapkind mapKind = rpos::feature::location_provider::MapKind::EXPLORERMAP;
rpos::core::Rectangle knownArea = robotPlatform.getKnownArea(mapType, mapKind);
rpos::feature::location_provider::Map map = robotPlatform.getMap(mapType, knownArea, mapKind);

bool setMap(const features::location_provider::Map& map, features::location_provider::MapType type, features::location_provider::MapKind kind, bool partially = false);

Upload map data to the SLAMWARE system based on the map kind.

Name	Data type	Comments
map	const features::location_provider::Map&	The map data
type	features::location_provider::MapType	The type of the map
kind	features::location_provider::MapKind	The kind of the map
partially	bool	Partially update or replace the whole map
Return Value	bool	true for successful upload, otherwise false

Example

rpos::feature::location_provider::MapType mapType = rpos::feature::location_provider::MapType::MapTypeBitmap8Bit;
rpos::feature::location_provider::Mapkind mapKind = rpos::feature::location_provider::MapKind::EXPLORERMAP;
rpos::core::Rectangle knownArea = robotPlatform.getKnownArea(mapType, mapKind);
rpos::feature::location_provider::Map map = robotPlatform.getMap(mapType, knownArea, mapKind);
bool bRet = robotPlatform.setMap(map, mapType, mapKind);

bool setMapAndPose(const core::Pose& pose, const features::location_provider::Map& map, features::location_provider::MapType type, features::location_provider::MapKind kind, bool partially = false);

Upload map data along with the robot pose to the SLAMWARE system based on the map kind.

Name	Data type	Comments
pose	const core::Pose&	The robot pose
map	const features::location_provider::Map&	The map data
type	features::location_provider::MapType	The type of the map
kind	features::location_provider::MapKind	The kind of the map
partially	bool	Partially update or replace the whole map
Return Value	bool	true for successful upload, otherwise false

Example

rpos::core::Pose pose;
rpos::feature::location_provider::MapType mapType = rpos::feature::location_provider::MapType::MapTypeBitmap8Bit;
rpos::feature::location_provider::Mapkind mapKind = rpos::feature::location_provider::MapKind::EXPLORERMAP;
rpos::core::Rectangle knownArea = robotPlatform.getKnownArea(mapType, mapKind);
rpos::feature::location_provider::Map map = robotPlatform.getMap(mapType, knownArea, mapKind);
bool bRet = robotPlatform.setMapAndPose(pose, map, mapType, mapKind);

core::RectangleF getKnownArea(features::location_provider::MapType type, features::location_provider::MapKind kind);

Retrieve the explored(mapped) area of the current map.

Name	Data type	Comments
type	features::location_provider::MapType	The type of the map
kind	features::location_provider::MapKind	The kind of the map
Return Value	core::RectangleF	Explored area of the map

Example

rpos::feature::location_provider::MapType mapType = rpos::feature::location_provider::MapType::MapTypeBitmap8Bit;
rpos::feature::location_provider::Mapkind mapKind = rpos::feature::location_provider::MapKind::EXPLORERMAP;
rpos::core::RectangleF knownArea = robotPlatform.getKnownArea(mapType, mapKind);

bool clearMap();

Clear all map data inside the SLAMWARE system.

Name	Data type	Comments
Return Value	bool	true for success, otherwise false

bool clearMap(features::location_provider::MapKind kind);

Clear the specified map data inside the SLAMWARE system.

Name	Data type	Comments
kind	features::location_provider::MapKind	The kind of the map
Return Value	bool	true for success, otherwise false

core::Location getLocation();

Get the robot location calcuated by the SLAMWARE System.

Name	Data type	Comments
Return Value	core::Location	The location of the robot in current map

core::Pose getPose();

Get the robot pose calcuated by the SLAMWARE System.

Name	Data type	Comments
Return Value	core::Pose	The pose of the robot in current map

bool setPose(const core::Pose& pose);

Upload and set the robot pose to the SLAMWARE System.

Name	Data type	Comments
pose	const core::Pose&	The pose to set for the robot
Return Value	bool	true for success, otherwise false

bool getMapLocalization();

Check whether the localization system is enabled in the SLAMWARE system.
Deadreck data will be used once localization system is disabled.

Name	Data type	Comments
Return Value	bool	true for localization system is enabled, otherwise false

bool setMapLocalization(bool localization);

Set the SLAMWARE system to enable or disable the localization system.
Deadreck data will be used once localization system is disabled.

Name	Data type	Comments
localization	bool	Enable or disable localization system
Return Value	bool	true for success, otherwise false

bool getMapUpdate(rpos::features::location_provider::MapKind kind = rpos::features::location_provider::EXPLORERMAP);

Check wehther SLAMWARE system will perform map update to the specified map kind.
SLAMWARE system enters localization enhanced mode once map update is disabled.

Name	Data type	Comments
kind	rpos::features::location_provider::MapKind	The kind of the map
Return Value	bool	true for map update is enabled, otherwise false

bool setMapUpdate(bool update, rpos::features::location_provider::MapKind kind = rpos::features::location_provider::EXPLORERMAP);

Set whether SLAMWARE system will perform map update to the specified map kind.
SLAMWARE system enters localization enhanced mode once map update is disabled.

Name	Data type	Comments
update	bool	Enable or disable map update
kind	rpos::features::location_provider::MapKind	The kind of the map
Return Value	bool	true for success, otherwise false

int getLocalizationQuality();

Get the localization quality indication value of the current pose.

Name	Data type	Comments
Return Value	int	Localization quality indicator

features::location_provider::PointPDF getAuxLocation();

Get the Aux localization data (require external module support)

Name	Data type	Comments
Return Value	features::location_provider::PointPDF	Location detected via aux localization provider

bool getHomePose(core::Pose& pose);

Get the charging base (dock) pose base on the current explorer map.

Name	Data type	Comments
pose	core::Pose&	The pose of the charging base
Return Value	bool	true for successful and has a registered charging base, otherwise false

bool setHomePose(core::Pose pose);

Set the charging base (dock) pose base on the current explorer map.

Name	Data type	Comments
pose	core::Pose	The pose of the charging base to set
Return Value	bool	true for success, otherwise false

features::location_provider::AuxLocalizationStatus getAuxLocalizationStatus(features::location_provider::AuxLocalizationSource source);

Get the Aux localization beacon status (require external module support)

Name	Data type	Comments
source	features::location_provider::AuxLocalizationSource	The source of aux location provider
Return Value	features::location_provider::AuxLocalizationStatus	Status of the specified location provider

bool getImuInRobotCoordinate(rpos::core::Imu& imu)

Get the imu data of robot

Name	Data type	Comments
Imu	core:Imu	The imu data of robot
Return Value	bool	true for succes, otherwise false

Motion Planning Methods (only applies to Slamware)

actions::MoveAction moveTo(
    const std::vector<core::Location>& locations,
    bool appending,
    bool isMilestone
);

Requires the robot to move to a set of key points (milestone) specified by the parameters.

The robot will try its best to reach each points specified. In case of obstacles occurs, the robot will avoid hitting them by planning a valid path.

Name	Data type	Comments
locations	const std::vector<core::Location>&	Points collection that the robot should reach
appending	bool	Once set to true, a current working action (if any) won't get aborted and the key points specified by the function will be pending to the task queue.
isMilestone	bool	deprecated Once set to true, the points inside the locations are considered as key points. The robot will always try to plan a vaild path to reach the points. Once set to false, the robot won't replan path once obstacle occurs.
Return Value	actions::MoveAction	A MoveAction object refer to the navigation task

actions::MoveAction moveTo(
    const core::Location& location,
    bool appending,
    bool isMilestone
);

Requires the robot to move to a key point (milestone) specified by the parameters.

The robot will try its best to reach the point specified. In case of obstacles occurs, the robot will avoid hitting them by planning a valid path.

Name	Data type	Comments
location	const core::Location&	Point that the robot should reach
appending	bool	nce set to true, a current working action (if any) won't get aborted and the key points specified by the function will be pending to the task queue.
isMilestone	bool	deprecated Once set to true, the point of the location is considered as a key point. The robot will always try to plan a vaild path to reach the point. Once set to false, the robot won't replan path once obstacle occurs.
Return Value	actions::MoveAction	A MoveAction object refer to the navigation task

actions::MoveAction moveTo(
    const std::vector<rpos::core::Location>& locations,
    const features::motion_planner::MoveOptions& options,
    float yaw = 0
);

Requires the robot to move to a set of key points (milestone) specified by the parameters and turn to a specified heading.
The robot will try its best to reach each points specified. In case of obstacles occurs, the robot will avoid hitting them by planning a valid path.

Name	Data type	Comments
locations	const std::vector<rpos::core::Location>&	Points collection that the robot should reach
options	features::motion_planner::MoveOptions&	Motion Options
yaw	float	The heading the robot should finally turn to once all the key points have been reached.
Return Value	actions::MoveAction	A MoveAction object refer to the navigation task

actions::MoveAction moveTo(
    const core::Location& location,
    const features::motion_planner::MoveOptions& options,
    float yaw = 0
);

Requires the robot to move to a key point (milestone) specified by the parameters and turn to a specified heading in the end of the action.
The robot will try its best to reach the point specified. In case of obstacles occurs, the robot will avoid hitting them by planning a valid path.

Name	Data type	Comments
location	const core::Location&	Point that the robot should reach
options	features::motion_planner::MoveOptions&	Motion Options
yaw	float	The heading the robot should finally turn to once all the key points have been reached.
Return Value	actions::MoveAction	A MoveAction object refer to the navigation task

actions::MoveAction moveBy(const core::Direction& direction);

Make the robot move along with the specified direction. No obstle avoidance or path planning will be performed.

Name	Data type	Comments
direction	const core::Direction&	The direction to move towards
Return Value	actions::MoveAction	A MoveAction object refer to the navigation task

Example

rpos::core::ACTION_DIRECTION actionDirection = rpos::core::ACTION_DIRECTION::FORWARD;
rpos::core::Direction direction(actionDirection);
rpos::actions::MoveAction moveBy = platform.moveBy(direction);

actions::MoveAction moveBy(
    const core::Direction& direction,
    const features::motion_planner::MoveOptions& options
);

Make the robot move along with the specified direction.

Name	Data type	Comments
direction	const core::Direction&	The direction to move towards
options	features::motion_planner::MoveOptions&	Unsupported yet
Return Value	actions::MoveAction	A MoveAction object refer to the navigation task

actions::MoveAction moveBy(
    float theta,
    const features::motion_planner::MoveOptions& options
);

Make the robot move with a turning angle theta.

Name	Data type	Comments
theta	float	The turning angle
options	features::motion_planner::MoveOptions&	Unsupported yet
Return Value	actions::MoveAction	A MoveAction object refer to the navigation task

actions::MoveAction rotateTo(const core::Rotation& orientation);

Make the robot turn to the specified heading.

Name	Data type	Comments
orientation	const core::Rotation&	Required heading
Return Value	actions::MoveAction	A MoveAction object refer to the navigation task

actions::MoveAction rotateTo(
    const core::Rotation& orientation,
    const features::motion_planner::MoveOptions& options
);

Make the robot turn to the specified heading.

Name	Data type	Comments
orientation	const core::Rotation&	Required heading
options	features::motions_planner::MoveOptions&	Unsupported yet
Return Value	actions::MoveAction	A MoveAction object refer to the navigation task

actions::MoveAction rotate(const core::Rotation& rotation);

Make the robot turn by the specified angle.

Name	Data type	Comments
orientation	const core::Rotation&	Required turning angle
Return Value	actions::MoveAction	A MoveAction object refer to the navigation task

actions::MoveAction rotate(
    const core::Rotation& rotation,
    const features::motion_planner::MoveOptions& options
);

Make the robot turn by the specified angle.

Name	Data type	Comments
orientation	const core::Rotation&	Required turning angle
options	features::motions_planner::MoveOptions&	Unsupported yet
Return Value	actions::MoveAction	A MoveAction object refer to the navigation task

actions::MoveAction recoverLocalization(
    const core::RectangleF& area,
    const features::motion_planner::RecoverLocalizationOptions& options=features::motion_planner::RecoverLocalizationOptions()
);

Require the robot to perform self relocalization to recover it post on the map. The robot will move.

Name	Data type	Comments
area	const core::Rectangle&	The search area for relocalization
options	features::motion_planner::RecoverLocalizationOptions&	Extra options to relocalization
Return Value	actions::MoveAction	A MoveAction object refer to the relocalization task

actions::MoveAction getCurrentAction();

Retrieve the current action of the robot. If the Action::isEmpty() of the returned object is false, there is no action working at all.

Name	Data type	Comments
Return Value	actions::MoveAction	A MoveAction object refer to current navigation or relocalization task

features::motion_planner::Path searchPath(const core::Location& location);

Require the SLAMWARE system to find a path to the destination specified by the parameter. The path found will be returned.

Name	Data type	Comments
location	const core::Location&	Goal
Return Value	features::motion_planner::Path	Searched path

features::motion_planner::Path getRobotTrack(int count);

Fetch the history track of the robot (unsupported yet)

actions::SweepMoveAction startSweep();

Start sweep (unsupported yet)

actions::SweepMoveAction sweepSpot(const core::Location& location);

Start around a specific location (unsupported yet)

actions::MoveAction goHome();

Require the SLAMWARE system to navigate to and dock to charge station.

Name	Data type	Comments
Return Value	actions::MoveAction	A MoveAction object refer to the go home task

float getSweepArea();

Get swept area (unsupported yet)

actions::SweepMoveAction startRegionSweep(
    const std::vector<size_t>& ids,
    const std::vector<size_t>& numbers
);

Start area sweep (unsupported yet)

void insertRegion(const features::Region& region);

Insert region (unsupported yet)

void insertRegions(const std::vector<features::Region>& regions);

Insert a set of region (unsupported yet)

void removeRegion(size_t id);

Remove specific region (unsupported yet)

void removeRegions(const std::vector<size_t>& ids);

Remove a set of regions (unsupported yet)

void updateRegion(const rpos::features::Region& region);

Update a region (unsupported yet)

void updateRegions(const std::vector<rpos::features::Region>& regions);

Batch update a set of regions (unsupported yet)

std::vector<features::Region> getRegions();

Get regions (unsupported yet)

std::vector<rpos::features::Region> getSweepingRegions();

Get sweeping regions (unsupported yet)

rpos::actions::SweepMoveAction startFollowPathSweep(
    const rpos::features::motion_planner::Path& path
);

Start path-following sweep action (unsupported yet)

rpos::actions::SweepMoveAction startFollowPathSweep(
    const std::vector<std::vector<rpos::core::Location>>& paths
);

Start path-following sweep action (unsupported yet)

rpos::features::motion_planner::Path getPaintedSweepPath();

Get painted sweep path (unsupported yet)

std::vector<rpos::features::motion_planner::Path> getPaintedSweepPaths();

Get painted sweep paths (unsupported yet)

System Resource Methods

int getBatteryPercentage();

Get remaining battery in percentage. (56 for 56%)

Name	Data type	Comments
Return Value	int	Remaining battery in percentage

bool getBatteryIsCharging();

Get if the battery is charging

Name	Data type	Comments
Return Value	bool	true for charging, false for not charging

bool getDCIsConnected();

Get if the power outlet is connected to the robot

Name	Data type	Comments
Return Value	bool	true for power outlet connected, otherwise false

features::system_resource::PowerStatus getPowerStatus();

Get composed power status. For details please refer to rpos::features::system_resource::PowerStatus

Name	Data type	Comments
Return Value	features::system_resource::PowerStatus	Power status

void wakeUp();

Wake up the robot from hibernation.

int getBoardTemperature();

Get the temperature of the mother board, unit: 0.1℃.

Name	Data type	Comments
Return Value	int	Temperature of the mother board, unit: 0.1℃（452 for 45.2℃)

std::string getSDPVersion();

Get the software version of SLAMWARE system.

Name	Data type	Comments
Return Value	std::string	The software version of SLAMWARE system

std::string getSDKVersion();

Get the version of the SDK

Name	Data type	Comments
Return Value	std::string	The version of the SDK

features::system_resource::LaserScan getLaserScan();

Get raw scan data. For details, please refer to rpos::features::system_resource::LaserScan

Name	Data type	Comments
Return Value	features::system_resource::LaserScan	The raw LIDAR scan

bool restartModule(features::system_resource::RestartMode mode = features::system_resource::RestartModeSoft);

Restart the SLAMWARE system in specified mode

Name	Data type	Comments
mode	features::system_resource::RestartMode	Restart mode
Return Value	bool	true for successful restart requests, false for invalid request or status

bool setSystemParameter(const std::string& param, const std::string& value);

Adjust system parameter on the fly.

Name	Data type	Comments
param	const std::string&	The key to the system parameter, see following table for details
value	const std::string&	The new value to this parameter
Return Value	bool	true for success, otherwise `false

Example

Bool bRet = platform.setSystemParameter(SYSPARAM_ROBOT_SPEED, SYSVAL_ROBOT_SPEED_HIGH);

std::string getSystemParameter(const std::string& param);

Get current value of system parameter. Please refer to setSystemParameter for available values to param.

Name	Data type	Comments
param	const std::string&	The key to the system parameter, see following table for details
Return Value	std::string	Current value of the parameter

Example

std::string robotSpeed = platform.getSystemParameter(SYSPARAM_ROBOT_SPEED);

bool updateBinaryConfig(const Json::Value& jsnCfg);

Upload binary config

Name	Data type	Comments
jsnCfg	const Json::Value&	The new binary config to upload
Return Value	bool	true for success, otherwise false

bool shutdownSlamcore(const rpos::core::SlamcoreShutdownParam& shutdownArg);

Shutdown SLAMWARE system

Name	Data type	Comments
shutdownArg	const rpos::core::SlamcoreShutdownParam&	Fields of this struct: restartTimeIntervalMinute for time interval to restart; shutdownTimeIntervalMinute for time interval to shutdown; please notice, restart time should be greater than shutdown time, or an OperationFailException will be thrown.
Return Value	bool	true for success, otherwise false

features::system_resource::DeviceInfo getDeviceInfo();

Get device info, for details please refer to rpos::features::system_resource::DeviceInfo

Name	Data type	Comments
Return Value	features::system_resource::DeviceInfo	Device information

features::system_resource::BaseHealthInfo getRobotHealth();

Get robot health infomation, for details please refer to rpos::features::system_resource::BaseHealthInfo

Name	Data type	Comments
Return Value	features::system_resource::BaseHealthInfo	Robot health info

void clearRobotHealth(int errorCode);

Clear specific health error code.

Name	Data type	Comments
errorCode	int	The error code to clear

bool configurateNetwork(
    features::system_resource::NetworkMode mode,
    const std::map<std::string, std::string>& options
);

Configure robot network mode

Name	Data type	Comments
mode	features::system_resource::NetworkMode	Network mode
options	const std::map<std::string, std::string>&	Network mode options
Return Value	bool	true for success, otherwise false

Parameters

Network Modes	ssid	password	channel	ip	dns	gateway	mask
NetworkModeAp	Optional	Optional	Optional	Optional	Optional	Optional	Optional
NetworkModeStation	Required	Optional	--	--	--	--	--
NetworkModeWifiDisabled	--	--	--	--	--	--	--
NetworkModeDHCPDisabled	--	--	--	--	--	--	--
NetworkModeDHCPEnabled	--	--	--	--	--	--	--

1. Only listed modes are supported yet, ssid, password, channel, and other fields may be optional or required according to selected network mode (-- for N/A)
2. NetworkModeWifiDisabled will disable the WiFi function

Example

std::map<std::string, std::string> options;
options["ssid"] = "Slamtec";
options["password"] = "slamtect";
Bool bRet = platform.configureNetwork(rpos::features::system_resource::NetworkMode::NetworkModeStation,options);

std::map<std::string, std::string> getNetworkStatus();

Get current wireless configuration

Notes: currently only mode, ssid, and ip are returned

Name	Data type	Comments
Return Value	std::map<std::string, std::string>	Network configuration

features::system_resource::HeartBeatToken startHeartBeat(int heartBeatTimeoutInSeconds);

Start heart beat. After first start, the client app should invoke refreshHeartBeat method periodically to tell it's working properly. If SLAMWARE doesn't receive the token in preset timeout, it will judge client application's malfunctioning and abort current action.

Name	Data type	Comments
heartBeatTimeoutInSeconds	int	Heartbeat timeout in seconds
Return Value	features::system_resource::HeartBeatToken	Heart beat token

void refreshHeartBeat(features::system_resource::HeartBeatToken token);

Refresh heart beat. Only one or no token is active. If startHeartBeat is invoked twice, the first token will be invalidated, and only later timeout and token are valid.

Name	Data type	Comments
token	features::system_resource::HeartBeatToken	Token returned by startHeartBeat(int)

void stopHeartBeat(features::system_resource::HeartBeatToken token);

Stop heart beat function.

Name	Data type	Comments
token	features::system_resource::HeartBeatToken	Token returned by startHeartBeat(int)

void voiceRespond();

Voice respond to indicate robot's position. (unsupported yet)

void startFirmwareUpgrade(const std::string& filename);

Start firmware upgrade with specific firmware file.

Name	Data type	Comments
filename	const std::string&	The path to the firmware file

void publishDepthCamFrame(
    int sensorId,
    const rpos::message::depth_camera::DepthCameraFrame& frame
);

Send depth camera frame to the SLAMWARE system

Name	Data type	Comments
sensorId	int	Sensor ID, should be the same with configuration
frame	const rpos::message::depth_camera::DepthCameraFrame&	Depth camera frame

std::vector<features::system_resource::OperationAuditLog> getOperationAuditLogs();

Get operation audit log from SLAMWARE system

Name	Data type	Comments
Return Value	std::vector<features::system_resource::OperationAuditLog>	Audit log

int sendAndRecvUserDefinedCBUSMessage(
    const void * payload,
    const size_t payloadsize,
    void * recvBuffer,
    size_t & recvDataSize
);

Send customized control bus command to the chasis and receives response

Name	Data type	Comments
payload	const void*	Pointer to the payload to send
payloadsize	const size_t	Size of the payload to send
recvBuffer	void*	Pointer to the receive buffer
recvDataSize	size_t&	Size of the receive buffer
Return Value	int	Return result of the command operation

LIDAR Tweaking Methods (only applies to Slamware)

rpos::features::system_resource::LidarAutoTweakRequestResult beginLidarAutoTweak();

Begin LIDAR auto tweaking process

Name	Data type	Comments
Return Value	rpos::features::system_resource::LidarAutoTweakRequestResult	Return value

rpos::features::system_resource::LidarAutoTweakStatus getLidarAutoTweakStatus();

Fetch LIDAR auto tweaking status

Name	Data type	Comments
Return Value	rpos::features::system_resource::LidarAutoTweakStatus	Return value

bool acceptLidarTweakResult();

Accept LIDAR auto tweaking result, and save to LIDAR

Name	Data type	Comments
Return Value	bool	true for success, otherwise false

void resetLidarTweakResult();

Reject LIDAR auto tweaking result, and revert to original settings

void cancelLidarAutoTweak();

Cancel current auto tweaking process

Sensor Methods

bool getSensors(std::vector<features::impact_sensor::ImpactSensorInfo>& sensors);

Get sensor list

Name	Data type	Comments
sensors	std::vector<features::impact_sensor::ImpactSensorInfo&>	Sensor information
Return Value	bool	true for success, otherwise false

bool getSensorValues(
    std::map<
        features::impact_sensor::impact_sensor_id_t,
        features::impact_sensor::ImpactSensorValue
    >& values
);

Fetch all sensor's values

Name	Data type	Comments
values	std::map<features::impact_sensor::impact_sensor_id_t, features::impact_sensor::ImpactSensorValue>&	Sensor value map
Return Value	bool	true for success, otherwise false

Notes: features::impact_sensor::ImpactSensorValue's struct is as follows:

struct ImpactSensorValue {
    impact_sensor_timestamp_t time;
    float value;
};

bool getSensorValues(
    const std::vector<features::impact_sensor::impact_sensor_id_t>& sensorIds,
    std::vector<features::impact_sensor::ImpactSensorValue>& values
);

Fetch specified sensors' value

Name	Data type	Comments
sensorIds	const std::vector<features::impact_sensor::impact_sensor_id_t>&	IDs of the sensors to fetch
values	std::vector<features::impact_sensor::ImpactSensorValue>&	Sensor values
Return Value	bool	true for success, otherwise false

bool getSensorValue(
    features::impact_sensor::impact_sensor_id_t sensorId,
    features::impact_sensor::ImpactSensorValue& value
);

Fetch specific sensor's value

Name	Data type	Comments
sensorId	features::impact_sensor::impact_sensor_id_t	ID of the sensor to fetch
values	features::impact_sensor::ImpactSensorValue&	Sensor value
Return Value	bool	true for success, otherwise false

Firmware Operations

detail::objects::UpdateInfo getUpdateInfo();

Get firmware update info

Name	Data type	Comments
Return Value	detail::objects::UpdateInfo	Firmware update info

bool startFirmwareUpdate();

Request a firmware update

Name	Data type	Comments
Return Value	bool	true for success, otherwise false

detail::objects::UpdateProgress getFirmwareUpdateProgress();

Get firmware update progress

Name	Data type	Comments
Return Value	detail::objects::UpdateProgress	Firmware update progress

Composite Map Operations

robot_platforms::objects::CompositeMap getCompositeMap();

Fetch composite map from SLAMWARE system

Name	Data type	Comments
Return Value	robot_platforms::objects::CompositeMap	Fetched map

void setCompositeMap(const robot_platforms::objects::CompositeMap& map, const core::Pose& pose);

Replace robot maps and pose with composite map and pose.

Name	Data type	Comments
map	const robot_platforms::objects::CompositeMap&	The composite map
pose	const core::Pose&	The pose of the robot

Example

auto pose = platform.getPose();

rpos::robot_platforms::objects::Metadata metadata;
std::vector< boost::shared_ptr<rpos::robot_platforms::objects::MapLayer> > maps;

auto map_layer_v_walls = boost::make_shared<rpos::robot_platforms::objects::LineMapLayer>();
maps.push_back(map_layer_v_walls);
map_layer_v_walls->setUsage("virtual_walls");
map_layer_v_walls->setType(rpos::robot_platforms::objects::LineMapLayer::Type);
rpos::robot_platforms::objects::Line line(Point(0, 0), Point(10, 10));
line.name = "1";
map_layer_v_walls->lines()[line.name] = line;

rpos::robot_platforms::objects::CompositeMap compositeMap(metadata, maps);
platform. setCompositeMap (compositeMap, pose);

Statistics Methods (only applies to Slamware)

int getSweepTimeMs();

Get sweep time (unsupported yet)

double getOdometry();

Get odometry value

Name	Data type	Comments
Return Value	double	In meters

double getSystemRunningTime();

Get system run time (in seconds)

Name	Data type	Comments
Return Value	double	System runtime in seconds

System Event Provider

boost::shared_ptr<robot_platforms::objects::SystemEventProvider> createSystemEventProvider(int timeoutInSeconds = 30)

Get a SystemEventProvider to read event from slamware 【Notice】Do not call this function frequently, hold the shared pointer