Player
User
Developer
Public Member Functions | |
| ClodBuster (ConfigFile *cf, int section) | |
| virtual void | Main () |
| Main method for driver thread. More... | |
| int | ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data) |
| Message handler. More... | |
| virtual int | MainSetup () |
| Sets up the resources needed by the driver thread. | |
| virtual void | MainQuit () |
| Cleanup method for driver thread (called when main exits) More... | |
| unsigned char | SetServo (unsigned char chan, int value) |
| void | SetServo (unsigned char chan, unsigned char cmd) |
 Public Member Functions inherited from ThreadedDriver | |
| ThreadedDriver (ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interf) | |
| Constructor with implicit interface. More... | |
| ThreadedDriver (ConfigFile *cf, int section, bool overwrite_cmds=true, size_t queue_maxlen=PLAYER_MSGQUEUE_DEFAULT_MAXLEN) | |
| Constructor for multiple-interface drivers. More... | |
| virtual | ~ThreadedDriver () |
| Destructor. | |
| virtual int | Setup () |
| Initialize the driver. More... | |
| virtual int | Shutdown () |
| Finalize the driver. More... | |
| virtual int | Terminate () |
| Terminate the driver. More... | |
| bool | Wait (double TimeOut=0.0) |
| Wait for new data to arrive on the driver's queue. More... | |
| virtual void | Update () |
| Update non-threaded drivers. More... | |
| Public Member Functions inherited from Driver | |
| bool | HasSubscriptions () |
| virtual void | Publish (player_devaddr_t addr, QueuePointer &queue, uint8_t type, uint8_t subtype, void *src=NULL, size_t deprecated=0, double *timestamp=NULL, bool copy=true) |
| Publish a message via one of this driver's interfaces. More... | |
| virtual void | Publish (player_devaddr_t addr, uint8_t type, uint8_t subtype, void *src=NULL, size_t deprecated=0, double *timestamp=NULL, bool copy=true) |
| Publish a message via one of this driver's interfaces. More... | |
| virtual void | Publish (QueuePointer &queue, player_msghdr_t *hdr, void *src, bool copy=true) |
| Publish a message via one of this driver's interfaces. More... | |
| virtual void | Publish (player_msghdr_t *hdr, void *src, bool copy=true) |
| Publish a message via one of this driver's interfaces. More... | |
| Driver (ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interf) | |
| Constructor for single-interface drivers. More... | |
| Driver (ConfigFile *cf, int section, bool overwrite_cmds=true, size_t queue_maxlen=PLAYER_MSGQUEUE_DEFAULT_MAXLEN) | |
| Constructor for multiple-interface drivers. More... | |
| virtual | ~Driver () |
| Destructor. | |
| int | GetError () |
| Get last error value. More... | |
| virtual int | Subscribe (player_devaddr_t addr) |
| Subscribe to this driver. More... | |
| virtual int | Subscribe (QueuePointer &queue, player_devaddr_t addr) |
| Subscribe to this driver. More... | |
| virtual int | Unsubscribe (player_devaddr_t addr) |
| Unsubscribe from this driver. More... | |
| virtual int | Unsubscribe (QueuePointer &queue, player_devaddr_t addr) |
| Unsubscribe from this driver. More... | |
| void | ProcessMessages (int maxmsgs) |
| Process pending messages. More... | |
| void | ProcessMessages (void) |
| Process pending messages. More... | |
| virtual int | ProcessInternalMessages (QueuePointer &resp_queue, player_msghdr *hdr, void *data) |
| Internal message handler. More... | |
| virtual bool | RegisterProperty (const char *key, Property *prop, ConfigFile *cf, int section) |
| Property registration. More... | |
| virtual bool | RegisterProperty (Property *prop, ConfigFile *cf, int section) |
| Property registration. More... | |
Protected Attributes | |
| int | motor_max_speed |
| int | motor_max_turnspeed |
| bool | use_vel_band |
| short | speedDemand |
| short | turnRateDemand |
| bool | newmotorspeed |
| bool | newmotorturn |
Private Member Functions | |
| void | ResetRawPositions () |
| clodbuster_encoder_data_t | ReadEncoders () |
| void | GetGraspBoardParams () |
| void | IntegrateEncoders () |
| void | DifferenceEncoders () |
Private Attributes | |
| player_position2d_data_t | position_data |
| int | clodbuster_fd |
| char | clodbuster_serial_port [MAX_FILENAME_SIZE] |
| int | kp |
| int | ki |
| int | kd |
| bool | initdone |
| clodbuster_encoder_data_t | encoder_offset |
| clodbuster_encoder_data_t | encoder_measurement |
| clodbuster_encoder_data_t | old_encoder_measurement |
| float | EncV |
| float | EncOmega |
| float | EncVleft |
| float | EncVright |
| bool | direct_command_control |
| unsigned char | max_limits [SERVO_CHANNELS] |
| unsigned char | center_limits [SERVO_CHANNELS] |
| unsigned char | min_limits [SERVO_CHANNELS] |
| float | WheelRadius |
| float | WheelBase |
| float | WheelSeparation |
| unsigned int | CountsPerRev |
| float | Kenc |
| float | LoopFreq |
| PIDGains * | Kv |
| PIDGains * | Kw |
Additional Inherited Members | |
| Public Attributes inherited from Driver | |
| QueuePointer | ret_queue |
| Last requester's queue. More... | |
| player_devaddr_t | device_addr |
| Default device address (single-interface drivers) | |
| int | entries |
| Total number of entries in the device table using this driver. More... | |
| bool | alwayson |
| Always on flag. More... | |
| QueuePointer | InQueue |
| Queue for all incoming messages for this driver. | |
| Protected Member Functions inherited from ThreadedDriver | |
| virtual void | StartThread (void) |
| virtual void | StopThread (void) |
| Cancel (and wait for termination) of the driver thread. More... | |
| void | TestCancel () |
| enable thread cancellation and test for cancellation More... | |
| Protected Member Functions inherited from Driver | |
| int | AddInterface (player_devaddr_t addr) |
| Add an interface. More... | |
| int | AddInterface (player_devaddr_t *addr, ConfigFile *cf, int section, int code, const char *key=NULL) |
| Add an interface. More... | |
| void | SetError (int code) |
| Set/reset error code. | |
| int | AddFileWatch (int fd, bool ReadWatch=true, bool WriteWatch=false, bool ExceptWatch=true) |
| Wake up the driver if the specified event occurs on the file descriptor. | |
| int | RemoveFileWatch (int fd, bool ReadWatch=true, bool WriteWatch=false, bool ExceptWatch=true) |
| Remove a previously added watch, call with the same arguments as when adding the watch. | |
| virtual void | Lock (void) |
| Lock access between the server and driver threads. More... | |
| virtual void | Unlock (void) |
| Unlock access to driver internals. More... | |
| virtual void | SubscriptionLock (void) |
| Lock to protect the subscription count for the driver. | |
| virtual void | SubscriptionUnlock (void) |
| Unlock to protect the subscription count for the driver. More... | |
| Static Protected Member Functions inherited from ThreadedDriver | |
| static void * | DummyMain (void *driver) |
| Dummy main (just calls real main). More... | |
| static void | DummyMainQuit (void *driver) |
| Dummy main cleanup (just calls real main cleanup). More... | |
|
virtual |
Main method for driver thread.
drivers have their own thread of execution, created using StartThread(); this is the entry point for the driver thread, and must be overloaded by all threaded drivers.
Implements ThreadedDriver.
References PLAYER_MSGTYPE_DATA, and PLAYER_POSITION2D_DATA_STATE.
|
virtual |
Cleanup method for driver thread (called when main exits)
Overload this method and to do additional cleanup when the driver thread exits.
Reimplemented from ThreadedDriver.
|
virtual |
Message handler.
This function is called once for each message in the incoming queue. Reimplement it to provide message handling. Return 0 if you handled the message and -1 otherwise
| resp_queue | The queue to which any response should go. |
| hdr | The message header |
| data | The message body |
Reimplemented from Driver.
References player_position2d_speed_pid_req::kd, player_position2d_speed_pid_req::ki, player_position2d_speed_pid_req::kp, Message::MatchMessage(), player_pose2d::pa, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION2D_REQ_GET_GEOM, PLAYER_POSITION2D_REQ_MOTOR_POWER, PLAYER_POSITION2D_REQ_RESET_ODOM, PLAYER_POSITION2D_REQ_SET_ODOM, PLAYER_POSITION2D_REQ_SPEED_PID, PLAYER_POSITION2D_REQ_VELOCITY_MODE, player_position2d_geom::pose, player_position2d_set_odom_req::pose, player_pose2d::px, player_pose3d::px, player_pose3d::py, player_pose3d::pyaw, player_msghdr::size, player_position2d_geom::size, player_bbox3d::sl, player_position2d_power_config::state, player_bbox3d::sw, player_position2d_velocity_mode_config::value, and player_position2d_cmd_vel::vel.