ER Class Reference
Inheritance diagram for ER:
Detailed Description
Definition at line 93 of file er.h.
Public Member Functions | |
| ER (ConfigFile *cf, int section) | |
| int | SetVelocity (double lvel, double rvel) |
| void | Stop (int StopMode) |
| virtual void | Main () |
| Main method for driver thread. | |
| virtual int | Setup () |
| Initialize the driver. | |
| virtual int | Shutdown () |
| Finalize the driver. | |
| virtual int | ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data) |
| Message handler. | |
| void | Test () |
Private Member Functions | |
| int | InitOdom () |
| int | InitRobot () |
| int | WriteBuf (unsigned char *s, size_t len) |
| int | ReadBuf (unsigned char *s, size_t len) |
| int | SendCommand (unsigned char *cmd, int cmd_len, unsigned char *ret_val, int ret_len) |
| int | checksum_ok (unsigned char *buf, int len) |
| int | ComputeTickDiff (int from, int to) |
| int | ChangeMotorState (int state) |
| int | BytesToInt32 (unsigned char *ptr) |
| float | BytesToFloat (unsigned char *ptr) |
| void | UpdateOdom (int ltics, int rtics) |
| void | SpeedCommand (unsigned char address, double speed, int dir) |
| void | SetOdometry (long, long, long) |
| void | ResetOdometry () |
| int | GetOdom (int *ltics, int *rtics) |
| int | GetBatteryVoltage (int *voltage) |
| int | GetRangeSensor (int s, float *val) |
| void | MotorSpeed () |
| int | send_command (unsigned char address, unsigned char c, int ret_num, unsigned char *ret) |
| int | send_command_2_arg (unsigned char address, unsigned char c, int arg, int ret_num, unsigned char *ret) |
| int | send_command_4_arg (unsigned char address, unsigned char c, int arg, int ret_num, unsigned char *ret) |
Private Attributes | |
| player_er1_data_t | er1_data |
| player_devaddr_t | position_id |
| int | position_subscriptions |
| int * | _tc_num |
| int | _fd |
| const char * | _serial_port |
| bool | _fd_blocking |
| double | _axle_length |
| int | _motor_0_dir |
| int | _motor_1_dir |
| bool | _debug |
| bool | _need_to_set_speed |
| bool | _odom_initialized |
| bool | _stopped |
| int | _last_ltics |
| int | _last_rtics |
| double | _px |
| double | _py |
| double | _pa |
| int | _powered |
| int | _resting |
Member Function Documentation
| void ER::Main | ( | ) | [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.
Reimplemented from Driver.
Definition at line 747 of file er.cc.
References _axle_length, _pa, _px, _py, _resting, _stopped, GetOdom(), player_pose2d::pa, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, player_position2d_data::pos, position_id, Driver::ProcessMessages(), Driver::Publish(), player_pose2d::px, player_pose2d::py, player_position2d_data::stall, UpdateOdom(), and player_position2d_data::vel.
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| int ER::Setup | ( | ) | [virtual] |
Initialize the driver.
This function is called with the first client subscribes; it MUST be implemented by the driver.
- Returns:
- Returns 0 on success.
Implements Driver.
Definition at line 408 of file er.cc.
References _fd, _fd_blocking, _odom_initialized, _pa, _px, _py, _serial_port, InitOdom(), and InitRobot().
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| int ER::Shutdown | ( | ) | [virtual] |
Finalize the driver.
This function is called with the last client unsubscribes; it MUST be implemented by the driver.
- Returns:
- Returns 0 on success.
Implements Driver.
Definition at line 497 of file er.cc.
References _debug, _fd, SetVelocity(), and Driver::StopThread().
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| int ER::ProcessMessage | ( | QueuePointer & | resp_queue, | |
| player_msghdr * | hdr, | |||
| void * | data | |||
| ) | [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
- Parameters:
-
resp_queue The queue to which any response should go. hdr The message header data The message body
Reimplemented from Driver.
Definition at line 790 of file er.cc.
References _axle_length, _debug, _pa, _px, _py, _resting, player_position2d_cmd_car::angle, ChangeMotorState(), Message::MatchMessage(), MotorSpeed(), player_pose2d::pa, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_MSGTYPE_RESP_NACK, PLAYER_POSITION2D_CMD_CAR, 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_set_odom_req::pose, player_position2d_geom::pose, position_id, Driver::Publish(), player_pose2d::px, player_pose3d::px, player_pose2d::py, player_pose3d::py, player_pose3d::pyaw, SetVelocity(), player_position2d_geom::size, player_bbox3d::sl, player_position2d_power_config::state, Stop(), player_bbox3d::sw, player_position2d_cmd_vel::vel, and player_position2d_cmd_car::velocity.
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The documentation for this class was generated from the following files: