REB Class Reference
Inheritance diagram for REB:
ThreadedDriver Driver

List of all members.

Public Member Functions

 REB (ConfigFile *cf, int section)
virtual void Main ()
 Main method for driver thread.
int ProcessMessage (ClientData *client, player_msghdr *hdr, uint8_t *data, uint8_t *resp_data, size_t *resp_len)
virtual int Subscribe (player_device_id_t id)
virtual int Unsubscribe (player_device_id_t id)
virtual int MainSetup ()
 Sets up the resources needed by the driver thread.
virtual void MainQuit ()
 Cleanup method for driver thread (called when main exits)
void Restart ()
void ReadConfig ()
void SetOdometry (int, int, short)
void SetIRState (int)
void UpdateData (void)
void UpdateIRData (player_ir_data_t *)
void UpdatePowerData (player_power_data_t *)
void UpdatePosData (player_position_data_t *)
void ConfigAD (int, int)
unsigned short ReadAD (int)
void ReadAllIR (uint16_t *ir)
void SetSpeed (int, int)
int ReadSpeed (int)
void SetPos (int, int)
void SetPosCounter (int, int)
int ReadPos (int)
unsigned char ReadStatus (int, int *, int *)
void ConfigPosPID (int, int, int, int)
void ConfigSpeedPID (int, int, int, int)
void ConfigSpeedProfile (int, int, int)

Private Member Functions

int write_serial (char *, int)
int read_serial_until (char *, int, char *, int)
int write_command (char *buf, int len, int maxsize)
int ProcessCommand (player_position_cmd_t *poscmd)

Private Attributes

player_device_id_t ir_id
player_device_id_t position_id
player_device_id_t power_id
int ir_subscriptions
int position_subscriptions
int param_index
int reb_fd
struct timeval last_position
bool refresh_last_position
int last_lpos
int last_rpos
int last_x_f
int last_y_f
double last_theta
struct timeval last_pos_update
struct timeval last_power_update
struct timeval last_ir_update
int pos_update_period
int current_heading
short desired_heading
int ir_sequence
struct timeval last_ir
bool motors_enabled
bool velocity_mode
bool direct_velocity_control
char reb_serial_port [MAX_FILENAME_SIZE]
struct pollfd write_pfd read_pfd
short last_trans_command
short last_rot_command
int leftvel
int rightvel
int leftpos
int rightpos

Member Function Documentation

void REB::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.

Implements ThreadedDriver.

References PLAYER_MSGTYPE_DATA, and Driver::ProcessMessages().

void REB::MainQuit ( void  ) [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.

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

Last updated 25 May 2011 21:17:00