Inheritance diagram for mbasedriver:

Collaboration diagram for mbasedriver:

Public Member Functions
	mbasedriver (ConfigFile *cf, int section)
virtual int	Subscribe (player_devaddr_t id)
	Subscribe.
virtual int	Unsubscribe (player_devaddr_t id)
	Unsubscribe.
virtual void	Main ()
	Main.
virtual int	Setup ()
	Setup.
virtual int	Shutdown ()
	Shutdown.
virtual int	ProcessMessage (QueuePointer &resp_queue, player_msghdr hdr, void data)
	ProcessMessage.
Private Member Functions
int	Connect ()
	Connect.
int	Disconnect ()
	Disconnect.
void	ResetRawPositions ()
	ResetRawPositions.
void	ToggleMotorPower (unsigned char val)
	ToggleMotorPower.
void	ToggleAIn (unsigned char val)
	ToggleAIn.
void	ToggleSonar (unsigned char val)
	ToggleSonar.
int	HandleConfig (QueuePointer &resp_queue, player_msghdr hdr, void data)
	HandleConfig.
int	HandleCommand (player_msghdr hdr, void data)
	HandleCommand.
void	HandlePositionCommand (player_position2d_cmd_vel_t position_cmd)
	HandlePositionCommand.
void	PublishAllData ()
	PublishAllData.
void	PublishPosition2D ()
	PublishPosition2D.
void	PublishPower ()
	PublishPower.
void	PublishAIn ()
	PublishAIn.
void	PublishIR ()
	PublishIR.
void	PublishSonar ()
	PublishSonar.
void	StartThreads ()
	StrarThreads.
void	StopThreads ()
	StopThreads.
void	Send (mbasedriverPacket *packet)
	Send.
void	SendThread ()
	SendThread.
void	ReceiveThread ()
	ReceiveThread.
int	getms ()
	getms
Static Private Member Functions
static void *	SendThreadDummy (void *driver)
	SedThreadDummy.
static void *	ReceiveThreadDummy (void *driver)
	ReceiveThreadDummy.
Private Attributes
int	mcount
player_mbasedriver_data_t	mbasedriver_data
player_devaddr_t	position_id
player_devaddr_t	power_id
player_devaddr_t	aio_id
player_devaddr_t	ir_id
player_devaddr_t	sonar_id
int	position_subscriptions
int	aio_ir_subscriptions
int	sonar_subscriptions
mbasedriverMotorPacket *	motor_packet
pthread_mutex_t	motor_packet_mutex
int	read_fd
int	write_fd
const char *	psos_serial_port
player_position2d_cmd_vel_t	last_position_cmd
player_position2d_cmd_car_t	last_car_cmd
std::queue< mbasedriverPacket * >	send_queue
pthread_mutex_t	send_queue_mutex
pthread_cond_t	send_queue_cond
pthread_t	send_thread
pthread_t	receive_thread
bool	print_all_packets
int	param_idx
int	motor_max_speed
int	motor_max_turnspeed
int	motor_trans_acel
int	motor_rot_acel
int	trans_ant
int	rot_ant
int16_t	pid_p
int16_t	pid_v
int16_t	pid_i
int16_t	driffactor
int16_t	dist_ejes
int16_t	diametro
bool	debug_usuario
bool	ir_analog

Constructor & Destructor Documentation

mbasedriver::mbasedriver	(	ConfigFile *	cf,
		int	section
	)

Constructor of the driver from configuration entry

Leyendo los datos del fichero cfg y asignando valores a los parámetros correspondientes.

References Driver::AddInterface(), Connect(), ConfigFile::ReadAngle(), ConfigFile::ReadDeviceAddr(), ConfigFile::ReadInt(), ConfigFile::ReadLength(), ConfigFile::ReadString(), and Driver::SetError().

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Member Function Documentation

int mbasedriver::Connect ( ) [private]

Connect.

Establishes connection and starts threads

Envío mensajes de configuración a la placa de control IOM

OPEN_CONTROLLER
STOP

SET_TRANS_ACEL, si no se envía al menos una vez la plataforma no se moverá
- SET_ROT_ACEL -> No se envia porque el IOM no lo reconoce

if(this->motor_rot_acel > 0) { accel_packet = new mbasedriverPacket(); accel_command[0] = (command_e)set_rot_acel; accel_command[1] = (argtype_e)argint; accel_command[2] = this->motor_rot_acel & 0x00FF; accel_command[3] = (this->motor_rot_acel & 0xFF00) >> 8; if(debug_send) printf("__ build SET_ROT_ACEL\n"); accel_packet->Build(accel_command, 4); this->Send(accel_packet); }

SET_DRIFFACTOR

SET_ROBOT_WIDTH

SET_ROBOT_WHEEL

SET_PID_P
- SET_PID_I
- SET_PID_D

References mbasedriverPacket::Build(), mbasedriverPacket::Receive(), Send(), and mbasedriverPacket::Send().

Referenced by mbasedriver().

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int mbasedriver::Disconnect ( ) [private]

Disconnect.

Is theoretically able to disconnect, but we don't do that

References mbasedriverPacket::Build(), mbasedriverPacket::Send(), and StopThreads().

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int mbasedriver::getms ( ) [private]

getms

function to get the time in ms

Referenced by HandlePositionCommand().

int mbasedriver::HandleCommand	(	player_msghdr *	hdr,
		void *	data
	)		`[private]`

HandleCommand.

Switchboard for robot commands, called from ProcessMessage
Note that these don't perform a response...

References HandlePositionCommand(), Message::MatchMessage(), PLAYER_MSGTYPE_CMD, and PLAYER_POSITION2D_CMD_VEL.

Referenced by ProcessMessage().

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int mbasedriver::HandleConfig	(	QueuePointer &	resp_queue,
		player_msghdr *	hdr,
		void *	data
	)		`[private]`

HandleConfig.

Handles one Player command with a configuration request

References mbasedriverPacket::Build(), Message::MatchMessage(), player_pose2d::pa, PLAYER_IR_REQ_POSE, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_POSITION2D_REQ_GET_GEOM, PLAYER_POSITION2D_REQ_MOTOR_POWER, PLAYER_POSITION2D_REQ_RESET_ODOM, PLAYER_POSITION2D_REQ_SET_ODOM, PLAYER_SONAR_DATA_GEOM, PLAYER_SONAR_REQ_GET_GEOM, PLAYER_WARN, player_position2d_geom::pose, player_position2d_set_odom_req::pose, player_sonar_geom::poses, player_ir_pose::poses, player_sonar_geom::poses_count, player_ir_pose::poses_count, Driver::Publish(), player_pose3d::px, player_pose2d::px, player_pose3d::py, player_pose2d::py, player_pose3d::pyaw, Send(), player_position2d_geom::size, player_msghdr::size, player_bbox3d::sl, player_position2d_power_config::state, player_bbox3d::sw, and ToggleMotorPower().

Referenced by ProcessMessage().

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void mbasedriver::HandlePositionCommand ( player_position2d_cmd_vel_t position_cmd ) [private]

HandlePositionCommand.

Handles one Player command detailing a velocity

References mbasedriverPacket::Build(), getms(), player_pose2d::pa, player_pose2d::px, Send(), and player_position2d_cmd_vel::vel.

Referenced by HandleCommand().

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void mbasedriver::Main ( void ) [virtual]

Main.

Main entry point for the worker thread

if(!last_position_subscrcount && this->position_subscriptions) { this->ToggleMotorPower(0); this->ResetRawPositions(); } else if(last_position_subscrcount && !(this->position_subscriptions)) { enable motor power this->ToggleMotorPower(1); }

if(!last_aio_ir_subscriptions && this->aio_ir_subscriptions) this->ToggleAIn(1); else if(last_aio_ir_subscriptions && !(this->aio_ir_subscriptions)) this->ToggleAIn(0);

if(!last_sonar_subscriptions && this->sonar_subscriptions) this->ToggleSonar(1); else if(last_sonar_subscriptions && !(this->sonar_subscriptions)) this->ToggleSonar(0);

References Driver::InQueue, and Driver::ProcessMessages().

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