EpuckDriver Class Reference

Plug-in driver for the e-puck robot, in conformity with Player version 2.1. More...

#include <epuckDriver.hpp>

Inheritance diagram for EpuckDriver:

Collaboration diagram for EpuckDriver:

List of all members.

---

Detailed Description

Plug-in driver for the e-puck robot, in conformity with Player version 2.1.

This class implements the player driver interface, and perform all comunication with the player-server. It must to have a pointer for each class that controls a e-puck device for which there are a player interface, and bind them with player-server.

Author:

Renato Florentino Garcia

Date:

November 2008

Public Member Functions
	EpuckDriver (ConfigFile *cf, int section)
virtual int	MainSetup ()
	Sets up the resources needed by the driver thread.
virtual void	MainQuit ()
	Cleanup method for driver thread (called when main exits)
virtual int	ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data)
	Message handler.
virtual int	Subscribe (player_devaddr_t addr)
	Subscribe to this driver.
virtual int	Unsubscribe (player_devaddr_t addr)
	Unsubscribe from this driver.
Static Public Member Functions
static Driver *	EpuckDriver_Init (ConfigFile *cf, int section)
Private Member Functions
virtual void	Main ()
	Main method for driver thread.
Private Attributes
const unsigned	EXPECTED_EPUCK_SIDE_VERSION
player_devaddr_t	position2dAddr
player_position2d_data_t	posData
std::auto_ptr< EpuckPosition2d >	epuckPosition2d
player_devaddr_t	irAddr
player_ir_data_t	irData
std::auto_ptr< EpuckIR >	epuckIR
player_devaddr_t	cameraAddr
player_camera_data_t	cameraData
std::auto_ptr< EpuckCamera >	epuckCamera
player_devaddr_t	ringLEDAddr [EpuckLEDs::RING_LEDS_NUM]
player_blinkenlight_data_t	ringLEDsData [EpuckLEDs::RING_LEDS_NUM]
player_devaddr_t	frontLEDAddr
player_blinkenlight_data_t	frontLEDData
player_devaddr_t	bodyLEDAddr
player_blinkenlight_data_t	bodyLEDData
std::auto_ptr< EpuckLEDs >	epuckLEDs
SerialPort *	serialPort

---

Member Function Documentation

void EpuckDriver::Main

(

)

[private, 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_camera_data::bpp, player_camera_data::compression, player_camera_data::fdiv, player_camera_data::format, EpuckCamera::GREY_SCALE_MODE, player_camera_data::height, player_camera_data::image, player_camera_data::image_count, Driver::InQueue, player_pose2d::pa, PLAYER_CAMERA_COMPRESS_RAW, PLAYER_CAMERA_DATA_STATE, PLAYER_CAMERA_FORMAT_MONO16, PLAYER_CAMERA_FORMAT_MONO8, PLAYER_CAMERA_FORMAT_RGB565, PLAYER_IR_DATA_RANGES, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, player_position2d_data::pos, EpuckPosition2d::DynamicConfiguration::pose, Driver::ProcessMessages(), Driver::Publish(), player_pose2d::px, player_pose2d::py, player_ir_data::ranges, EpuckIR::IRData::ranges, player_ir_data::ranges_count, EpuckCamera::RGB_565_MODE, player_position2d_data::vel, EpuckPosition2d::DynamicConfiguration::velocity, player_ir_data::voltages, EpuckIR::IRData::voltages, player_ir_data::voltages_count, player_camera_data::width, and EpuckCamera::YUV_MODE.

Here is the call graph for this function:

void EpuckDriver::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.

int EpuckDriver::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.

References player_position2d_cmd_car::angle, player_blinkenlight_cmd_power::enable, EpuckPosition2d::BodyGeometry::height, Message::MatchMessage(), player_pose2d::pa, PLAYER_BLINKENLIGHT_CMD_POWER, PLAYER_ERROR, PLAYER_IR_REQ_POSE, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_POSITION2D_CMD_CAR, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION2D_REQ_GET_GEOM, PLAYER_POSITION2D_REQ_RESET_ODOM, PLAYER_POSITION2D_REQ_SET_ODOM, PLAYER_WARN, player_position2d_set_odom_req::pose, player_position2d_geom::pose, player_ir_pose::poses, player_ir_pose::poses_count, Driver::Publish(), player_pose3d::px, player_pose2d::px, player_pose3d::py, player_pose2d::py, player_pose3d::pyaw, player_position2d_geom::size, player_bbox3d::sl, player_bbox3d::sw, EpuckInterface::Triple::theta, player_position2d_cmd_vel::vel, player_position2d_cmd_car::velocity, EpuckPosition2d::BodyGeometry::width, EpuckInterface::Triple::x, and EpuckInterface::Triple::y.

Here is the call graph for this function:

int EpuckDriver::Subscribe

(

player_devaddr_t

addr

)

[virtual]

Subscribe to this driver.

The Subscribe() and Unsubscribe() methods are used to control subscriptions to the driver; a driver MAY override them, but usually won't.

Parameters:

addr	Address of the device to subscribe to (the driver may have more than one interface).

Returns:

Returns 0 on success.

Reimplemented from Driver.

References player_devaddr::interf.

int EpuckDriver::Unsubscribe

(

player_devaddr_t

addr

)

[virtual]

Unsubscribe from this driver.

The Subscribe() and Unsubscribe() methods are used to control subscriptions to the driver; a driver MAY override them, but usually won't.

Parameters:

addr	Address of the device to unsubscribe from (the driver may have more than one interface).

Returns:

Returns 0 on success.

Reimplemented from Driver.

References player_devaddr::interf.

---

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

• epuckDriver.hpp
• epuckDriver.cpp