SegwayRMP Class Reference
Inheritance diagram for SegwayRMP:
Collaboration diagram for SegwayRMP:

List of all members.

Public Member Functions

 SegwayRMP (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.
int CanBusSetup ()
 Sets up the CAN bus for communication.
int USBSetup ()
 Sets up the USB bus for communication.

Protected Attributes

player_devaddr_t position_id
player_position2d_data_t position_data
player_devaddr_t position3d_id
player_position3d_data_t position3d_data
player_devaddr_t power_base_id
player_power_data_t power_base_data
player_devaddr_t power_ui_id
player_power_data_t power_ui_data

Private Member Functions

int HandlePositionConfig (QueuePointer &resp_queue, uint32_t subtype, void *data, size_t len)
int HandlePosition3DConfig (QueuePointer &resp_queue, uint32_t subtype, void *data, size_t len)
int Read ()
int CanBusRead ()
int USBRead ()
int Diff (uint32_t from, uint32_t to, bool first)
int Write (CanPacket &pkt)
virtual void Main ()
 Main method for driver thread.
void MakeStatusCommand (CanPacket *pkt, uint16_t cmd, uint16_t val)
void MakeVelocityCommand (CanPacket *pkt, int32_t xspeed, int32_t yawspeed)
void MakeShutdownCommand (CanPacket *pkt)
void UpdateData (rmp_frame_t *)

Private Attributes

BusType bus_type
const char * portname
const char * caniotype
const char * usb_device
int timeout_counter
float max_xspeed
float max_yawspeed
bool firstread
DualCANIOcanio
USBIOusbio
float curr_xspeed
float curr_yawspeed
float last_xspeed
float last_yawspeed
bool speed_change
bool motor_allow_enable
bool motor_enabled
uint32_t last_raw_yaw
uint32_t last_raw_left
uint32_t last_raw_right
uint32_t last_raw_foreaft
double odom_x
double odom_y
double odom_yaw

Member Function Documentation

void SegwayRMP::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.

@ TODO report better timestamps, possibly using time info from the RMP

Todo:
We are getting intermittent timeouts. Does not break functionality, but should be checked.

Implements ThreadedDriver.

References PLAYER_ERROR, PLAYER_MSG0, PLAYER_MSG2, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, PLAYER_POSITION3D_DATA_STATE, PLAYER_POWER_DATA_STATE, PLAYER_WARN, Driver::ProcessMessages(), and Driver::Publish().

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void SegwayRMP::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.

References PLAYER_MSG0.

int SegwayRMP::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_queueThe queue to which any response should go.
hdrThe message header
dataThe message body

Todo:
Handle config requests

Reimplemented from Driver.

References player_msghdr::addr, player_devaddr::index, player_devaddr::interf, Message::MatchMessage(), player_pose2d::pa, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION3D_CMD_SET_VEL, player_pose3d::px, player_pose2d::px, player_pose3d::pyaw, player_msghdr::size, player_position3d_cmd_vel::state, player_position2d_cmd_vel::state, player_msghdr::subtype, player_msghdr::type, player_position3d_cmd_vel::vel, and player_position2d_cmd_vel::vel.

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