Inheritance diagram for mbasedriver:

Collaboration diagram for mbasedriver:

Public Member Functions
	mbasedriver (ConfigFile *cf, int section)

virtual int	Subscribe (player_devaddr_t id)
	Subscribe. More...

virtual int	Unsubscribe (player_devaddr_t id)
	Unsubscribe.

virtual void	Main ()
	Main. More...

virtual int	Setup ()
	Setup. More...

virtual int	Shutdown ()
	Shutdown. More...

virtual int	ProcessMessage (QueuePointer &resp_queue, player_msghdr hdr, void data)
	ProcessMessage. More...

Public Member Functions inherited from Driver
bool	HasSubscriptions ()

virtual void	Publish (player_devaddr_t addr, QueuePointer &queue, uint8_t type, uint8_t subtype, void src=NULL, size_t deprecated=0, double timestamp=NULL, bool copy=true)
	Publish a message via one of this driver's interfaces. More...

virtual void	Publish (player_devaddr_t addr, uint8_t type, uint8_t subtype, void src=NULL, size_t deprecated=0, double timestamp=NULL, bool copy=true)
	Publish a message via one of this driver's interfaces. More...

virtual void	Publish (QueuePointer &queue, player_msghdr_t hdr, void src, bool copy=true)
	Publish a message via one of this driver's interfaces. More...

virtual void	Publish (player_msghdr_t hdr, void src, bool copy=true)
	Publish a message via one of this driver's interfaces. More...

	Driver (ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interf)
	Constructor for single-interface drivers. More...

	Driver (ConfigFile *cf, int section, bool overwrite_cmds=true, size_t queue_maxlen=PLAYER_MSGQUEUE_DEFAULT_MAXLEN)
	Constructor for multiple-interface drivers. More...

virtual	~Driver ()
	Destructor.

int	GetError ()
	Get last error value. More...

virtual int	Subscribe (QueuePointer &, player_devaddr_t)
	Subscribe to this driver. More...

virtual int	Unsubscribe (QueuePointer &, player_devaddr_t)
	Unsubscribe from this driver. More...

virtual int	Terminate ()
	Terminate the driver. More...

void	ProcessMessages (int maxmsgs)
	Process pending messages. More...

void	ProcessMessages (void)
	Process pending messages. More...

virtual void	Update ()
	Update non-threaded drivers. More...

virtual int	ProcessInternalMessages (QueuePointer &resp_queue, player_msghdr hdr, void data)
	Internal message handler. More...

virtual bool	RegisterProperty (const char key, Property property, ConfigFile *cf, int section)
	Property registration. More...

virtual bool	RegisterProperty (Property property, ConfigFile cf, int section)
	Property registration. More...

Private Member Functions
int	Connect ()
	Connect. More...

int	Disconnect ()
	Disconnect. More...

void	ResetRawPositions ()
	ResetRawPositions. More...

void	ToggleMotorPower (unsigned char val)
	ToggleMotorPower. More...

void	ToggleAIn (unsigned char val)
	ToggleAIn. More...

void	ToggleSonar (unsigned char val)
	ToggleSonar. More...

int	HandleConfig (QueuePointer &resp_queue, player_msghdr hdr, void data)
	HandleConfig. More...

int	HandleCommand (player_msghdr hdr, void data)
	HandleCommand. More...

void	HandlePositionCommand (player_position2d_cmd_vel_t position_cmd)
	HandlePositionCommand. More...

void	PublishAllData ()
	PublishAllData.

void	PublishPosition2D ()
	PublishPosition2D.

void	PublishPower ()
	PublishPower.

void	PublishAIn ()
	PublishAIn.

void	PublishIR ()
	PublishIR.

void	PublishSonar ()
	PublishSonar.

void	StartThreads ()
	StrarThreads. More...

void	StopThreads ()
	StopThreads.

void	Send (mbasedriverPacket *packet)
	Send. More...

void	SendThread ()
	SendThread.

void	ReceiveThread ()
	ReceiveThread. More...

int	getms ()
	getms More...

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

Additional Inherited Members
Public Attributes inherited from Driver
QueuePointer	ret_queue
	Last requester's queue. More...

player_devaddr_t	device_addr
	Default device address (single-interface drivers)

int	entries
	Total number of entries in the device table using this driver. More...

bool	alwayson
	Always on flag. More...

QueuePointer	InQueue
	Queue for all incoming messages for this driver.

Protected Member Functions inherited from Driver
int	AddInterface (player_devaddr_t addr)
	Add an interface. More...

int	AddInterface (player_devaddr_t addr, ConfigFile cf, int section, int code, const char *key=NULL)
	Add an interface. More...

void	SetError (int code)
	Set/reset error code.

virtual bool	Wait (double TimeOut=0.0)
	Wait for new data to arrive on the driver's queue. More...

int	AddFileWatch (int fd, bool ReadWatch=true, bool WriteWatch=false, bool ExceptWatch=true)
	Wake up the driver if the specified event occurs on the file descriptor.

int	RemoveFileWatch (int fd, bool ReadWatch=true, bool WriteWatch=false, bool ExceptWatch=true)
	Remove a previously added watch, call with the same arguments as when adding the watch.

virtual void	Lock (void)
	Lock access between the server and driver threads. More...

virtual void	Unlock (void)
	Unlock access to driver internals. More...

virtual void	SubscriptionLock (void)
	Lock to protect the subscription count for the driver.

virtual void	SubscriptionUnlock (void)
	Unlock to protect the subscription count for the driver. More...

virtual void	TestCancel ()
	enable thread cancellation and test for cancellation More...

Constructor & Destructor Documentation

◆ mbasedriver()

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 ConfigFile::ReadDeviceAddr().

Here is the call graph for this function:

Member Function Documentation

◆ Connect()

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(), mbasedriverPacket::Send(), and Send().

Here is the call graph for this function:

◆ Disconnect()

int mbasedriver::Disconnect ( )

private

Disconnect.

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

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

Here is the call graph for this function:

◆ getms()

int mbasedriver::getms ( )

private

getms

function to get the time in ms

Referenced by HandlePositionCommand().

◆ HandleCommand()

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().

Here is the call graph for this function:

◆ HandleConfig()

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_pose2d::px, player_pose3d::px, player_pose2d::py, player_pose3d::py, player_pose3d::pyaw, Send(), player_msghdr::size, player_position2d_geom::size, player_bbox3d::sl, player_position2d_power_config::state, player_bbox3d::sw, and ToggleMotorPower().

Referenced by ProcessMessage().

Here is the call graph for this function:

◆ HandlePositionCommand()

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().

Here is the call graph for this function:

◆ Main()

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 MessageQueue::Empty(), Driver::InQueue, and Driver::ProcessMessages().

Here is the call graph for this function:

◆ ProcessMessage()

int mbasedriver::ProcessMessage	(	QueuePointer &	resp_queue,
		player_msghdr *	hdr,
		void *	data
	)

virtual

ProcessMessage.

Gets called from ProcessMessages to handle one message

Reimplemented from Driver.

References HandleCommand(), HandleConfig(), PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, and player_msghdr::type.

Here is the call graph for this function:

◆ ReceiveThread()

void mbasedriver::ReceiveThread ( )

private

ReceiveThread.

Listens to the robot

References mbasedriverMotorPacket::Fill(), mbasedriverMotorPacket::Parse(), mbasedriverPacket::Print(), mbasedriverPacket::PrintHex(), PublishAIn(), PublishIR(), PublishPosition2D(), PublishPower(), PublishSonar(), and mbasedriverPacket::Receive().

Here is the call graph for this function:

◆ ResetRawPositions()

void mbasedriver::ResetRawPositions ( )

private

ResetRawPositions.

Tells the robot to reset the odometry center

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

Here is the call graph for this function:

◆ Send()

void mbasedriver::Send ( mbasedriverPacket * packet )

private

Send.

Queues for sending

Referenced by Connect(), HandleConfig(), HandlePositionCommand(), ResetRawPositions(), ToggleAIn(), ToggleMotorPower(), and ToggleSonar().

◆ Setup()

int mbasedriver::Setup ( void )

virtual

Setup.

Called by player when the driver is asked to connect

Reimplemented from Driver.

◆ Shutdown()

int mbasedriver::Shutdown ( void )

virtual

Shutdown.

Called by player when the driver is supposed to disconnect

Reimplemented from Driver.

◆ StartThreads()

void mbasedriver::StartThreads ( )

private

StrarThreads.

These call the supplied Driver::StartThread() method, but adds additional threads

References ReceiveThreadDummy(), and SendThreadDummy().

Here is the call graph for this function:

◆ Subscribe()

int mbasedriver::Subscribe ( player_devaddr_t id )

virtual

Subscribe.

Subscription is overridden to add a subscription count of our own

Reimplemented from Driver.

References Device::MatchDeviceAddress(), Driver::Subscribe(), ToggleAIn(), ToggleMotorPower(), and ToggleSonar().

Here is the call graph for this function:

◆ ToggleAIn()

void mbasedriver::ToggleAIn ( unsigned char val )

private

ToggleAIn.

Enable or disable analog input reporting

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

Referenced by Subscribe(), and Unsubscribe().

Here is the call graph for this function:

◆ ToggleMotorPower()

void mbasedriver::ToggleMotorPower ( unsigned char val )

private

ToggleMotorPower.

Enable or disable motors

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

Referenced by HandleConfig(), Subscribe(), and Unsubscribe().

Here is the call graph for this function:

◆ ToggleSonar()

void mbasedriver::ToggleSonar ( unsigned char val )

private

ToggleSonar.

Enable or disable sonar reporting

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

Referenced by Subscribe(), and Unsubscribe().

Here is the call graph for this function:

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

mbasedriver.h
mbasedriver.cc

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ mbasedriver()

Member Function Documentation

◆ Connect()

◆ Disconnect()

◆ getms()

◆ HandleCommand()

◆ HandleConfig()

◆ HandlePositionCommand()

◆ Main()

◆ ProcessMessage()

◆ ReceiveThread()

◆ ResetRawPositions()

◆ Send()

◆ Setup()

◆ Shutdown()

◆ StartThreads()

◆ Subscribe()

◆ ToggleAIn()

◆ ToggleMotorPower()

◆ ToggleSonar()