snd Class Reference
Inheritance diagram for snd:
Collaboration diagram for snd:

List of all members.

Public Member Functions

 snd (ConfigFile *cf, int section)
virtual int Setup ()
 Initialize the driver.
virtual int Shutdown ()
 Finalize the driver.
virtual int ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data)
 Message handler.
void WaitForNextGoal ()
void SignalNextGoal (double goalX, double goalY, double goalA)
void Read ()
void ReadIfWaiting ()

Public Attributes

double robot_radius
double min_gap_width
double obstacle_avoid_dist
double max_speed
double max_turn_rate
double goal_position_tol
double goal_angle_tol
double goalX
double goalY
double goalA
pthread_t algorithm_thread
pthread_mutex_t goal_mutex
pthread_cond_t goal_changed_cond
double goal_changed
pthread_mutex_t data_mutex
pthread_cond_t data_changed_cond
double data_changed
int data_odometry_ready
int data_laser_ready

Protected Member Functions

void SetSpeedCmd (player_position2d_cmd_vel_t cmd)

Protected Attributes

player_pose2d_t odom_pose
std::vector< double > laser__ranges
double laser__resolution
double laser__max_range
uint32_t laser__ranges_count

Private Member Functions

virtual void Main ()
 Main method for driver thread.
int Odometry_Setup ()
int Laser_Setup ()

Private Attributes

player_devaddr_t m_position_addr
player_devaddr_t m_laser_addr
player_devaddr_t laser_addr
player_devaddr_t odom_in_addr
player_devaddr_t odom_out_addr
player_position2d_geom_t robot_geom
int first_goal_has_been_set_to_init_position

Member Function Documentation

void snd::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_MSG0, Driver::ProcessMessages(), and ThreadedDriver::Wait().

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int snd::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

resp_queueThe queue to which any response should go.
hdrThe message header
dataThe message body

Reimplemented from Driver.

References player_msghdr::addr, Driver::device_addr, Message::GetHeader(), Message::GetPayload(), Message::MatchMessage(), player_pose2d::pa, PLAYER_LASER_DATA_SCAN, PLAYER_MSG0, PLAYER_MSG3, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_DATA, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_CMD_POS, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION2D_DATA_STATE, PLAYER_WARN1, player_position2d_cmd_pos::pos, Driver::Publish(), player_pose2d::px, player_pose2d::py, Device::Request(), player_msghdr::size, player_msghdr::subtype, player_msghdr::timestamp, and player_msghdr::type.

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int snd::Setup ( ) [virtual]

Initialize the driver.

This function is called with the first client subscribes; it MUST be implemented by the driver.

Returns 0 on success.

Reimplemented from ThreadedDriver.

References PLAYER_MSG0.

int snd::Shutdown ( ) [virtual]

Finalize the driver.

This function is called with the last client unsubscribes; the default version simple stops the driver thread if one is present. In this case resources should be cleaned up in MainQuit.

Returns 0 on success.

Reimplemented from ThreadedDriver.

References Driver::InQueue, PLAYER_MSG0, ThreadedDriver::StopThread(), and Device::Unsubscribe().

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