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khepera.h Go to the documentation of this file. /* * Player - One Hell of a Robot Server * Copyright (C) 2000 * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard * * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * */ /* Copyright (C) 2004 * Toby Collett, University of Auckland Robotics Group * * Header for the khepera robot. The * architecture is similar to the P2OS device, in that the position, IR and * power services all need to go through a single serial port and * base device class. So this code was copied from p2osdevice and * modified to taste. * */ #ifndef _KHEPERADEVICE_H #define _KHEPERADEVICE_H #include <pthread.h> #include <sys/time.h> #include <errno.h> // for poll #include <replace.h> //#include <sys/poll.h> #include <driver.h> #include <playercommon.h> #include <player.h> #include <drivertable.h> //#include <khepera_params.h> #include <khepera_serial.h> #define KHEPERA_CONFIG_BUFFER_SIZE 1024 #define KHEPERA_BAUDRATE B38400 #define KHEPERA_DEFAULT_SERIAL_PORT "/dev/ttyUSB0" #define KHEPERA_DEFAULT_SCALE 10 #define KHEPERA_DEFAULT_ENCODER_RES (1.0/12.0) #define KHEPERA_DEFAULT_IR_CALIB_A (64.158) #define KHEPERA_DEFAULT_IR_CALIB_B (-0.1238) #define KHEPERA_MOTOR_LEFT 0 #define KHEPERA_MOTOR_RIGHT 1 #define KHEPERA_FIXED_FACTOR 10000 #define CRLF "\r\n" #define KHEPERA_COMMAND_PROMPT "\r\n" #ifndef ABS #define ABS(x) ((x) < 0 ? -(x) : (x)) #endif #ifndef SGN #define SGN(x) ((x) < 0 ? -1 : 1) #endif /* typedef struct { player_position_data_t position; player_ir_data_t ir; } __attribute__ ((packed)) player_khepera_data_t; */ /* typedef struct { player_position_cmd_t position; } __attribute__ ((packed)) player_khepera_cmd_t; */ typedef struct player_khepera_geom { char * PortName; double scale; player_ir_pose_t ir; double * ir_calib_a; double * ir_calib_b; player_position_geom_t position; double encoder_res; } __attribute__ ((packed)) player_khepera_geom_t; class Khepera : public Driver { public: Khepera(ConfigFile *cf, int section); /* the main thread */ virtual void Main(); virtual int Subscribe(player_device_id_t id); virtual int Unsubscribe(player_device_id_t id); virtual int Setup(); virtual int Shutdown(); // void Restart(); short khtons(short in); short ntokhs(short in); void ReadConfig(); int ResetOdometry(); // handle IR void SetIRState(int); void UpdateData(void); void UpdateIRData(player_ir_data_t *); void UpdatePosData(player_position_data_t *); // the following are all interface functions to the REB // this handles the A/D device which deals with IR for us //void ConfigAD(int, int); unsigned short ReadAD(int); int ReadAllIR(player_ir_data_t *); // this handles motor control int SetSpeed(int, int); int ReadSpeed(int*, int*); int SetPos(int, int); int SetPosCounter(int, int); int ReadPos(int *, int*); //unsigned char ReadStatus(int, int *, int *); private: player_device_id_t ir_id; player_device_id_t position_id; int position_subscriptions; int ir_subscriptions; KheperaSerial * Serial; /* int write_serial(char *, int); int read_serial_until(char *, int, char *, int); int write_command(char *buf, int len, int maxsize);*/ player_khepera_geom_t* geometry; int param_index; // index in the RobotParams table for this robot int khepera_fd; // khepera device file descriptor struct timeval last_position; // last position update bool refresh_last_position; int last_lpos, last_rpos; double x,y,yaw; int last_x_f, last_y_f; double last_theta; struct timeval last_pos_update; // time of last pos update struct timeval last_ir_update; int pos_update_period; short desired_heading; int ir_sequence; struct timeval last_ir; bool motors_enabled; bool velocity_mode; bool direct_velocity_control; // device used to communicate with reb char khepera_serial_port[MAX_FILENAME_SIZE]; struct pollfd write_pfd, read_pfd; }; #endif