Home FAQ Player Stage Gazebo Contrib Documentation Publications Contributors Users Project Download Bugs/Feedback Mailing lists Radish Old news Old stuff

reb.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) 2002 * John Sweeney, UMASS, Amherst, Laboratory for Perceptual Robotics * * $Id: reb.h,v 1.4 2004/09/07 23:38:33 inspectorg Exp $ * * Header for the REB device. This is the K-Team Robotics Extension * Board attached to their Kameleon 376BC. We connect to it via * the serial port of our ADS Bitsy (StrongARM based). SO 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 _REBDEVICE_H #define _REBDEVICE_H #include <pthread.h> #include <sys/time.h> #include <errno.h> // for poll #include <replace.h> #include <driver.h> #include <playercommon.h> #include <player.h> #include <drivertable.h> #include <reb_params.h> #define REB_CONFIG_BUFFER_SIZE 1024 #define REB_BAUDRATE B38400 #define REB_DEFAULT_SERIAL_PORT "/dev/ttySA1" #define REB_MOTOR_RIGHT 0 #define REB_MOTOR_LEFT 2 #define REB_BATTERY_CHANNEL 15 #define REB_AD_OFF 0 #define REB_AD_ON 1 #define REB_FIXED_FACTOR 10000 #define REB_MAX_ACC 100 #define REB_MIN_ACC 10 #define REB_POS_MODE_STRAIGHT 0 #define REB_POS_MODE_ROTATION 1 #define REB_IR_START 1 #define REB_IR_STOP 0 #define CRLF "\r\n" #define REB_RESTART_COMMAND "restart\r\n" #define REB_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; player_power_data_t power; } __attribute__ ((packed)) player_reb_data_t; typedef struct { player_position_cmd_t position; } __attribute__ ((packed)) player_reb_cmd_t; */ class REB : public Driver { public: REB(ConfigFile *cf, int section); /* the main thread */ virtual void Main(); // we override these, because we will maintain our own subscription count virtual int Subscribe(player_device_id_t id); virtual int Unsubscribe(player_device_id_t id); virtual int Setup(); virtual int Shutdown(); void Restart(); void ReadConfig(); void SetOdometry(int, int, short); // handle IR void SetIRState(int); void UpdateData(void); void UpdateIRData(player_ir_data_t *); void UpdatePowerData(player_power_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); void ReadAllIR(uint16_t * ir); // this handles motor control void SetSpeed(int, int ); int ReadSpeed(int); void SetPos(int, int); void SetPosCounter(int, int); int ReadPos(int); unsigned char ReadStatus(int, int *, int *); void ConfigPosPID(int, int, int, int); void ConfigSpeedPID(int, int, int, int); void ConfigSpeedProfile(int, int, int); private: int write_serial(char *, int); int read_serial_until(char *, int, char *, int); int write_command(char *buf, int len, int maxsize); player_device_id_t ir_id; player_device_id_t position_id; player_device_id_t power_id; int ir_subscriptions; int position_subscriptions; int param_index; // index in the RobotParams table for this robot int reb_fd; // reb device file descriptor struct timeval last_position; // last position update bool refresh_last_position; int last_lpos, last_rpos; int last_x_f, last_y_f; double last_theta; struct timeval last_pos_update; // time of last pos update struct timeval last_power_update; struct timeval last_ir_update; int pos_update_period; int current_heading; 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 reb_serial_port[MAX_FILENAME_SIZE]; struct pollfd write_pfd, read_pfd; }; #endif