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rflex.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 * */ /* * this file was adapted from the P2OS device for the RWI RFLEX robots * * the RFLEX device. it's the parent device for all the RFLEX 'sub-devices', * like, position, sonar, etc. there's a thread here that * actually interacts with RFLEX via the serial line. the other * "devices" communicate with this thread by putting into and getting * data out of shared buffers. */ #ifndef _RFLEXDEVICE_H #define _RFLEXDEVICE_H #include <pthread.h> #include <sys/time.h> #include <driver.h> #include <drivertable.h> #include <player.h> #include "rflex_commands.h" #include "rflex-io.h" #include "rflex_configs.h" #define RFLEX_MOTORS_REQUEST_ON 0 #define RFLEX_MOTORS_ON 1 #define RFLEX_MOTORS_REQUEST_OFF 2 #define RFLEX_MOTORS_OFF 3 #define RFLEX_CONFIG_BUFFER_SIZE 256 #define DEFAULT_RFLEX_PORT "/dev/ttyS0" #define DEFAULT_RFLEX_BUMPER_ADDRESS 0x40 #define RFLEX_BUMPER_STYLE_BIT "bit" #define RFLEX_BUMPER_STYLE_ADDR "addr" #define DEFAULT_RFLEX_BUMPER_STYLE RFLEX_BUMPER_STYLE_ADDR enum { BUMPER_BIT, BUMPER_ADDR }; #define DEFAULT_RFLEX_POWER_OFFSET 0 #define MAX_NUM_LOOPS 30 #define B_STX 0x02 #define B_ETX 0x03 #define B_ESC 0x1b typedef struct player_rflex_data { player_position_data_t position; player_sonar_data_t sonar; player_sonar_data_t sonar2; player_gripper_data_t gripper; player_power_data_t power; player_bumper_data_t bumper; player_dio_data_t dio; player_aio_data_t aio; player_ir_data ir; } __attribute__ ((packed)) player_rflex_data_t; /* typedef struct { player_position_cmd_t position; player_gripper_cmd_t gripper; player_sound_cmd_t sound; } __attribute__ ((packed)) player_rflex_cmd_t; */ // this is here because we need the above typedef's before including it. class RFLEX : public Driver { private: player_device_id_t position_id; player_device_id_t sonar_id; player_device_id_t sonar_id_2; player_device_id_t ir_id; player_device_id_t bumper_id; player_device_id_t power_id; player_device_id_t aio_id; player_device_id_t dio_id; int position_subscriptions; int sonar_subscriptions; int ir_subscriptions; int bumper_subscriptions; int rflex_fd; // rflex device file descriptor // device used to communicate with rflex char rflex_serial_port[MAX_FILENAME_SIZE]; double mm_odo_x; double mm_odo_y; double rad_odo_theta; void ResetRawPositions(); int initialize_robot(); void reset_odometry(); void set_odometry(long,long,short); void update_everything(player_rflex_data_t* d); void set_config_defaults(); public: RFLEX(ConfigFile* cf, int section); //override this in subclass, and fill with code to load options from //config file, default is just an empty dummy virtual void GetOptions(ConfigFile* cf,int section,rflex_config_t *rflex_configs); /* 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(); static int joy_control; }; #endif