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rwidevice.h Go to the documentation of this file. /* * Player - One Hell of a Robot Server * Copyright (C) 2002 * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard * Nik Melchior * * * 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 * */ /* * Currently equiped only to interface with the mobility drivers, this base class * handles the actual interaction between the devices on the RWI robot and some * underlying system. Since it acts as a proxy for the actual devices, it must * contain specific logic for each subclass/device which it is capable of * operating. Similar to the P2OS device. */ #ifndef _RWIDEVICE_H #define _RWIDEVICE_H #if HAVE_CONFIG_H #include <config.h> #endif #include <pthread.h> #include <driver.h> #include <configfile.h> #include <player.h> #include <netinet/in.h> // for htonl() #ifdef USE_MOBILITY #include <mobilitycomponents_i.h> #include <mobilitydata_i.h> #include <mobilityutil.h> #include <mobilitygeometry_i.h> #include <mobilityactuator_i.h> #endif // USE_MOBILITY /*************************************************************************/ /* * RWI drivers * * All RWI devices use the same struct for sending config commands. * The request numbers are found near the devices to which they * pertain. * * TODO: this struct should be renamed in an interface-specific way and moved * up into the section(s) for which is pertains. also, request type * codes should be claimed for each one (requests are now part of the * device interface) */ typedef struct player_rwi_config { uint8_t request; uint8_t value; } __PACKED__ player_rwi_config_t; /*************************************************************************/ class CRWIDevice : public Driver { public: CRWIDevice ( ConfigFile* cf, int section, size_t datasize, size_t commandsize, int reqqueuelen, int repqueuelen); ~CRWIDevice (); protected: static pthread_mutex_t rwi_counter_mutex; static unsigned int rwi_device_count; #ifdef USE_MOBILITY #define RWI_ROBOT_NAME_MAX 25 #define RWI_MOBILITY_PATH_MAX 100 #define RWI_ROBOT_NAME_DEFAULT "B21R" // Used to access the devices managed by mobility. Most rwi_devices // should not need to use this helper directly. Instead, use the // RWIConnect function below. static mbyClientHelper *helper; // Keep track of whether a `name' parameter was passed on the command // line for this device, or the default name is being used. bool name_provided; // This name is the first part of the "path" used to access any of // your robot's devices in mobility (or MOM). It is necessary for // RwiConnect(). char name[RWI_ROBOT_NAME_MAX]; // Attempts to fill the first argument with a pointer to the requested // mobility device. Wraps the call to helper->find_object(). int RWIConnect (CORBA::Object_ptr *corba_ptr, const char *path) const; #endif // USE_MOBILITY }; #endif // _RWIDEVICE_H