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stagedevice.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 * */ // // File: stagedevice.hh // Author: Andrew Howard // Date: 28 Nov 2000 // Desc: Class for stage (simulated) devices // // CVS info: // $Source: /cvsroot/playerstage/code/player/server/drivers/stage/stagedevice.h,v $ // $Author: gerkey $ // $Revision: 1.6 $ // // Usage: // (empty) // // Theory of operation: // (empty) // // Known bugs: // (empty) // // Possible enhancements: // (empty) // #ifndef _STAGEDEVICE_H #define _STAGEDEVICE_H // For length-specific types, error macros, etc // #include <playercommon.h> #include <device.h> #include <driver.h> #include <stage1p3.h> // this is the root of the stage device filesystem name // actual directories have the username and instance appended // e.g. /tmp/stageIO.vaughan.0 #define IOFILENAME "/tmp/stageIO" class StageDevice : public Driver { // constructor - info points to a single buffer containing the data, // command and configuration buffers. lock fd is an open // filedescriptor. we'll lock the lockbyte'th byte in this file to // control access to this device public: StageDevice( player_stage_info_t* info, int lockfd, int lockbyte ); // used to keep a list of objects public: StageDevice* next; // Initialise the device // public: virtual int Setup(); // Terminate the device // public: virtual int Shutdown(); // Read data from the device // public: virtual size_t GetData(player_device_id_t id, void* dest, size_t len, struct timeval* timestamp); // Write a command to the device // public: virtual void PutCommand(player_device_id_t id, void* src, size_t len, struct timeval* timestamp); // Give the device a chance to update public: virtual void Update(void); // Simulator lock bookkeeping data and init method // private: int lock_fd; private: int lock_byte; private: void InstallLock( int fd, int index ) {lock_fd = fd; lock_byte = index;} // these two methods are overrides of the Driver definitions. private: virtual void Lock(); private: virtual void Unlock(); // Pointer to my Device, which has pointers to data and command // buffers private: Device* device; // Pointer to shared info buffers // public: player_stage_info_t *m_info; public: size_t m_info_len; }; #endif