Khepera Class Reference
Inheritance diagram for Khepera:
Detailed Description
Definition at line 81 of file khepera.h.
Public Member Functions | |
| Khepera (ConfigFile *cf, int section) | |
| ~Khepera () | |
| virtual void | Main () |
| Main method for driver thread. | |
| virtual int | Subscribe (player_devaddr_t addr) |
| Subscribe to this driver. | |
| virtual int | Unsubscribe (player_devaddr_t addr) |
| Unsubscribe from this driver. | |
| virtual int | Setup () |
| Initialize the driver. | |
| virtual int | Shutdown () |
| Finalize the driver. | |
| int | ResetOdometry () |
| void | SetIRState (int) |
| void | UpdateData (void) |
| void | UpdateIRData (player_ir_data_t *) |
| void | UpdatePosData (player_position2d_data_t *) |
| unsigned short | ReadAD (int) |
| int | ReadAllIR (player_ir_data_t *) |
| int | SetSpeed (int, int) |
| int | ReadSpeed (int *, int *) |
| int | SetPos (int, int) |
| int | SetPosCounter (int, int) |
| int | ReadPos (int *, int *) |
| int | ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data) |
| Message handler. | |
Private Attributes | |
| player_devaddr_t | ir_addr |
| player_devaddr_t | position_addr |
| int | position_subscriptions |
| int | ir_subscriptions |
| KheperaSerial * | Serial |
| player_khepera_geom_t * | geometry |
| int | param_index |
| int | khepera_fd |
| timeval | last_position |
| bool | refresh_last_position |
| int | last_lpos |
| int | last_rpos |
| double | x |
| double | y |
| double | yaw |
| int | last_x_f |
| int | last_y_f |
| double | last_theta |
| timeval | last_pos_update |
| timeval | last_ir_update |
| int | pos_update_period |
| short | desired_heading |
| int | ir_sequence |
| timeval | last_ir |
| bool | motors_enabled |
| bool | velocity_mode |
| bool | direct_velocity_control |
| char | khepera_serial_port [MAX_FILENAME_SIZE] |
Member Function Documentation
| void Khepera::Main | ( | ) | [virtual] |
Main method for driver thread.
drivers have their own thread of execution, created using StartThread(); this is the entry point for the driver thread, and must be overloaded by all threaded drivers.
Reimplemented from Driver.
Definition at line 447 of file khepera.cc.
References position_subscriptions, Driver::ProcessMessages(), ResetOdometry(), SetSpeed(), and UpdateData().
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| int Khepera::Subscribe | ( | player_devaddr_t | addr | ) | [virtual] |
Subscribe to this driver.
The Subscribe() and Unsubscribe() methods are used to control subscriptions to the driver; a driver MAY override them, but usually won't.
- Parameters:
-
addr Address of the device to subscribe to (the driver may have more than one interface).
- Returns:
- Returns 0 on success.
Reimplemented from Driver.
Definition at line 353 of file khepera.cc.
References ir_subscriptions, PLAYER_IR_CODE, PLAYER_POSITION2D_CODE, position_subscriptions, and Driver::Subscribe().
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| int Khepera::Unsubscribe | ( | player_devaddr_t | addr | ) | [virtual] |
Unsubscribe from this driver.
The Subscribe() and Unsubscribe() methods are used to control subscriptions to the driver; a driver MAY override them, but usually won't.
- Parameters:
-
addr Address of the device to unsubscribe from (the driver may have more than one interface).
- Returns:
- Returns 0 on success.
Reimplemented from Driver.
Definition at line 376 of file khepera.cc.
References PLAYER_IR_CODE, PLAYER_POSITION2D_CODE, and Driver::Unsubscribe().
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| int Khepera::Setup | ( | ) | [virtual] |
Initialize the driver.
This function is called with the first client subscribes; it MUST be implemented by the driver.
- Returns:
- Returns 0 on success.
Implements Driver.
Definition at line 403 of file khepera.cc.
References desired_heading, direct_velocity_control, geometry, motors_enabled, KheperaSerial::Open(), player_khepera_geom::PortName, refresh_last_position, Serial, and velocity_mode.
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| int Khepera::Shutdown | ( | ) | [virtual] |
Finalize the driver.
This function is called with the last client unsubscribes; it MUST be implemented by the driver.
- Returns:
- Returns 0 on success.
Implements Driver.
Definition at line 429 of file khepera.cc.
References Serial, and Driver::StopThread().
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| int Khepera::ProcessMessage | ( | QueuePointer & | resp_queue, | |
| player_msghdr * | hdr, | |||
| void * | data | |||
| ) | [virtual] |
Message handler.
This function is called once for each message in the incoming queue. Reimplement it to provide message handling. Return 0 if you handled the message and -1 otherwise
- Parameters:
-
resp_queue The queue to which any response should go. hdr The message header data The message body
Reimplemented from Driver.
Definition at line 162 of file khepera.cc.
References player_khepera_geom::encoder_res, geometry, player_khepera_geom::ir, ir_addr, Message::MatchMessage(), motors_enabled, player_pose2d::pa, PLAYER_IR_REQ_POSE, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_MSGTYPE_RESP_NACK, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION2D_REQ_GET_GEOM, PLAYER_POSITION2D_REQ_MOTOR_POWER, PLAYER_POSITION2D_REQ_RESET_ODOM, PLAYER_POSITION2D_REQ_SET_ODOM, PLAYER_POSITION2D_REQ_VELOCITY_MODE, player_khepera_geom::position, position_addr, Driver::Publish(), player_pose2d::px, ResetOdometry(), player_khepera_geom::scale, SetSpeed(), player_position2d_geom::size, player_bbox3d::sw, and player_position2d_cmd_vel::vel.
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The documentation for this class was generated from the following files: