SegwayRMP Class Reference

Inheritance diagram for SegwayRMP:

[legend]Collaboration diagram for SegwayRMP:

Detailed Description

Definition at line 31 of file segwayrmp.h.


Public Member Functions
	SegwayRMP (ConfigFile *cf, int section)
	~SegwayRMP ()
virtual int	Setup ()
	Initialize the driver.
virtual int	Shutdown ()
	Finalize the driver.
virtual int	ProcessMessage (QueuePointer &resp_queue, player_msghdr hdr, void data)
	Message handler.
Protected Attributes
player_devaddr_t	position_id
player_position2d_data_t	position_data
player_devaddr_t	position3d_id
player_position3d_data_t	position3d_data
player_devaddr_t	power_id
player_power_data_t	power_data
Private Member Functions
int	HandlePositionConfig (QueuePointer &resp_queue, uint32_t subtype, void *data, size_t len)
int	HandlePosition3DConfig (QueuePointer &resp_queue, uint32_t subtype, void *data, size_t len)
int	Read ()
int	Diff (uint32_t from, uint32_t to, bool first)
int	Write (CanPacket &pkt)
virtual void	Main ()
	Main method for driver thread.
void	MakeStatusCommand (CanPacket *pkt, uint16_t cmd, uint16_t val)
void	MakeVelocityCommand (CanPacket *pkt, int32_t xspeed, int32_t yawspeed)
void	MakeShutdownCommand (CanPacket *pkt)
void	UpdateData (rmp_frame_t *)
Private Attributes
const char *	portname
const char *	caniotype
int	timeout_counter
float	max_xspeed
float	max_yawspeed
bool	firstread
DualCANIO *	canio
float	curr_xspeed
float	curr_yawspeed
bool	motor_allow_enable
bool	motor_enabled
uint32_t	last_raw_yaw
uint32_t	last_raw_left
uint32_t	last_raw_right
uint32_t	last_raw_foreaft
double	odom_x
double	odom_y
double	odom_yaw

Member Function Documentation

int SegwayRMP::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 231 of file segwayrmp.cc.

References curr_xspeed, curr_yawspeed, firstread, motor_allow_enable, motor_enabled, odom_x, odom_y, odom_yaw, PLAYER_ERROR, PLAYER_ERROR1, PLAYER_MSG0, and timeout_counter.

int SegwayRMP::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 273 of file segwayrmp.cc.

References canio, MakeVelocityCommand(), PLAYER_MSG0, DualCANIO::Shutdown(), Driver::StopThread(), and Write().

Here is the call graph for this function:

int SegwayRMP::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 445 of file segwayrmp.cc.

References curr_xspeed, curr_yawspeed, HandlePosition3DConfig(), HandlePositionConfig(), player_devaddr::index, player_devaddr::interf, Message::MatchMessage(), motor_allow_enable, motor_enabled, player_pose2d::pa, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION3D_CMD_SET_VEL, position3d_id, position_id, player_pose3d::px, player_pose2d::px, player_pose3d::pyaw, player_position3d_cmd_vel::state, player_position2d_cmd_vel::state, timeout_counter, player_position3d_cmd_vel::vel, and player_position2d_cmd_vel::vel.

Here is the call graph for this function:

void SegwayRMP::Main ( ) [private, 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 304 of file segwayrmp.cc.

References curr_xspeed, curr_yawspeed, MakeVelocityCommand(), motor_enabled, PLAYER_ERROR, PLAYER_MSG0, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, PLAYER_POSITION3D_DATA_STATE, PLAYER_POWER_DATA_STATE, PLAYER_WARN, Driver::ProcessMessages(), Driver::Publish(), Read(), timeout_counter, and Write().