ER Class Reference

Inheritance diagram for ER:

List of all members.

Public Member Functions
	ER (ConfigFile *cf, int section)
int	SetVelocity (double lvel, double rvel)
void	Stop (int StopMode)
virtual void	Main ()
	Main method for driver thread.
virtual int	MainSetup ()
	Sets up the resources needed by the driver thread.
virtual void	MainQuit ()
	Cleanup method for driver thread (called when main exits)
virtual int	ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data)
	Message handler.
void	Test ()
Private Member Functions
int	InitOdom ()
int	InitRobot ()
int	WriteBuf (unsigned char *s, size_t len)
int	ReadBuf (unsigned char *s, size_t len)
int	SendCommand (unsigned char *cmd, int cmd_len, unsigned char *ret_val, int ret_len)
int	checksum_ok (unsigned char *buf, int len)
int	ComputeTickDiff (int from, int to)
int	ChangeMotorState (int state)
int	BytesToInt32 (unsigned char *ptr)
float	BytesToFloat (unsigned char *ptr)
void	UpdateOdom (int ltics, int rtics)
void	SpeedCommand (unsigned char address, double speed, int dir)
void	SetOdometry (long, long, long)
void	ResetOdometry ()
int	GetOdom (int *ltics, int *rtics)
int	GetBatteryVoltage (int *voltage)
int	GetRangeSensor (int s, float *val)
void	MotorSpeed ()
int	send_command (unsigned char address, unsigned char c, int ret_num, unsigned char *ret)
int	send_command_2_arg (unsigned char address, unsigned char c, int arg, int ret_num, unsigned char *ret)
int	send_command_4_arg (unsigned char address, unsigned char c, int arg, int ret_num, unsigned char *ret)
Private Attributes
player_er1_data_t	er1_data
player_devaddr_t	position_id
int	position_subscriptions
int *	_tc_num
int	_fd
const char *	_serial_port
bool	_fd_blocking
double	_axle_length
int	_motor_0_dir
int	_motor_1_dir
bool	_debug
bool	_need_to_set_speed
bool	_odom_initialized
bool	_stopped
int	_last_ltics
int	_last_rtics
double	_px
double	_py
double	_pa
int	_powered
int	_resting

---

Member Function Documentation

void ER::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.

Implements ThreadedDriver.

References player_pose2d::pa, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, player_position2d_data::pos, Driver::ProcessMessages(), Driver::Publish(), player_pose2d::px, player_pose2d::py, player_position2d_data::stall, and player_position2d_data::vel.

void ER::MainQuit

(

void

)

[virtual]

Cleanup method for driver thread (called when main exits)

Overload this method and to do additional cleanup when the driver thread exits.

Reimplemented from ThreadedDriver.

int ER::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.

References player_position2d_cmd_car::angle, Message::MatchMessage(), player_pose2d::pa, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_MSGTYPE_RESP_NACK, PLAYER_POSITION2D_CMD_CAR, 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_set_odom_req::pose, player_position2d_geom::pose, Driver::Publish(), player_pose2d::px, player_pose3d::px, player_pose2d::py, player_pose3d::py, player_pose3d::pyaw, player_position2d_geom::size, player_bbox3d::sl, player_position2d_power_config::state, player_msghdr::subtype, player_bbox3d::sw, player_position2d_cmd_vel::vel, and player_position2d_cmd_car::velocity.

---

The documentation for this class was generated from the following files:

• er.h
• er.cc