Public Member Functions | |
| Erratic (ConfigFile *cf, int section) | |
| virtual int | Subscribe (player_devaddr_t id) |
| Subscribe to this driver. | |
| virtual int | Unsubscribe (player_devaddr_t id) |
| Unsubscribe from this driver. | |
| virtual void | Main () |
| Talking to the Player architecture. | |
| 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. | |
Private Member Functions | |
| int | Connect () |
| int | Disconnect () |
| void | ResetRawPositions () |
| void | ToggleMotorPower (unsigned char val) |
| void | ToggleAIn (unsigned char val) |
| void | ToggleSonar (unsigned char val) |
| int | HandleConfig (QueuePointer &resp_queue, player_msghdr *hdr, void *data) |
| int | HandleCommand (player_msghdr *hdr, void *data) |
| void | HandlePositionCommand (player_position2d_cmd_vel_t position_cmd) |
| void | HandleCarCommand (player_position2d_cmd_car_t position_cmd) |
| void | HandlePtzCommand (player_ptz_cmd_t ptz_cmd, player_devaddr_t id) |
| void | PublishAllData () |
| void | PublishPosition2D () |
| void | PublishPower () |
| void | PublishAIn () |
| void | PublishIR () |
| void | PublishSonar () |
| float | IRRangeFromVoltage (float voltage) |
| float | IRFloorRange (float value) |
| void | StartThreads () |
| void | StopThreads () |
| void | Send (ErraticPacket *packet) |
| void | SendThread () |
| void | ReceiveThread () |
| Talking to the robot. | |
Static Private Member Functions | |
| static void * | SendThreadDummy (void *driver) |
| static void * | ReceiveThreadDummy (void *driver) |
Private Attributes | |
| int | mcount |
| player_erratic_data_t | erratic_data |
| player_devaddr_t | position_id |
| player_devaddr_t | power_id |
| player_devaddr_t | aio_id |
| player_devaddr_t | ir_id |
| player_devaddr_t | sonar_id |
| player_devaddr_t | ptz_id |
| player_devaddr_t | ptz2_id |
| int | position_subscriptions |
| int | aio_ir_subscriptions |
| int | sonar_subscriptions |
| int | ptz_subscriptions |
| int | ptz2_subscriptions |
| ErraticMotorPacket * | motor_packet |
| pthread_mutex_t | motor_packet_mutex |
| int | read_fd |
| int | write_fd |
| const char * | psos_serial_port |
| player_position2d_cmd_vel_t | last_position_cmd |
| player_position2d_cmd_car_t | last_car_cmd |
| std::queue< ErraticPacket * > | send_queue |
| pthread_mutex_t | send_queue_mutex |
| pthread_cond_t | send_queue_cond |
| pthread_t | send_thread |
| pthread_t | receive_thread |
| bool | direct_wheel_vel_control |
| bool | print_all_packets |
| bool | print_status_summary |
| bool | save_settings_in_robot |
| int | param_idx |
| int | motor_max_speed |
| int | motor_max_turnspeed |
| int16_t | pid_trans_p |
| int16_t | pid_trans_v |
| int16_t | pid_trans_i |
| int16_t | pid_rot_p |
| int16_t | pid_rot_v |
| int16_t | pid_rot_i |
| uint16_t | motor_pwm_frequency |
| uint16_t | motor_pwm_max_on |
| bool | use_vel_band |
| short | motor_max_trans_accel |
| short | motor_max_trans_decel |
| short | motor_max_rot_accel |
| short | motor_max_rot_decel |
Member Function Documentation
| int Erratic::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_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, and player_msghdr::type.
| int Erratic::Setup | ( | void | ) | [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.
Reimplemented from Driver.
| int Erratic::Shutdown | ( | void | ) | [virtual] |
Finalize the driver.
This function is called with the last client unsubscribes.
- Returns:
- Returns 0 on success.
Reimplemented from Driver.
| int Erratic::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.
References Device::MatchDeviceAddress(), and Driver::Subscribe().
| int Erratic::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.
References Device::MatchDeviceAddress(), and Driver::Unsubscribe().
The documentation for this class was generated from the following files:
- erratic.h
- erratic.cc