Khepera Class Reference

Inheritance diagram for Khepera:

List of all members.

Public Member Functions
	Khepera (ConfigFile *cf, int section)
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	MainSetup ()
	Sets up the resources needed by the driver thread.
virtual void	MainQuit ()
	Cleanup method for driver thread (called when main exits)
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
struct 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
struct timeval	last_pos_update
struct timeval	last_ir_update
int	pos_update_period
short	desired_heading
int	ir_sequence
struct timeval	last_ir
bool	motors_enabled
bool	velocity_mode
bool	direct_velocity_control
char	khepera_serial_port [MAX_FILENAME_SIZE]

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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.

Implements ThreadedDriver.

References Driver::ProcessMessages().

void Khepera::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 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.

References Message::MatchMessage(), 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, Driver::Publish(), player_pose2d::px, player_msghdr::subtype, and player_position2d_cmd_vel::vel.

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.

References player_devaddr::interf, and Driver::Subscribe().

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.

References player_devaddr::interf, and Driver::Unsubscribe().

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

• khepera.h
• khepera.cc