REB Class Reference
Inheritance diagram for REB:
Public Member Functions | |
| REB (ConfigFile *cf, int section) | |
| virtual void | Main () |
| Main method for driver thread. | |
| int | ProcessMessage (ClientData *client, player_msghdr *hdr, uint8_t *data, uint8_t *resp_data, size_t *resp_len) |
| virtual int | Subscribe (player_device_id_t id) |
| virtual int | Unsubscribe (player_device_id_t id) |
| virtual int | MainSetup () |
| Sets up the resources needed by the driver thread. | |
| virtual void | MainQuit () |
| Cleanup method for driver thread (called when main exits) | |
| void | Restart () |
| void | ReadConfig () |
| void | SetOdometry (int, int, short) |
| void | SetIRState (int) |
| void | UpdateData (void) |
| void | UpdateIRData (player_ir_data_t *) |
| void | UpdatePowerData (player_power_data_t *) |
| void | UpdatePosData (player_position_data_t *) |
| void | ConfigAD (int, int) |
| unsigned short | ReadAD (int) |
| void | ReadAllIR (uint16_t *ir) |
| void | SetSpeed (int, int) |
| int | ReadSpeed (int) |
| void | SetPos (int, int) |
| void | SetPosCounter (int, int) |
| int | ReadPos (int) |
| unsigned char | ReadStatus (int, int *, int *) |
| void | ConfigPosPID (int, int, int, int) |
| void | ConfigSpeedPID (int, int, int, int) |
| void | ConfigSpeedProfile (int, int, int) |
Private Member Functions | |
| int | write_serial (char *, int) |
| int | read_serial_until (char *, int, char *, int) |
| int | write_command (char *buf, int len, int maxsize) |
| int | ProcessCommand (player_position_cmd_t *poscmd) |
Private Attributes | |
| player_device_id_t | ir_id |
| player_device_id_t | position_id |
| player_device_id_t | power_id |
| int | ir_subscriptions |
| int | position_subscriptions |
| int | param_index |
| int | reb_fd |
| struct timeval | last_position |
| bool | refresh_last_position |
| int | last_lpos |
| int | last_rpos |
| int | last_x_f |
| int | last_y_f |
| double | last_theta |
| struct timeval | last_pos_update |
| struct timeval | last_power_update |
| struct timeval | last_ir_update |
| int | pos_update_period |
| int | current_heading |
| short | desired_heading |
| int | ir_sequence |
| struct timeval | last_ir |
| bool | motors_enabled |
| bool | velocity_mode |
| bool | direct_velocity_control |
| char | reb_serial_port [MAX_FILENAME_SIZE] |
| struct pollfd write_pfd | read_pfd |
| short | last_trans_command |
| short | last_rot_command |
| int | leftvel |
| int | rightvel |
| int | leftpos |
| int | rightpos |
Member Function Documentation
| void REB::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_MSGTYPE_DATA, and Driver::ProcessMessages().
| void REB::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.
The documentation for this class was generated from the following files:
- reb.h
- reb.cc