Public Member Functions | |
| SegwayRMP (ConfigFile *cf, int section) | |
| 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. | |
| int | CanBusSetup () |
| Sets up the CAN bus for communication. | |
| int | USBSetup () |
| Sets up the USB bus for communication. | |
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_base_id |
| player_power_data_t | power_base_data |
| player_devaddr_t | power_ui_id |
| player_power_data_t | power_ui_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 | CanBusRead () |
| int | USBRead () |
| 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 | |
| BusType | bus_type |
| const char * | portname |
| const char * | caniotype |
| const char * | usb_device |
| int | timeout_counter |
| float | max_xspeed |
| float | max_yawspeed |
| bool | firstread |
| DualCANIO * | canio |
| USBIO * | usbio |
| float | curr_xspeed |
| float | curr_yawspeed |
| float | last_xspeed |
| float | last_yawspeed |
| bool | speed_change |
| 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
| 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.
@ TODO report better timestamps, possibly using time info from the RMP
- Todo:
- We are getting intermittent timeouts. Does not break functionality, but should be checked.
Implements ThreadedDriver.
References PLAYER_ERROR, PLAYER_MSG0, PLAYER_MSG2, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, PLAYER_POSITION3D_DATA_STATE, PLAYER_POWER_DATA_STATE, PLAYER_WARN, Driver::ProcessMessages(), and Driver::Publish().
| void SegwayRMP::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.
References PLAYER_MSG0.
| 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
- Todo:
- Handle config requests
Reimplemented from Driver.
References player_msghdr::addr, player_devaddr::index, player_devaddr::interf, Message::MatchMessage(), player_pose2d::pa, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION3D_CMD_SET_VEL, player_pose3d::px, player_pose2d::px, player_pose3d::pyaw, player_msghdr::size, player_position3d_cmd_vel::state, player_position2d_cmd_vel::state, player_msghdr::subtype, player_msghdr::type, player_position3d_cmd_vel::vel, and player_position2d_cmd_vel::vel.
| void SegwayRMP::UpdateData | ( | rmp_frame_t * | data_frame | ) | [private] |
TODO left off here
References player_pose2d::pa, PLAYER_POWER_MASK_VOLTS, player_position3d_data::pos, player_position2d_data::pos, player_pose3d::ppitch, player_pose3d::proll, player_pose3d::px, player_pose2d::px, player_pose3d::py, player_pose2d::py, player_pose3d::pyaw, player_pose3d::pz, player_position3d_data::stall, player_position2d_data::stall, player_power_data::valid, player_position3d_data::vel, player_position2d_data::vel, and player_power_data::volts.
The documentation for this class was generated from the following files:
- segwayrmp.h
- segwayrmp.cc