Inheritance diagram for wbr914:

Public Member Functions
	wbr914 (ConfigFile *cf, int section)
virtual	~wbr914 ()
	Clean up any resources.
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 ()
	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.
Private Member Functions
bool	RecvBytes (unsigned char *s, int len)
int	ReadBuf (unsigned char *s, size_t len)
int	WriteBuf (unsigned char *s, size_t len)
int	sendCmdCom (unsigned char address, unsigned char c, int cmd_num, unsigned char arg, int ret_num, unsigned char ret)
int	sendCmd0 (unsigned char address, unsigned char c, int ret_num, unsigned char *ret)
int	sendCmd16 (unsigned char address, unsigned char c, int16_t arg, int ret_num, unsigned char *ret)
int	sendCmd32 (unsigned char address, unsigned char c, int32_t arg, int ret_num, unsigned char *ret)
int32_t	BytesToInt32 (unsigned char *ptr)
int16_t	BytesToInt16 (unsigned char *ptr)
int	ResetRawPositions ()
int	HandleConfig (QueuePointer &resp_queue, player_msghdr hdr, void data)
int	HandleCommand (player_msghdr hdr, void data)
void	HandleVelocityCommand (player_position2d_cmd_vel_t *cmd)
void	HandleDigitalOutCommand (player_dio_data_t *doutCmd)
void	SetDigitalData (player_dio_data_t *d)
void	GetAllData (void)
void	GetPositionData (player_position2d_data_t *d)
void	GetIRData (player_ir_data_t *d)
void	GetAnalogData (player_aio_data_t *d)
void	GetDigitalData (player_dio_data_t *d)
void	PublishData (void)
const char *	GetPMDErrorString (int rc)
int	InitRobot ()
void	UpdateM3 ()
void	Stop (int StopMode)
bool	EnableMotors (bool enable)
void	SetVelocity (uint8_t chan, float mps)
void	SetVelocity (float mpsL, float mpsR)
void	SetVelocityInTicks (int32_t left, int32_t right)
void	GetVelocityInTicks (int32_t left, int32_t right)
void	Move (uint8_t chan, float meters)
void	Move (float metersL, float metersR)
void	SetPosition (uint8_t chan, float meters)
void	SetPosition (float metersL, float metersR)
void	SetActualPositionInTicks (int32_t left, int32_t right)
void	SetActualPosition (float left, float right)
void	GetPositionInTicks (int32_t left, int32_t right)
void	SetAccelerationProfile ()
void	StopRobot ()
int	GetAnalogSensor (int s, short *val)
void	GetDigitalIn (unsigned short *digIn)
void	SetDigitalOut (unsigned short digOut)
void	SetOdometry (player_position2d_set_odom_req_t *od)
void	SetContourMode (ProfileMode_t prof)
void	SetMicrosteps ()
int32_t	Meters2Ticks (float meters)
float	Ticks2Meters (int32_t ticks)
int32_t	MPS2Vel (float mps)
float	Vel2MPS (int32_t vel)
Private Attributes
struct termios	_old_tio
bool	_tioChanged
int	_fd
bool	_fd_blocking
const char *	_serial_port
int	_baud
player_data_t	_data
player_devaddr_t	position_id
player_devaddr_t	ir_id
player_devaddr_t	aio_id
player_devaddr_t	dio_id
int	position_subscriptions
int	ir_subscriptions
int	aio_subscriptions
int	dio_subscriptions
int	param_idx
int	direct_wheel_vel_control
player_position2d_cmd_vel_t	last_position_cmd
int	motor_max_speed
int	motor_max_turnspeed
short	motor_max_trans_accel
short	motor_max_trans_decel
short	motor_max_rot_accel
short	motor_max_rot_decel
player_position2d_geom_t	_robot2d_geom
player_position3d_geom_t	_robot3d_geom
player_ir_pose_t	_ir_geom
int32_t	last_lpos
int32_t	last_rpos
double	_x
double	_y
double	_yaw
bool	_stopped
bool	_motorsEnabled
int	_debug
int	_usCycleTime
double	_velocityK
double	_positionK
int	_percentTorque
uint16_t	_lastDigOut

Member Function Documentation

void wbr914::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::InQueue, PLAYER_MSG0, and Driver::ProcessMessages().

void wbr914::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.

Referenced by ~wbr914().

int wbr914::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 wbr914::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().

int wbr914::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().

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

wbr914.h
wbr914.cc

Public Member Functions

Private Member Functions

Private Attributes

Member Function Documentation