Inheritance diagram for ClodBuster:

Collaboration diagram for ClodBuster:

Public Member Functions
	ClodBuster (ConfigFile *cf, int section)

virtual void	Main ()
	Main method for driver thread. More...

int	ProcessMessage (QueuePointer &resp_queue, player_msghdr hdr, void data)
	Message handler. More...

virtual int	MainSetup ()
	Sets up the resources needed by the driver thread.

virtual void	MainQuit ()
	Cleanup method for driver thread (called when main exits) More...

unsigned char	SetServo (unsigned char chan, int value)

void	SetServo (unsigned char chan, unsigned char cmd)

Public Member Functions inherited from ThreadedDriver
	ThreadedDriver (ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interface_)
	Constructor with implicit interface. More...

	ThreadedDriver (ConfigFile *cf, int section, bool overwrite_cmds=true, size_t queue_maxlen=PLAYER_MSGQUEUE_DEFAULT_MAXLEN)
	Constructor for multiple-interface drivers. More...

virtual	~ThreadedDriver ()
	Destructor.

virtual int	Setup ()
	Initialize the driver. More...

virtual int	Shutdown ()
	Finalize the driver. More...

virtual int	Terminate ()
	Terminate the driver. More...

bool	Wait (double TimeOut=0.0)
	Wait for new data to arrive on the driver's queue. More...

virtual void	Update ()
	Update non-threaded drivers. More...

Public Member Functions inherited from Driver
bool	HasSubscriptions ()

virtual void	Publish (player_devaddr_t addr, QueuePointer &queue, uint8_t type, uint8_t subtype, void src=NULL, size_t deprecated=0, double timestamp=NULL, bool copy=true)
	Publish a message via one of this driver's interfaces. More...

virtual void	Publish (player_devaddr_t addr, uint8_t type, uint8_t subtype, void src=NULL, size_t deprecated=0, double timestamp=NULL, bool copy=true)
	Publish a message via one of this driver's interfaces. More...

virtual void	Publish (QueuePointer &queue, player_msghdr_t hdr, void src, bool copy=true)
	Publish a message via one of this driver's interfaces. More...

virtual void	Publish (player_msghdr_t hdr, void src, bool copy=true)
	Publish a message via one of this driver's interfaces. More...

	Driver (ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interf)
	Constructor for single-interface drivers. More...

	Driver (ConfigFile *cf, int section, bool overwrite_cmds=true, size_t queue_maxlen=PLAYER_MSGQUEUE_DEFAULT_MAXLEN)
	Constructor for multiple-interface drivers. More...

virtual	~Driver ()
	Destructor.

int	GetError ()
	Get last error value. More...

virtual int	Subscribe (player_devaddr_t addr)
	Subscribe to this driver. More...

virtual int	Subscribe (QueuePointer &, player_devaddr_t)
	Subscribe to this driver. More...

virtual int	Unsubscribe (player_devaddr_t addr)
	Unsubscribe from this driver. More...

virtual int	Unsubscribe (QueuePointer &, player_devaddr_t)
	Unsubscribe from this driver. More...

void	ProcessMessages (int maxmsgs)
	Process pending messages. More...

void	ProcessMessages (void)
	Process pending messages. More...

virtual int	ProcessInternalMessages (QueuePointer &resp_queue, player_msghdr hdr, void data)
	Internal message handler. More...

virtual bool	RegisterProperty (const char key, Property property, ConfigFile *cf, int section)
	Property registration. More...

virtual bool	RegisterProperty (Property property, ConfigFile cf, int section)
	Property registration. More...

Protected Attributes
int	motor_max_speed

int	motor_max_turnspeed

bool	use_vel_band

short	speedDemand

short	turnRateDemand

bool	newmotorspeed

bool	newmotorturn

Private Member Functions
void	ResetRawPositions ()

clodbuster_encoder_data_t	ReadEncoders ()

void	GetGraspBoardParams ()

void	IntegrateEncoders ()

void	DifferenceEncoders ()

Private Attributes
player_position2d_data_t	position_data

int	clodbuster_fd

char	clodbuster_serial_port [MAX_FILENAME_SIZE]

int	kp

int	ki

int	kd

bool	initdone

clodbuster_encoder_data_t	encoder_offset

clodbuster_encoder_data_t	encoder_measurement

clodbuster_encoder_data_t	old_encoder_measurement

float	EncV

float	EncOmega

float	EncVleft

float	EncVright

bool	direct_command_control

unsigned char	max_limits [SERVO_CHANNELS]

unsigned char	center_limits [SERVO_CHANNELS]

unsigned char	min_limits [SERVO_CHANNELS]

float	WheelRadius

float	WheelBase

float	WheelSeparation

unsigned int	CountsPerRev

float	Kenc

float	LoopFreq

PIDGains *	Kv

PIDGains *	Kw

Additional Inherited Members
Public Attributes inherited from Driver
QueuePointer	ret_queue
	Last requester's queue. More...

player_devaddr_t	device_addr
	Default device address (single-interface drivers)

int	entries
	Total number of entries in the device table using this driver. More...

bool	alwayson
	Always on flag. More...

QueuePointer	InQueue
	Queue for all incoming messages for this driver.

Protected Member Functions inherited from ThreadedDriver
virtual void	StartThread (void)

virtual void	StopThread (void)
	Cancel (and wait for termination) of the driver thread. More...

void	TestCancel ()
	enable thread cancellation and test for cancellation More...

Protected Member Functions inherited from Driver
int	AddInterface (player_devaddr_t addr)
	Add an interface. More...

int	AddInterface (player_devaddr_t addr, ConfigFile cf, int section, int code, const char *key=NULL)
	Add an interface. More...

void	SetError (int code)
	Set/reset error code.

int	AddFileWatch (int fd, bool ReadWatch=true, bool WriteWatch=false, bool ExceptWatch=true)
	Wake up the driver if the specified event occurs on the file descriptor.

int	RemoveFileWatch (int fd, bool ReadWatch=true, bool WriteWatch=false, bool ExceptWatch=true)
	Remove a previously added watch, call with the same arguments as when adding the watch.

virtual void	Lock (void)
	Lock access between the server and driver threads. More...

virtual void	Unlock (void)
	Unlock access to driver internals. More...

virtual void	SubscriptionLock (void)
	Lock to protect the subscription count for the driver.

virtual void	SubscriptionUnlock (void)
	Unlock to protect the subscription count for the driver. More...

Static Protected Member Functions inherited from ThreadedDriver
static void *	DummyMain (void *driver)
	Dummy main (just calls real main). More...

static void	DummyMainQuit (void *driver)
	Dummy main cleanup (just calls real main cleanup). More...

Member Function Documentation

◆ Main()

void ClodBuster::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 PLAYER_POSITION2D_DATA_STATE.

◆ MainQuit()

void ClodBuster::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.

◆ ProcessMessage()

int ClodBuster::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_position2d_speed_pid_req::kd, player_position2d_speed_pid_req::ki, player_position2d_speed_pid_req::kp, Message::MatchMessage(), player_pose2d::pa, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, 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_SPEED_PID, PLAYER_POSITION2D_REQ_VELOCITY_MODE, player_position2d_geom::pose, player_position2d_set_odom_req::pose, player_pose2d::px, player_pose3d::px, player_pose3d::py, player_pose3d::pyaw, player_msghdr::size, player_position2d_geom::size, player_bbox3d::sl, player_position2d_power_config::state, player_bbox3d::sw, player_position2d_velocity_mode_config::value, and player_position2d_cmd_vel::vel.

Here is the call graph for this function:

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

clodbuster.h
clodbuster.cc

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Member Function Documentation

◆ Main()

◆ MainQuit()

◆ ProcessMessage()