ER Class Reference

Inheritance diagram for ER:

Collaboration diagram for ER:

Public Member Functions
	ER (ConfigFile *cf, int section)
int	SetVelocity (double lvel, double rvel)
void	Stop (int StopMode)
virtual void	Main ()
	Main method for driver thread. 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...
virtual int	ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data)
	Message handler. More...
void	Test ()
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...

Private Member Functions
int	InitOdom ()
int	InitRobot ()
int	WriteBuf (unsigned char *s, size_t len)
int	ReadBuf (unsigned char *s, size_t len)
int	SendCommand (unsigned char *cmd, int cmd_len, unsigned char *ret_val, int ret_len)
int	checksum_ok (unsigned char *buf, int len)
int	ComputeTickDiff (int from, int to)
int	ChangeMotorState (int state)
int	BytesToInt32 (unsigned char *ptr)
float	BytesToFloat (unsigned char *ptr)
void	UpdateOdom (int ltics, int rtics)
void	SpeedCommand (unsigned char address, double speed, int dir)
void	SetOdometry (long, long, long)
void	ResetOdometry ()
int	GetOdom (int *ltics, int *rtics)
int	GetBatteryVoltage (int *voltage)
int	GetRangeSensor (int s, float *val)
void	MotorSpeed ()
int	send_command (unsigned char address, unsigned char c, int ret_num, unsigned char *ret)
int	send_command_2_arg (unsigned char address, unsigned char c, int arg, int ret_num, unsigned char *ret)
int	send_command_4_arg (unsigned char address, unsigned char c, int arg, int ret_num, unsigned char *ret)

Private Attributes
player_er1_data_t	er1_data
player_devaddr_t	position_id
int	position_subscriptions
int *	_tc_num
int	_fd
const char *	_serial_port
bool	_fd_blocking
double	_axle_length
int	_motor_0_dir
int	_motor_1_dir
bool	_debug
bool	_need_to_set_speed
bool	_odom_initialized
bool	_stopped
int	_last_ltics
int	_last_rtics
double	_px
double	_py
double	_pa
int	_powered
int	_resting

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 ER::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_pose2d::pa, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, player_position2d_data::pos, player_pose2d::px, player_pose2d::py, player_position2d_data::stall, and player_position2d_data::vel.

Referenced by MainSetup().

MainQuit()

void ER::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 ER::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_cmd_car::angle, Message::MatchMessage(), player_pose2d::pa, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_MSGTYPE_RESP_NACK, PLAYER_POSITION2D_CMD_CAR, 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_geom::pose, player_position2d_set_odom_req::pose, player_pose2d::px, player_pose3d::px, player_pose2d::py, player_pose3d::py, player_pose3d::pyaw, player_position2d_geom::size, player_bbox3d::sl, player_position2d_power_config::state, player_msghdr::subtype, player_bbox3d::sw, player_position2d_cmd_vel::vel, and player_position2d_cmd_car::velocity.

Here is the call graph for this function:

---

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

• er.h
• er.cc