Plug-in driver for the e-puck robot, in conformity with Player version 2.1. More...

#include <epuckDriver.hpp>

Inheritance diagram for EpuckDriver:

Collaboration diagram for EpuckDriver:

Detailed Description

Plug-in driver for the e-puck robot, in conformity with Player version 2.1.

This class implements the player driver interface, and perform all comunication with the player-server. It must to have a pointer for each class that controls a e-puck device for which there are a player interface, and bind them with player-server.

Author: Renato Florentino Garcia

Date: November 2008

Public Member Functions
	EpuckDriver (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) More...

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

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

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

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 (QueuePointer &, player_devaddr_t)
	Subscribe to 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...

Static Public Member Functions
static Driver *	EpuckDriver_Init (ConfigFile *cf, int section)

Private Member Functions
virtual void	Main ()
	Main method for driver thread. More...

Private Attributes
const unsigned	EXPECTED_EPUCK_SIDE_VERSION

player_devaddr_t	position2dAddr

player_position2d_data_t	posData

std::auto_ptr< EpuckPosition2d >	epuckPosition2d

player_devaddr_t	irAddr

player_ir_data_t	irData

std::auto_ptr< EpuckIR >	epuckIR

player_devaddr_t	cameraAddr

player_camera_data_t	cameraData

std::auto_ptr< EpuckCamera >	epuckCamera

player_devaddr_t	ringLEDAddr [EpuckLEDs::RING_LEDS_NUM]

player_blinkenlight_data_t	ringLEDsData [EpuckLEDs::RING_LEDS_NUM]

player_devaddr_t	frontLEDAddr

player_blinkenlight_data_t	frontLEDData

player_devaddr_t	bodyLEDAddr

player_blinkenlight_data_t	bodyLEDData

std::auto_ptr< EpuckLEDs >	epuckLEDs

SerialPort *	serialPort

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 EpuckDriver::Main ( )

privatevirtual

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 EpuckCamera::GREY_SCALE_MODE, PLAYER_CAMERA_COMPRESS_RAW, PLAYER_CAMERA_DATA_STATE, PLAYER_CAMERA_FORMAT_MONO16, PLAYER_CAMERA_FORMAT_MONO8, PLAYER_CAMERA_FORMAT_RGB565, PLAYER_IR_DATA_RANGES, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, EpuckPosition2d::DynamicConfiguration::pose, EpuckIR::IRData::ranges, EpuckCamera::RGB_565_MODE, EpuckInterface::Triple::theta, EpuckPosition2d::DynamicConfiguration::velocity, EpuckIR::IRData::voltages, EpuckInterface::Triple::x, EpuckInterface::Triple::y, and EpuckCamera::YUV_MODE.

◆ MainQuit()

void EpuckDriver::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 EpuckDriver::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, player_blinkenlight_cmd_power::enable, EpuckPosition2d::BodyGeometry::height, Message::MatchMessage(), player_pose2d::pa, PLAYER_BLINKENLIGHT_CMD_POWER, PLAYER_ERROR, PLAYER_IR_REQ_POSE, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_POSITION2D_CMD_CAR, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION2D_REQ_GET_GEOM, PLAYER_POSITION2D_REQ_RESET_ODOM, PLAYER_POSITION2D_REQ_SET_ODOM, PLAYER_WARN, player_position2d_geom::pose, player_position2d_set_odom_req::pose, player_ir_pose::poses, player_ir_pose::poses_count, player_pose2d::px, player_pose3d::px, player_pose2d::py, player_pose3d::py, player_pose3d::pyaw, EpuckLEDs::RING_LEDS_NUM, player_position2d_geom::size, player_bbox3d::sl, player_bbox3d::sw, EpuckInterface::Triple::theta, player_position2d_cmd_vel::vel, player_position2d_cmd_car::velocity, EpuckPosition2d::BodyGeometry::width, EpuckInterface::Triple::x, and EpuckInterface::Triple::y.

Here is the call graph for this function:

◆ Subscribe()

int EpuckDriver::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 player_devaddr::interf.

◆ Unsubscribe()

int EpuckDriver::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 player_devaddr::interf.

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

epuckDriver.hpp
epuckDriver.cpp

Detailed Description

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Member Function Documentation

◆ Main()

◆ MainQuit()

◆ ProcessMessage()

◆ Subscribe()

◆ Unsubscribe()