Inheritance diagram for Erratic:

Collaboration diagram for Erratic:

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

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

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

virtual void	Main ()
	Talking to the Player architecture.

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

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

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

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

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

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

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

int	Disconnect ()

void	ResetRawPositions ()

void	ToggleMotorPower (unsigned char val)

void	ToggleAIn (unsigned char val)

void	ToggleSonar (unsigned char val)

int	HandleConfig (QueuePointer &resp_queue, player_msghdr hdr, void data)

int	HandleCommand (player_msghdr hdr, void data)

void	HandlePositionCommand (player_position2d_cmd_vel_t position_cmd)

void	HandleCarCommand (player_position2d_cmd_car_t position_cmd)

void	HandlePtzCommand (player_ptz_cmd_t ptz_cmd, player_devaddr_t id)

void	PublishAllData ()

void	PublishPosition2D ()

void	PublishPower ()

void	PublishAIn ()

void	PublishIR ()

void	PublishSonar ()

float	IRRangeFromVoltage (float voltage)

float	IRFloorRange (float value)

void	StartThreads ()

void	StopThreads ()

void	Send (ErraticPacket *packet)

void	SendThread ()

void	ReceiveThread ()
	Talking to the robot.

Static Private Member Functions
static void *	SendThreadDummy (void *driver)

static void *	ReceiveThreadDummy (void *driver)

Private Attributes
int	mcount

player_erratic_data_t	erratic_data

player_devaddr_t	position_id

player_devaddr_t	power_id

player_devaddr_t	aio_id

player_devaddr_t	ir_id

player_devaddr_t	sonar_id

player_devaddr_t	ptz_id

player_devaddr_t	ptz2_id

int	position_subscriptions

int	aio_ir_subscriptions

int	sonar_subscriptions

int	ptz_subscriptions

int	ptz2_subscriptions

ErraticMotorPacket *	motor_packet

pthread_mutex_t	motor_packet_mutex

int	read_fd

int	write_fd

const char *	psos_serial_port

player_position2d_cmd_vel_t	last_position_cmd

player_position2d_cmd_car_t	last_car_cmd

std::queue< ErraticPacket * >	send_queue

pthread_mutex_t	send_queue_mutex

pthread_cond_t	send_queue_cond

pthread_t	send_thread

pthread_t	receive_thread

bool	direct_wheel_vel_control

bool	print_all_packets

bool	print_status_summary

bool	save_settings_in_robot

int	param_idx

int	motor_max_speed

int	motor_max_turnspeed

int16_t	pid_trans_p

int16_t	pid_trans_v

int16_t	pid_trans_i

int16_t	pid_rot_p

int16_t	pid_rot_v

int16_t	pid_rot_i

uint16_t	motor_pwm_frequency

uint16_t	motor_pwm_max_on

bool	use_vel_band

short	motor_max_trans_accel

short	motor_max_trans_decel

short	motor_max_rot_accel

short	motor_max_rot_decel

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 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.

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

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...

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

Member Function Documentation

◆ ProcessMessage()

int Erratic::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, Device::MatchDeviceAddress(), Message::MatchMessage(), player_pose2d::pa, player_ptz_cmd::pan, PLAYER_IR_REQ_POSE, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_POSITION2D_CMD_CAR, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION2D_CMD_VEL_HEAD, PLAYER_POSITION2D_REQ_GET_GEOM, PLAYER_POSITION2D_REQ_MOTOR_POWER, PLAYER_POSITION2D_REQ_RESET_ODOM, PLAYER_POSITION2D_REQ_SET_ODOM, PLAYER_POSITION2D_REQ_VELOCITY_MODE, PLAYER_PTZ_CMD_STATE, PLAYER_SONAR_DATA_GEOM, PLAYER_SONAR_REQ_GET_GEOM, PLAYER_WARN, player_position2d_geom::pose, player_position2d_set_odom_req::pose, player_sonar_geom::poses, player_ir_pose::poses, player_sonar_geom::poses_count, player_ir_pose::poses_count, Driver::Publish(), player_pose2d::px, player_pose3d::px, player_pose2d::py, 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_ptz_cmd::tilt, player_msghdr::type, player_position2d_velocity_mode_config::value, player_position2d_cmd_vel::vel, and player_position2d_cmd_car::velocity.

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◆ Setup()

int Erratic::Setup ( void )

virtual

Initialize the driver.

This function is called with the first client subscribes; it MUST be implemented by the driver.

Returns: Returns 0 on success.

Reimplemented from Driver.

◆ Shutdown()

int Erratic::Shutdown ( void )

virtual

Finalize the driver.

This function is called with the last client unsubscribes.

Returns: Returns 0 on success.

Reimplemented from Driver.

◆ Subscribe()

int Erratic::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(), and Driver::Subscribe().

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◆ Unsubscribe()

int Erratic::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(), and Driver::Unsubscribe().

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

erratic.h
erratic.cc

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Member Function Documentation

◆ ProcessMessage()

◆ Setup()

◆ Shutdown()

◆ Subscribe()

◆ Unsubscribe()