Inheritance diagram for Khepera:

Collaboration diagram for Khepera:

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

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

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...

int	ResetOdometry ()

void	SetIRState (int)

void	UpdateData (void)

void	UpdateIRData (player_ir_data_t *)

void	UpdatePosData (player_position2d_data_t *)

unsigned short	ReadAD (int)

int	ReadAllIR (player_ir_data_t *)

int	SetSpeed (int, int)

int	ReadSpeed (int , int )

int	SetPos (int, int)

int	SetPosCounter (int, int)

int	ReadPos (int , int )

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

Private Attributes
player_devaddr_t	ir_addr

player_devaddr_t	position_addr

int	position_subscriptions

int	ir_subscriptions

KheperaSerial *	Serial

player_khepera_geom_t *	geometry

int	param_index

int	khepera_fd

struct timeval	last_position

bool	refresh_last_position

int	last_lpos

int	last_rpos

double	x

double	y

double	yaw

int	last_x_f

int	last_y_f

double	last_theta

struct timeval	last_pos_update

struct timeval	last_ir_update

int	pos_update_period

short	desired_heading

int	ir_sequence

struct timeval	last_ir

bool	motors_enabled

bool	velocity_mode

bool	direct_velocity_control

char	khepera_serial_port [MAX_FILENAME_SIZE]

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 Khepera::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_IR_DATA_RANGES, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, player_position2d_data::pos, Driver::ProcessMessages(), Driver::Publish(), player_pose2d::px, player_pose2d::py, player_ir_data::ranges, player_ir_data::ranges_count, player_position2d_data::vel, player_ir_data::voltages, and player_ir_data::voltages_count.

Here is the call graph for this function:

◆ MainQuit()

void Khepera::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 Khepera::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