Inheritance diagram for P2OS:

Collaboration diagram for P2OS:

Public Member Functions
	P2OS (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 ()
	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	CMUcamReset (bool doLock=true)

void	CMUcamTrack (int rmin=0, int rmax=0, int gmin=0, int gmax=0, int bmin=0, int bmax=0)

void	CMUcamStartTracking (bool doLock=true)

void	CMUcamStopTracking (bool doLock=true)

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 Member Functions
int	SendReceive (P2OSPacket *pkt, bool publish_data=true)

void	ResetRawPositions ()

void	ToggleSonarPower (unsigned char val)

void	ToggleMotorPower (unsigned char val)

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

int	HandleCommand (player_msghdr hdr, void data)

void	StandardSIPPutData (double timestampStandardSIP)

void	GyroPutData (double timestampGyro)

void	BlobfinderPutData (double timestampSERAUX)

void	ActarrayPutData (double timestampArm)

void	HandlePositionCommand (player_position2d_cmd_vel_t position_cmd)

int	HandleGripperCommand (player_msghdr hdr, void data)

int	HandleLiftCommand (player_msghdr hdr, void data)

int	HandleArmGripperCommand (player_msghdr hdr, void data)

void	HandleAudioCommand (player_audio_sample_item_t audio_cmd)

void	get_ptz_packet (int s1, int s2=0)

int	SetupPtz ()

void	OpenGripper (void)

void	CloseGripper (void)

void	StopGripper (void)

void	OpenArmGripper (void)

void	CloseArmGripper (void)

void	StopArmGripper (void)

double	TicksToDegrees (int joint, unsigned char ticks)

unsigned char	DegreesToTicks (int joint, double degrees)

double	TicksToRadians (int joint, unsigned char ticks)

unsigned char	RadiansToTicks (int joint, double rads)

double	RadsPerSectoSecsPerTick (int joint, double speed)

double	SecsPerTicktoRadsPerSec (int joint, double secs)

void	ToggleActArrayPower (unsigned char val, bool lock=true)

void	SetActArrayJointSpeed (int joint, double speed)

void	HandleActArrayPosCmd (player_actarray_position_cmd_t cmd)

void	HandleActArrayHomeCmd (player_actarray_home_cmd_t cmd)

int	HandleActArrayCommand (player_msghdr hdr, void data)

void	HandleLimbHomeCmd (void)

void	HandleLimbStopCmd (void)

void	HandleLimbSetPoseCmd (player_limb_setpose_cmd_t cmd)

void	HandleLimbSetPositionCmd (player_limb_setposition_cmd_t cmd)

void	HandleLimbVecMoveCmd (player_limb_vecmove_cmd_t cmd)

int	HandleLimbCommand (player_msghdr hdr, void data)

int	SendCommand (unsigned char *str, int len)

int	SendRequest (unsigned char str, int len, unsigned char reply, uint8_t camera=1)

void	PrintPacket (char str, unsigned char cmd, int len)

int	SendAbsPanTilt (int pan, int tilt)

int	setDefaultTiltRange ()

int	GetAbsPanTilt (int pan, int tilt)

int	GetAbsZoom (int *zoom)

int	SendAbsZoom (int zoom)

int	read_ptz (unsigned char *reply, int size)

int	ReceiveCommandAnswer (int asize)

int	ReceiveRequestAnswer (unsigned char *data, int s1, int s2)

int	setControlMode ()

int	setNotifyCommand ()

int	setPower (int on)

int	setOnScreenOff ()

int	CheckHostControlMode ()

int	sendInit ()

int	GetMaxZoom (int *maxzoom)

void	SendPulse (void)

Private Attributes
player_p2os_data_t	p2os_data

player_devaddr_t	position_id

player_devaddr_t	sonar_id

player_devaddr_t	aio_id

player_devaddr_t	dio_id

player_devaddr_t	gripper_id

player_devaddr_t	lift_id

player_devaddr_t	bumper_id

player_devaddr_t	power_id

player_devaddr_t	compass_id

player_devaddr_t	gyro_id

player_devaddr_t	blobfinder_id

player_devaddr_t	audio_id

player_devaddr_t	actarray_id

player_devaddr_t	limb_id

player_devaddr_t	ptz_id

player_devaddr_t	armgripper_id

bool	sentGripperCmd

uint8_t	lastGripperCmd

uint8_t	lastLiftCmd

player_actarray_position_cmd_t	lastLiftPosCmd

bool	sentArmGripperCmd

uint8_t	lastArmGripperCmd

uint8_t	lastActArrayCmd

player_actarray_position_cmd_t	lastActArrayPosCmd

player_actarray_home_cmd_t	lastActArrayHomeCmd

bool	sent_audio_cmd

player_audio_sample_item_t	last_audio_cmd

int	rot_kp

int	rot_kv

int	rot_ki

int	trans_kp

int	trans_kv

int	trans_ki

int	position_subscriptions

int	sonar_subscriptions

int	actarray_subscriptions

int	ptz_subscriptions

SIP *	sippacket

player_pose3d_t	gripperPose

player_bbox3d_t	gripperOuterSize

player_bbox3d_t	gripperInnerSize

player_bbox3d_t	armGripperOuterSize

player_bbox3d_t	armGripperInnerSize

double	aaLengths [6]

double	aaOrients [18]

double	aaAxes [18]

player_point_3d_t	aaBasePos

player_orientation_3d_t	aaBaseOrient

KineCalc *	kineCalc

float	armOffsetX

float	armOffsetY

float	armOffsetZ

player_limb_data_t	limb_data

int	param_idx

int	direct_wheel_vel_control

int	psos_fd

const char *	psos_serial_port

bool	psos_use_tcp

const char *	psos_tcp_host

int	psos_tcp_port

struct timeval	lastblob_tv

int	motor_max_speed

int	motor_max_turnspeed

bool	use_vel_band

short	motor_max_trans_accel

short	motor_max_trans_decel

short	motor_max_rot_accel

short	motor_max_rot_decel

int	radio_modemp

int	joystickp

int	bumpstall

bool	ignore_checksum

player_ptz_data_t	ptz_data

int	maxfov

int	minfov

int	maxzoom

int	pandemand

int	tiltdemand

int	zoomdemand

circbuf	cb

float	pulse

double	lastPulseTime

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 P2OS::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 PlayerCc::min(), PLAYER_LIMB_STATE_COLL, PLAYER_LIMB_STATE_IDLE, PLAYER_LIMB_STATE_MOVING, and PLAYER_LIMB_STATE_OOR.

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◆ MainQuit()

void P2OS::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 P2OS::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.

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◆ Subscribe()

int P2OS::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 P2OS::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(), PLAYER_ACTARRAY_DATA_STATE, PLAYER_AIO_DATA_STATE, PLAYER_BLOBFINDER_DATA_BLOBS, PLAYER_BUMPER_DATA_STATE, PLAYER_DIO_DATA_VALUES, PLAYER_GRIPPER_DATA_STATE, PLAYER_LIMB_DATA_STATE, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, PLAYER_POWER_DATA_STATE, PLAYER_PTZ_DATA_STATE, PLAYER_SONAR_DATA_RANGES, and Driver::Unsubscribe().

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

p2os.h
p2os.cc

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Member Function Documentation

◆ Main()

◆ MainQuit()

◆ ProcessMessage()

◆ Subscribe()

◆ Unsubscribe()