Inheritance diagram for SegwayRMP:

Collaboration diagram for SegwayRMP:

Public Member Functions
	SegwayRMP (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...

int	CanBusSetup ()
	Sets up the CAN bus for communication.

int	USBSetup ()
	Sets up the USB bus for communication.

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...

Protected Attributes
player_devaddr_t	position_id

player_position2d_data_t	position_data

player_devaddr_t	position3d_id

player_position3d_data_t	position3d_data

player_devaddr_t	power_base_id

player_power_data_t	power_base_data

player_devaddr_t	power_ui_id

player_power_data_t	power_ui_data

Private Member Functions
int	HandlePositionConfig (QueuePointer &resp_queue, uint32_t subtype, void *data, size_t len)

int	HandlePosition3DConfig (QueuePointer &resp_queue, uint32_t subtype, void *data, size_t len)

int	Read ()

int	CanBusRead ()

int	USBRead ()

int	Diff (uint32_t from, uint32_t to, bool first)

int	Write (CanPacket &pkt)

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

void	MakeStatusCommand (CanPacket *pkt, uint16_t cmd, uint16_t val)

void	MakeVelocityCommand (CanPacket *pkt, int32_t xspeed, int32_t yawspeed)

void	MakeShutdownCommand (CanPacket *pkt)

void	UpdateData (rmp_frame_t *)

Private Attributes
BusType	bus_type

const char *	portname

const char *	caniotype

const char *	usb_device

int	timeout_counter

float	max_xspeed

float	max_yawspeed

bool	firstread

DualCANIO *	canio

USBIO *	usbio

float	curr_xspeed

float	curr_yawspeed

float	last_xspeed

float	last_yawspeed

bool	speed_change

bool	motor_allow_enable

bool	motor_enabled

uint32_t	last_raw_yaw

uint32_t	last_raw_left

uint32_t	last_raw_right

uint32_t	last_raw_foreaft

double	odom_x

double	odom_y

double	odom_yaw

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 SegwayRMP::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.

@ TODO report better timestamps, possibly using time info from the RMP

Todo:: We are getting intermittent timeouts. Does not break functionality, but should be checked.

Implements ThreadedDriver.

References PLAYER_ERROR, PLAYER_MSG0, PLAYER_MSG2, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, PLAYER_POSITION3D_DATA_STATE, PLAYER_POWER_DATA_STATE, and PLAYER_WARN.

◆ MainQuit()

void SegwayRMP::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.

References PLAYER_MSG0.

◆ ProcessMessage()

int SegwayRMP::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