Inheritance diagram for SegwayRMP400:

Collaboration diagram for SegwayRMP400:

Private Attributes
Device *	segwayrmp2d [2]

Device *	segwayrmp3d [2]

player_devaddr_t	segwayrmp2d_id [2]

player_devaddr_t	segwayrmp3d_id [2]

player_devaddr_t	position3d_id

player_devaddr_t	position2d_id

player_position2d_data_t	rmp2d_data [2]

player_position3d_data_t	rmp3d_data [2]

player_position2d_data_t	position2d_data

player_position2d_cmd_vel_t	position2d_cmd

player_position3d_data_t	position3d_data

player_position3d_cmd_vel_t	position3d_cmd

bool	provide_2d

bool	provide_3d

int	counter

bool	newfront3d

bool	newback3d

bool	newfront2d

bool	newback2d

bool	fullspeed

	SegwayRMP400 (ConfigFile *cf, int section)

virtual int	MainSetup ()
	Sets up the resources needed by the driver thread. More...

virtual void	MainQuit ()
	Cleanup method for driver thread (called when main exits) More...

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

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

void	ProcessData ()

int	HandlePosition3DCmd (player_position3d_cmd_vel_t *cmd)

int	HandlePosition2DCmd (player_position2d_cmd_vel_t *cmd)

Additional Inherited Members
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...

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...

Constructor & Destructor Documentation

◆ SegwayRMP400()

SegwayRMP400::SegwayRMP400	(	ConfigFile *	cf,
		int	section
	)

Todo:: Add smarter approach to combine the data from both RMPs. For now, just average.

References ConfigFile::ReadDeviceAddr().

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Member Function Documentation

◆ HandlePosition2DCmd()

int SegwayRMP400::HandlePosition2DCmd ( player_position2d_cmd_vel_t * cmd )

private

Todo:: Add smarter approach to combine the data from both RMPs. For now, just average.

References Driver::InQueue, PLAYER_MSGTYPE_CMD, PLAYER_POSITION2D_CMD_VEL, and Device::PutMsg().

Referenced by ProcessMessage().

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◆ HandlePosition3DCmd()

int SegwayRMP400::HandlePosition3DCmd ( player_position3d_cmd_vel_t * cmd )

private

Todo:: Add smarter approach to combine the data from both RMPs. For now, just average.

References Driver::InQueue, PLAYER_MSGTYPE_CMD, PLAYER_POSITION3D_CMD_SET_VEL, and Device::PutMsg().

Referenced by ProcessMessage().

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◆ Main()

void SegwayRMP400::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:: Add smarter approach to combine the data from both RMPs. For now, just average.

Implements ThreadedDriver.

References ProcessData(), and Driver::ProcessMessages().

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◆ MainQuit()

void SegwayRMP400::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.

Todo:: Add smarter approach to combine the data from both RMPs. For now, just average.

Reimplemented from ThreadedDriver.

References Driver::InQueue, PLAYER_MSG0, and Driver::Unsubscribe().

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◆ MainSetup()

int SegwayRMP400::MainSetup ( void )

virtual

Sets up the resources needed by the driver thread.

Todo:: Add smarter approach to combine the data from both RMPs. For now, just average.

Reimplemented from ThreadedDriver.

References Driver::InQueue, PLAYER_ERROR1, PLAYER_MSG0, and Driver::Subscribe().

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◆ ProcessData()

void SegwayRMP400::ProcessData ( )

private

Todo:: Add smarter approach to combine the data from both RMPs. For now, just average.

References player_pose2d::pa, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, PLAYER_POSITION3D_DATA_STATE, player_position2d_data::pos, player_position3d_data::pos, player_pose3d::ppitch, player_pose3d::proll, Driver::Publish(), player_pose2d::px, player_pose3d::px, player_pose2d::py, player_pose3d::py, player_pose3d::pyaw, player_pose3d::pz, player_position2d_data::vel, and player_position3d_data::vel.

Referenced by Main().

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◆ ProcessMessage()

int SegwayRMP400::ProcessMessage	(	QueuePointer &	resp_queue,
		player_msghdr_t *	hdr,
		void *	data
	)

privatevirtual

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

Todo:: Add smarter approach to combine the data from both RMPs. For now, just average.

Reimplemented from Driver.

References player_msghdr::addr, Message::GetHeader(), Message::GetPayload(), HandlePosition2DCmd(), HandlePosition3DCmd(), Driver::InQueue, Message::MatchMessage(), PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_DATA, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION2D_DATA_STATE, PLAYER_POSITION2D_REQ_GET_GEOM, PLAYER_POSITION3D_CMD_SET_VEL, PLAYER_POSITION3D_DATA_STATE, player_position2d_geom::pose, Driver::Publish(), player_pose3d::px, player_pose3d::py, player_pose3d::pyaw, Device::Request(), player_msghdr::size, player_position2d_geom::size, player_bbox3d::sl, player_msghdr::subtype, player_bbox3d::sw, player_msghdr::timestamp, and player_msghdr::type.

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

segwayrmp400.h
segwayrmp400.cc

Private Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ SegwayRMP400()

Member Function Documentation

◆ HandlePosition2DCmd()

◆ HandlePosition3DCmd()

◆ Main()

◆ MainQuit()

◆ MainSetup()

◆ ProcessData()

◆ ProcessMessage()