Inheritance diagram for snd:

Collaboration diagram for snd:

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

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...

void	WaitForNextGoal ()

void	SignalNextGoal (double goalX, double goalY, double goalA)

void	Read ()

void	ReadIfWaiting ()

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	Terminate ()
	Terminate the driver. More...

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

virtual void	MainQuit (void)
	Cleanup method for driver thread (called when main exits) 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
double	robot_radius

double	min_gap_width

double	obstacle_avoid_dist

double	max_speed

double	max_turn_rate

double	goal_position_tol

double	goal_angle_tol

double	goalX

double	goalY

double	goalA

pthread_t	algorithm_thread

pthread_mutex_t	goal_mutex

pthread_cond_t	goal_changed_cond

double	goal_changed

pthread_mutex_t	data_mutex

pthread_cond_t	data_changed_cond

double	data_changed

int	data_odometry_ready

int	data_laser_ready

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
void	SetSpeedCmd (player_position2d_cmd_vel_t cmd)

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...

Protected Attributes
player_pose2d_t	odom_pose

std::vector< double >	laser__ranges

double	laser__resolution

double	laser__max_range

uint32_t	laser__ranges_count

Private Member Functions
virtual void	Main ()
	Main method for driver thread. More...

int	Odometry_Setup ()

int	Laser_Setup ()

Private Attributes
player_devaddr_t	m_position_addr

player_devaddr_t	m_laser_addr

player_devaddr_t	laser_addr

player_devaddr_t	odom_in_addr

player_devaddr_t	odom_out_addr

Device *	laser_dev

Device *	odom_in_dev

Device *	odom_out_dev

player_position2d_geom_t	robot_geom

int	first_goal_has_been_set_to_init_position

Additional Inherited Members
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 snd::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.

Implements ThreadedDriver.

References PLAYER_MSG0, PLAYER_MSGTYPE_CMD, and PLAYER_POSITION2D_CMD_VEL.

◆ ProcessMessage()

int snd::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_msghdr::addr, Message::GetHeader(), Message::GetPayload(), Message::MatchMessage(), player_pose2d::pa, PLAYER_ERROR, PLAYER_LASER_DATA_SCAN, PLAYER_MSG0, PLAYER_MSG3, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_DATA, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_CMD_POS, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION2D_DATA_STATE, PLAYER_WARN1, player_position2d_cmd_pos::pos, player_pose2d::px, player_pose2d::py, player_msghdr::size, player_msghdr::subtype, player_msghdr::timestamp, player_msghdr::type, and player_position2d_cmd_vel::vel.

Here is the call graph for this function:

◆ Setup()

int snd::Setup ( )

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 ThreadedDriver.

References PLAYER_MSG0.

◆ Shutdown()

int snd::Shutdown ( )

virtual

Finalize the driver.

This function is called with the last client unsubscribes; the default version simple stops the driver thread if one is present. In this case resources should be cleaned up in MainQuit.

Returns: Returns 0 on success.

Reimplemented from ThreadedDriver.

References PLAYER_MSG0.

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

snd.h
snd.cc

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Member Function Documentation

◆ Main()

◆ ProcessMessage()

◆ Setup()

◆ Shutdown()