snd_Proxy Class Reference

Inheritance diagram for snd_Proxy:

Collaboration diagram for snd_Proxy:

Public Member Functions
double	GetScanRes ()
double	GetMaxRange ()
uint32_t	GetCount ()
double	range (const int index)
void	SetMotorEnable (int turnkey)
void	SetOdometry (double position_x0, double position_y0, double position_alpha0)
double	GetXPos ()
double	GetYPos ()
double	GetYaw ()
void	RequestGeom ()
void	SetSpeed (double velocity_modulus, double velocity_angle)
	snd_Proxy (ConfigFile *cf, int section)
Public Member Functions inherited from snd
	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...

Additional Inherited Members
Public Attributes inherited from snd
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 inherited from snd
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...
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...
Protected Attributes inherited from snd
player_pose2d_t	odom_pose
std::vector< double >	laser__ranges
double	laser__resolution
double	laser__max_range
uint32_t	laser__ranges_count

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

• snd.h
• snd.cc