Inheritance diagram for wbr914:

Collaboration diagram for wbr914:

Public Member Functions
	wbr914 (ConfigFile *cf, int section)

virtual	~wbr914 ()
	Clean up any resources.

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...

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
bool	RecvBytes (unsigned char *s, int len)

int	ReadBuf (unsigned char *s, size_t len)

int	WriteBuf (unsigned char *s, size_t len)

int	sendCmdCom (unsigned char address, unsigned char c, int cmd_num, unsigned char arg, int ret_num, unsigned char ret)

int	sendCmd0 (unsigned char address, unsigned char c, int ret_num, unsigned char *ret)

int	sendCmd16 (unsigned char address, unsigned char c, int16_t arg, int ret_num, unsigned char *ret)

int	sendCmd32 (unsigned char address, unsigned char c, int32_t arg, int ret_num, unsigned char *ret)

int32_t	BytesToInt32 (unsigned char *ptr)

int16_t	BytesToInt16 (unsigned char *ptr)

int	ResetRawPositions ()

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

int	HandleCommand (player_msghdr hdr, void data)

void	HandleVelocityCommand (player_position2d_cmd_vel_t *cmd)

void	HandleDigitalOutCommand (player_dio_data_t *doutCmd)

void	SetDigitalData (player_dio_data_t *d)

void	GetAllData (void)

void	GetPositionData (player_position2d_data_t *d)

void	GetIRData (player_ir_data_t *d)

void	GetAnalogData (player_aio_data_t *d)

void	GetDigitalData (player_dio_data_t *d)

void	PublishData (void)

const char *	GetPMDErrorString (int rc)

int	InitRobot ()

void	UpdateM3 ()

void	Stop (int StopMode)

bool	EnableMotors (bool enable)

void	SetVelocity (uint8_t chan, float mps)

void	SetVelocity (float mpsL, float mpsR)

void	SetVelocityInTicks (int32_t left, int32_t right)

void	GetVelocityInTicks (int32_t left, int32_t right)

void	Move (uint8_t chan, float meters)

void	Move (float metersL, float metersR)

void	SetPosition (uint8_t chan, float meters)

void	SetPosition (float metersL, float metersR)

void	SetActualPositionInTicks (int32_t left, int32_t right)

void	SetActualPosition (float left, float right)

void	GetPositionInTicks (int32_t left, int32_t right)

void	SetAccelerationProfile ()

void	StopRobot ()

int	GetAnalogSensor (int s, short *val)

void	GetDigitalIn (unsigned short *digIn)

void	SetDigitalOut (unsigned short digOut)

void	SetOdometry (player_position2d_set_odom_req_t *od)

void	SetContourMode (ProfileMode_t prof)

void	SetMicrosteps ()

int32_t	Meters2Ticks (float meters)

float	Ticks2Meters (int32_t ticks)

int32_t	MPS2Vel (float mps)

float	Vel2MPS (int32_t vel)

Private Attributes
struct termios	_old_tio

bool	_tioChanged

int	_fd

bool	_fd_blocking

const char *	_serial_port

int	_baud

player_data_t	_data

player_devaddr_t	position_id

player_devaddr_t	ir_id

player_devaddr_t	aio_id

player_devaddr_t	dio_id

int	position_subscriptions

int	ir_subscriptions

int	aio_subscriptions

int	dio_subscriptions

int	param_idx

int	direct_wheel_vel_control

player_position2d_cmd_vel_t	last_position_cmd

int	motor_max_speed

int	motor_max_turnspeed

short	motor_max_trans_accel

short	motor_max_trans_decel

short	motor_max_rot_accel

short	motor_max_rot_decel

player_position2d_geom_t	_robot2d_geom

player_position3d_geom_t	_robot3d_geom

player_ir_pose_t	_ir_geom

int32_t	last_lpos

int32_t	last_rpos

double	_x

double	_y

double	_yaw

bool	_stopped

bool	_motorsEnabled

int	_debug

int	_usCycleTime

double	_velocityK

double	_positionK

int	_percentTorque

uint16_t	_lastDigOut

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 wbr914::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 PLAYER_MSG0.

◆ MainQuit()

void wbr914::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 wbr914::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