Public Member Functions | |
Khepera (ConfigFile *cf, int section) | |
virtual void | Main () |
Main method for driver thread. | |
virtual int | Subscribe (player_devaddr_t addr) |
Subscribe to this driver. | |
virtual int | Unsubscribe (player_devaddr_t addr) |
Unsubscribe from this driver. | |
virtual int | MainSetup () |
Sets up the resources needed by the driver thread. | |
virtual void | MainQuit () |
Cleanup method for driver thread (called when main exits) | |
int | ResetOdometry () |
void | SetIRState (int) |
void | UpdateData (void) |
void | UpdateIRData (player_ir_data_t *) |
void | UpdatePosData (player_position2d_data_t *) |
unsigned short | ReadAD (int) |
int | ReadAllIR (player_ir_data_t *) |
int | SetSpeed (int, int) |
int | ReadSpeed (int *, int *) |
int | SetPos (int, int) |
int | SetPosCounter (int, int) |
int | ReadPos (int *, int *) |
int | ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data) |
Message handler. | |
Private Attributes | |
player_devaddr_t | ir_addr |
player_devaddr_t | position_addr |
int | position_subscriptions |
int | ir_subscriptions |
KheperaSerial * | Serial |
player_khepera_geom_t * | geometry |
int | param_index |
int | khepera_fd |
struct timeval | last_position |
bool | refresh_last_position |
int | last_lpos |
int | last_rpos |
double | x |
double | y |
double | yaw |
int | last_x_f |
int | last_y_f |
double | last_theta |
struct timeval | last_pos_update |
struct timeval | last_ir_update |
int | pos_update_period |
short | desired_heading |
int | ir_sequence |
struct timeval | last_ir |
bool | motors_enabled |
bool | velocity_mode |
bool | direct_velocity_control |
char | khepera_serial_port [MAX_FILENAME_SIZE] |
void Khepera::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 Driver::ProcessMessages().
void Khepera::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.
int Khepera::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
resp_queue | The queue to which any response should go. |
hdr | The message header |
data | The message body |
Reimplemented from Driver.
References Message::MatchMessage(), PLAYER_MSGTYPE_REQ, PLAYER_IR_REQ_POSE, Driver::Publish(), PLAYER_MSGTYPE_RESP_ACK, player_msghdr::subtype, PLAYER_MSGTYPE_CMD, PLAYER_POSITION2D_CMD_VEL, player_position2d_cmd_vel::vel, player_pose2d::px, player_pose2d::pa, PLAYER_POSITION2D_REQ_GET_GEOM, PLAYER_POSITION2D_REQ_MOTOR_POWER, PLAYER_POSITION2D_REQ_VELOCITY_MODE, PLAYER_POSITION2D_REQ_RESET_ODOM, PLAYER_POSITION2D_REQ_SET_ODOM, and PLAYER_MSGTYPE_RESP_NACK.
int Khepera::Subscribe | ( | player_devaddr_t | addr | ) | [virtual] |
Subscribe to this driver.
The Subscribe() and Unsubscribe() methods are used to control subscriptions to the driver; a driver MAY override them, but usually won't.
addr | Address of the device to subscribe to (the driver may have more than one interface). |
Reimplemented from Driver.
References Driver::Subscribe(), and player_devaddr::interf.
int Khepera::Unsubscribe | ( | player_devaddr_t | addr | ) | [virtual] |
Unsubscribe from this driver.
The Subscribe() and Unsubscribe() methods are used to control subscriptions to the driver; a driver MAY override them, but usually won't.
addr | Address of the device to unsubscribe from (the driver may have more than one interface). |
Reimplemented from Driver.
References Driver::Unsubscribe(), and player_devaddr::interf.