SegwayRMP Class Reference

Public Member Functions | |
SegwayRMP (ConfigFile *cf, int section) | |
virtual int | MainSetup () |
Sets up the resources needed by the driver thread. | |
virtual void | MainQuit () |
Cleanup method for driver thread (called when main exits). | |
virtual int | ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data) |
Message handler. | |
int | CanBusSetup () |
Sets up the CAN bus for communication. | |
int | USBSetup () |
Sets up the USB bus for communication. | |
Protected Attributes | |
player_devaddr_t | position_id |
player_position2d_data_t | position_data |
player_devaddr_t | position3d_id |
player_position3d_data_t | position3d_data |
player_devaddr_t | power_base_id |
player_power_data_t | power_base_data |
player_devaddr_t | power_ui_id |
player_power_data_t | power_ui_data |
Private Member Functions | |
int | HandlePositionConfig (QueuePointer &resp_queue, uint32_t subtype, void *data, size_t len) |
int | HandlePosition3DConfig (QueuePointer &resp_queue, uint32_t subtype, void *data, size_t len) |
int | Read () |
int | CanBusRead () |
int | USBRead () |
int | Diff (uint32_t from, uint32_t to, bool first) |
int | Write (CanPacket &pkt) |
virtual void | Main () |
Main method for driver thread. | |
void | MakeStatusCommand (CanPacket *pkt, uint16_t cmd, uint16_t val) |
void | MakeVelocityCommand (CanPacket *pkt, int32_t xspeed, int32_t yawspeed) |
void | MakeShutdownCommand (CanPacket *pkt) |
void | UpdateData (rmp_frame_t *) |
Private Attributes | |
BusType | bus_type |
const char * | portname |
const char * | caniotype |
const char * | usb_device |
int | timeout_counter |
float | max_xspeed |
float | max_yawspeed |
bool | firstread |
DualCANIO * | canio |
USBIO * | usbio |
float | curr_xspeed |
float | curr_yawspeed |
float | last_xspeed |
float | last_yawspeed |
bool | speed_change |
bool | motor_allow_enable |
bool | motor_enabled |
uint32_t | last_raw_yaw |
uint32_t | last_raw_left |
uint32_t | last_raw_right |
uint32_t | last_raw_foreaft |
double | odom_x |
double | odom_y |
double | odom_yaw |
Member Function Documentation
void SegwayRMP::Main | ( | ) | [private, 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.
@ TODO report better timestamps, possibly using time info from the RMP
- Todo:
- We are getting intermittent timeouts. Does not break functionality, but should be checked.
Implements ThreadedDriver.
References Driver::ProcessMessages(), and Driver::Publish().
void SegwayRMP::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 SegwayRMP::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
- Todo:
- Handle config requests
Reimplemented from Driver.
References Message::MatchMessage().
void SegwayRMP::UpdateData | ( | rmp_frame_t * | data_frame | ) | [private] |
TODO left off here
The documentation for this class was generated from the following files:
- segwayrmp.h
- segwayrmp.cc