Khepera Class Reference
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 | Setup () |
Initialize the driver. | |
virtual int | Shutdown () |
Finalize the driver. | |
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 (MessageQueue *resp_queue, player_msghdr *hdr, void *data) |
Message handler. |
Member Function Documentation
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.
Reimplemented from Driver.
References Driver::ProcessMessages().
int Khepera::ProcessMessage | ( | MessageQueue * | 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 Message::MatchMessage(), player_pose::pa, PLAYER_IR_POSE, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_MSGTYPE_RESP_NACK, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION2D_REQ_GET_GEOM, PLAYER_POSITION2D_REQ_MOTOR_POWER, PLAYER_POSITION2D_REQ_RESET_ODOM, PLAYER_POSITION2D_REQ_SET_ODOM, PLAYER_POSITION2D_REQ_VELOCITY_MODE, Driver::Publish(), player_pose::px, player_position2d_geom::size, player_msghdr::subtype, player_bbox::sw, and player_position2d_cmd_vel::vel.
int Khepera::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.
Implements Driver.
int Khepera::Shutdown | ( | ) | [virtual] |
Finalize the driver.
This function is called with the last client unsubscribes; it MUST be implemented by the driver.
- Returns:
- Returns 0 on success.
Implements Driver.
References Driver::StopThread().
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.
- Parameters:
-
addr Address of the device to subscribe to (the driver may have more than one interface).
- Returns:
- Returns 0 on success.
Reimplemented from Driver.
References player_devaddr::interf, PLAYER_IR_CODE, PLAYER_POSITION2D_CODE, and Driver::Subscribe().
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.
- Parameters:
-
addr Address of the device to unsubscribe from (the driver may have more than one interface).
- Returns:
- Returns 0 on success.
Reimplemented from Driver.
References player_devaddr::interf, PLAYER_IR_CODE, PLAYER_POSITION2D_CODE, and Driver::Unsubscribe().
The documentation for this class was generated from the following files:
- khepera.h
- khepera.cc