SegwayRMP Class Reference

List of all members.

Public Member Functions

 SegwayRMP (ConfigFile *cf, int section)
virtual int Setup ()
 Initialize the driver.
virtual int Shutdown ()
 Finalize the driver.
virtual int ProcessMessage (MessageQueue *resp_queue, player_msghdr *hdr, void *data)
 Message handler.

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_id
player_power_data_t power_data

Member Function Documentation

int SegwayRMP::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

Todo:
Handle config requests

Reimplemented from Driver.

References player_msghdr::addr, player_devaddr::index, player_devaddr::interf, Message::MatchMessage(), player_pose::pa, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION3D_CMD_SET_VEL, player_pose3d::px, player_pose::px, player_pose3d::pyaw, player_msghdr::size, player_position3d_cmd_vel::state, player_position2d_cmd_vel::state, player_msghdr::subtype, player_msghdr::type, player_position3d_cmd_vel::vel, and player_position2d_cmd_vel::vel.

int SegwayRMP::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.

References PLAYER_ERROR, PLAYER_ERROR1, and PLAYER_MSG0.

int SegwayRMP::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 PLAYER_MSG0, and Driver::StopThread().


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

Last updated 12 September 2005 21:38:45