RFLEX Class Reference
Public Member Functions | |
RFLEX (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. | |
virtual void | StartThread (void) |
Start the driver thread. | |
virtual void | StopThread (void) |
Cancel (and wait for termination) of the driver thread. | |
int | ProcessMessage (MessageQueue *resp_queue, player_msghdr *hdr, void *data) |
Message handler. | |
Public Attributes | |
bool | ThreadAlive |
Static Public Attributes | |
static int | joy_control |
Member Function Documentation
void RFLEX::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 player_devaddr::interf, Driver::Lock(), player_pose::pa, PLAYER_AIO_DATA_STATE, PLAYER_BUMPER_DATA_STATE, PLAYER_DIO_DATA_VALUES, PLAYER_ERROR, PLAYER_IR_DATA_RANGES, PLAYER_MSG1, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, PLAYER_POWER_DATA_STATE, PLAYER_SONAR_DATA_GEOM, PLAYER_SONAR_DATA_RANGES, player_position2d_data::pos, player_sonar_geom::poses, player_sonar_geom::poses_count, Driver::ProcessMessages(), Driver::Publish(), player_pose::px, player_pose::py, and Driver::Unlock().
int RFLEX::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 player_bumper_geom::bumper_def, player_bumper_geom::bumper_def_count, Driver::Lock(), Message::MatchMessage(), player_pose::pa, PLAYER_BUMPER_GET_GEOM, PLAYER_IR_POSE, PLAYER_IR_POWER, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, 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, PLAYER_SONAR_REQ_GET_GEOM, PLAYER_SONAR_REQ_POWER, player_position2d_geom::pose, player_position2d_set_odom_req::pose, player_sonar_geom::poses, player_sonar_geom::poses_count, Driver::Publish(), player_pose::px, player_pose::py, player_position2d_geom::size, player_msghdr::size, player_bbox::sl, player_ir_power_req::state, player_msghdr::subtype, player_bbox::sw, and Driver::Unlock().
int RFLEX::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 StartThread().
int RFLEX::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 StopThread().
void RFLEX::StartThread | ( | void | ) | [virtual] |
Start the driver thread.
This method is usually called from the overloaded Setup() method to create the driver thread. This will call Main().
Reimplemented from Driver.
References Driver::driverthread, and Driver::DummyMain().
Referenced by Setup().
void RFLEX::StopThread | ( | void | ) | [virtual] |
Cancel (and wait for termination) of the driver thread.
This method is usually called from the overloaded Shutdown() method to terminate the driver thread.
Reimplemented from Driver.
References Driver::driverthread, Driver::Lock(), and Driver::Unlock().
Referenced by Shutdown().
int RFLEX::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_BUMPER_CODE, PLAYER_IR_CODE, PLAYER_POSITION2D_CODE, PLAYER_SONAR_CODE, and Driver::Subscribe().
int RFLEX::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_BUMPER_CODE, PLAYER_IR_CODE, PLAYER_POSITION2D_CODE, PLAYER_SONAR_CODE, and Driver::Unsubscribe().
The documentation for this class was generated from the following files:
- rflex.h
- rflex.cc