GarciaDriver Class Reference
Public Member Functions | |
GarciaDriver (ConfigFile *cf, int section) | |
int | Setup () |
Initialize the driver. | |
int | Shutdown () |
Finalize the driver. | |
virtual void | Main () |
Main method for driver thread. | |
virtual int | ProcessMessage (MessageQueue *resp_queue, player_msghdr *hdr, void *data) |
Message handler. | |
void | ProcessPos2dPosCmd (player_msghdr_t *hdr, player_position2d_cmd_pos_t &data) |
void | ProcessPos2dVelCmd (player_msghdr_t *hdr, player_position2d_cmd_vel_t &data) |
void | ProcessSpeechCommand (player_msghdr_t *hdr, player_speech_cmd_t &data) |
void | ProcessDioCommand (player_msghdr_t *hdr, player_dio_cmd_t &data) |
void | ProcessPos2dGeomReq (player_msghdr_t *hdr) |
void | ProcessIrPoseReq (player_msghdr_t *hdr) |
void | RefreshData () |
Member Function Documentation
void GarciaDriver::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 GarciaDriver::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_DIO_CMD_VALUES, PLAYER_ERROR1, PLAYER_IR_POSE, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_DATA, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_CMD_POS, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION2D_REQ_GET_GEOM, PLAYER_SPEECH_CMD_SAY, player_msghdr::size, and player_msghdr::type.
int GarciaDriver::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 GarciaDriver::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().
The documentation for this class was generated from the following files:
- garcia_mixed.h
- garcia_mixed.cc