ER Class Reference

List of all members.

Public Member Functions

 ER (ConfigFile *cf, int section)
int SetVelocity (double lvel, double rvel)
void Stop (int StopMode)
virtual void Main ()
 Main method for driver thread.
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.

Member Function Documentation

void ER::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_pose::pa, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, player_position2d_data::pos, Driver::ProcessMessages(), Driver::Publish(), player_pose::px, player_pose::py, and player_position2d_data::vel.

int ER::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_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_geom::pose, Driver::Publish(), player_pose::px, player_pose::py, player_position2d_geom::size, player_bbox::sl, player_position2d_power_config::state, player_bbox::sw, and player_position2d_cmd_vel::vel.

int ER::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 ER::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:

Last updated 12 September 2005 21:38:45