Private Attributes | List of all members
SegwayRMP400 Class Reference

SegwayRMP400 Position Driver. More...

#include <segwayrmp400.h>

Inheritance diagram for SegwayRMP400:
ThreadedDriver Driver

Private Attributes

Devicesegwayrmp2d [2]
 child segwayrmp200 devices for 2d subsrciption
 
Devicesegwayrmp3d [2]
 child segwayrmp200 devices for 3d subsrciption
 
player_devaddr_t segwayrmp2d_id [2]
 2d Position Interface Address (Output)
 
player_devaddr_t segwayrmp3d_id [2]
 3d Position Interface Address (Output)
 
player_devaddr_t position3d_id
 3d Position Interface Address (Input)
 
player_devaddr_t position2d_id
 2d Position Interface Address (Input)
 
player_position2d_data_t rmp2d_data [2]
 Incoming data from child segwayrmp200 devices 2d.
 
player_position3d_data_t rmp3d_data [2]
 Incoming data from child segwayrmp200 devices 3d.
 
player_position2d_data_t position2d_data
 Output data for parent segwayrmp400 device 2d.
 
player_position2d_cmd_vel_t position2d_cmd
 Output cmd for parent segwayrmp400 device 2d.
 
player_position3d_data_t position3d_data
 Output data for parent segwayrmp400 device 3d.
 
player_position3d_cmd_vel_t position3d_cmd
 Output cmd for parent segwayrmp400 device 3d.
 
bool provide_2d
 Provide 2d interface Flag.
 
bool provide_3d
 Provide 3d interface Flag.
 
int counter
 
bool newfront3d
 Flags for new data.
 
bool newback3d
 
bool newfront2d
 
bool newback2d
 
bool fullspeed
 Flag for full speed data reporting.
 
 SegwayRMP400 (ConfigFile *cf, int section)
 Standard Constructor.
 
virtual int MainSetup ()
 Initialize (Player Standard)
 
virtual void MainQuit ()
 Shutdown (Player Standard)
 
void Main ()
 Main.
 
int ProcessMessage (QueuePointer &resp_queue, player_msghdr_t *hdr, void *data)
 Process message function (Player Standard)
 
void ProcessData ()
 Packages position data and publishes. More...
 
int HandlePosition3DCmd (player_position3d_cmd_vel_t *cmd)
 Internal method to handle position 3D commands.
 
int HandlePosition2DCmd (player_position2d_cmd_vel_t *cmd)
 Internal method to handle position 2D commands.
 

Additional Inherited Members

- Public Member Functions inherited from ThreadedDriver
 ThreadedDriver (ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interf)
 Constructor with implicit interface. More...
 
 ThreadedDriver (ConfigFile *cf, int section, bool overwrite_cmds=true, size_t queue_maxlen=PLAYER_MSGQUEUE_DEFAULT_MAXLEN)
 Constructor for multiple-interface drivers. More...
 
virtual ~ThreadedDriver ()
 Destructor.
 
virtual int Setup ()
 Initialize the driver. More...
 
virtual int Shutdown ()
 Finalize the driver. More...
 
virtual int Terminate ()
 Terminate the driver. More...
 
bool Wait (double TimeOut=0.0)
 Wait for new data to arrive on the driver's queue. More...
 
virtual void Update ()
 Update non-threaded drivers. More...
 
- Public Member Functions inherited from Driver
bool HasSubscriptions ()
 
virtual void Publish (player_devaddr_t addr, QueuePointer &queue, uint8_t type, uint8_t subtype, void *src=NULL, size_t deprecated=0, double *timestamp=NULL, bool copy=true)
 Publish a message via one of this driver's interfaces. More...
 
virtual void Publish (player_devaddr_t addr, uint8_t type, uint8_t subtype, void *src=NULL, size_t deprecated=0, double *timestamp=NULL, bool copy=true)
 Publish a message via one of this driver's interfaces. More...
 
virtual void Publish (QueuePointer &queue, player_msghdr_t *hdr, void *src, bool copy=true)
 Publish a message via one of this driver's interfaces. More...
 
virtual void Publish (player_msghdr_t *hdr, void *src, bool copy=true)
 Publish a message via one of this driver's interfaces. More...
 
 Driver (ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interf)
 Constructor for single-interface drivers. More...
 
 Driver (ConfigFile *cf, int section, bool overwrite_cmds=true, size_t queue_maxlen=PLAYER_MSGQUEUE_DEFAULT_MAXLEN)
 Constructor for multiple-interface drivers. More...
 
virtual ~Driver ()
 Destructor.
 
int GetError ()
 Get last error value. More...
 
virtual int Subscribe (player_devaddr_t addr)
 Subscribe to this driver. More...
 
virtual int Subscribe (QueuePointer &queue, player_devaddr_t addr)
 Subscribe to this driver. More...
 
virtual int Unsubscribe (player_devaddr_t addr)
 Unsubscribe from this driver. More...
 
virtual int Unsubscribe (QueuePointer &queue, player_devaddr_t addr)
 Unsubscribe from this driver. More...
 
void ProcessMessages (int maxmsgs)
 Process pending messages. More...
 
void ProcessMessages (void)
 Process pending messages. More...
 
virtual int ProcessInternalMessages (QueuePointer &resp_queue, player_msghdr *hdr, void *data)
 Internal message handler. More...
 
virtual bool RegisterProperty (const char *key, Property *prop, ConfigFile *cf, int section)
 Property registration. More...
 
virtual bool RegisterProperty (Property *prop, ConfigFile *cf, int section)
 Property registration. More...
 
- Public Attributes inherited from Driver
QueuePointer ret_queue
 Last requester's queue. More...
 
player_devaddr_t device_addr
 Default device address (single-interface drivers)
 
int entries
 Total number of entries in the device table using this driver. More...
 
bool alwayson
 Always on flag. More...
 
QueuePointer InQueue
 Queue for all incoming messages for this driver.
 
- Protected Member Functions inherited from ThreadedDriver
virtual void StartThread (void)
 
virtual void StopThread (void)
 Cancel (and wait for termination) of the driver thread. More...
 
void TestCancel ()
 enable thread cancellation and test for cancellation More...
 
- Protected Member Functions inherited from Driver
int AddInterface (player_devaddr_t addr)
 Add an interface. More...
 
int AddInterface (player_devaddr_t *addr, ConfigFile *cf, int section, int code, const char *key=NULL)
 Add an interface. More...
 
void SetError (int code)
 Set/reset error code.
 
int AddFileWatch (int fd, bool ReadWatch=true, bool WriteWatch=false, bool ExceptWatch=true)
 Wake up the driver if the specified event occurs on the file descriptor.
 
int RemoveFileWatch (int fd, bool ReadWatch=true, bool WriteWatch=false, bool ExceptWatch=true)
 Remove a previously added watch, call with the same arguments as when adding the watch.
 
virtual void Lock (void)
 Lock access between the server and driver threads. More...
 
virtual void Unlock (void)
 Unlock access to driver internals. More...
 
virtual void SubscriptionLock (void)
 Lock to protect the subscription count for the driver.
 
virtual void SubscriptionUnlock (void)
 Unlock to protect the subscription count for the driver. More...
 
- Static Protected Member Functions inherited from ThreadedDriver
static void * DummyMain (void *driver)
 Dummy main (just calls real main). More...
 
static void DummyMainQuit (void *driver)
 Dummy main cleanup (just calls real main cleanup). More...
 

Detailed Description

SegwayRMP400 Position Driver.

Member Function Documentation

◆ ProcessData()

void SegwayRMP400::ProcessData ( )
private

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

Last updated 12 September 2005 21:38:45