Inheritance diagram for RFLEX:

Collaboration diagram for RFLEX:

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 void	MainQuit ()
	Cleanup method for driver thread (called when main exits)

int	ProcessMessage (QueuePointer &resp_queue, player_msghdr hdr, void data)
	Message handler.

Public Member Functions inherited from ThreadedDriver
	ThreadedDriver (ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interface_)
	Constructor with implicit interface.

	ThreadedDriver (ConfigFile *cf, int section, bool overwrite_cmds=true, size_t queue_maxlen=PLAYER_MSGQUEUE_DEFAULT_MAXLEN)
	Constructor for multiple-interface drivers.

virtual	~ThreadedDriver ()
	Destructor.

virtual int	Setup ()
	Initialize the driver.

virtual int	Shutdown ()
	Finalize the driver.

virtual int	Terminate ()
	Terminate the driver.

virtual int	MainSetup (void)
	Sets up the resources needed by the driver thread.

bool	Wait (double TimeOut=0.0)
	Wait for new data to arrive on the driver's queue.

virtual void	Update ()
	Update non-threaded drivers.

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.

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.

virtual void	Publish (QueuePointer &queue, player_msghdr_t hdr, void src, bool copy=true)
	Publish a message via one of this driver's interfaces.

virtual void	Publish (player_msghdr_t hdr, void src, bool copy=true)
	Publish a message via one of this driver's interfaces.

	Driver (ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interf)
	Constructor for single-interface drivers.

	Driver (ConfigFile *cf, int section, bool overwrite_cmds=true, size_t queue_maxlen=PLAYER_MSGQUEUE_DEFAULT_MAXLEN)
	Constructor for multiple-interface drivers.

virtual	~Driver ()
	Destructor.

int	GetError ()
	Get last error value.

virtual int	Subscribe (QueuePointer &, player_devaddr_t)
	Subscribe to this driver.

virtual int	Unsubscribe (QueuePointer &, player_devaddr_t)
	Unsubscribe from this driver.

void	ProcessMessages (int maxmsgs)
	Process pending messages.

void	ProcessMessages (void)
	Process pending messages.

virtual int	ProcessInternalMessages (QueuePointer &resp_queue, player_msghdr hdr, void data)
	Internal message handler.

virtual bool	RegisterProperty (const char key, Property property, ConfigFile *cf, int section)
	Property registration.

virtual bool	RegisterProperty (Property property, ConfigFile cf, int section)
	Property registration.

Static Public Attributes
static int	joy_control

Private Member Functions
void	ResetRawPositions ()

int	initialize_robot ()

void	reset_odometry ()

void	set_odometry (float, float, float)

void	update_everything (player_rflex_data_t *d)

void	set_config_defaults ()

Private Attributes
player_devaddr_t	position_id

player_devaddr_t	sonar_id

player_devaddr_t	sonar_id_2

player_devaddr_t	ir_id

player_devaddr_t	bumper_id

player_devaddr_t	power_id

player_devaddr_t	aio_id

player_devaddr_t	dio_id

player_position2d_cmd_vel_t	command

int	command_type

int	position_subscriptions

int	sonar_subscriptions

int	ir_subscriptions

int	bumper_subscriptions

int	rflex_fd

char	rflex_serial_port [MAX_FILENAME_SIZE]

double	m_odo_x

double	m_odo_y

double	rad_odo_theta

Additional Inherited Members
Public Attributes inherited from Driver
QueuePointer	ret_queue
	Last requester's queue.

player_devaddr_t	device_addr
	Default device address (single-interface drivers)

int	entries
	Total number of entries in the device table using this driver.

bool	alwayson
	Always on flag.

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.

void	TestCancel ()
	enable thread cancellation and test for cancellation

Protected Member Functions inherited from Driver
int	AddInterface (player_devaddr_t addr)
	Add an interface.

int	AddInterface (player_devaddr_t addr, ConfigFile cf, int section, int code, const char *key=NULL)
	Add an interface.

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.

virtual void	Unlock (void)
	Unlock access to driver internals.

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.

Static Protected Member Functions inherited from ThreadedDriver
static void *	DummyMain (void *driver)
	Dummy main (just calls real main).

static void	DummyMainQuit (void *driver)
	Dummy main cleanup (just calls real main cleanup).

Member Function Documentation

◆ Main()

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.

Implements ThreadedDriver.

References PLAYER_ERROR, PLAYER_MSG1, PLAYER_MSGTYPE_DATA, Driver::ProcessMessages(), Driver::Publish(), and ThreadedDriver::Wait().

Here is the call graph for this function:

◆ MainQuit()

void RFLEX::MainQuit ( void )

virtual

Cleanup method for driver thread (called when main exits)

Overload this method and to do additional cleanup when the driver thread exits.

Reimplemented from ThreadedDriver.

◆ ProcessMessage()

int RFLEX::ProcessMessage	(	QueuePointer &	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