<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN"
"http://www.w3.org/TR/html4/strict.dtd">
<html>
<!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ -->
<HEAD>
<meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8">
<meta name="keywords" content="stage, robot, simulation, player, player/stage">
<link href="doxygen.css" rel="stylesheet" type="text/css">
<style type="text/css">
.floatright { float: right; margin: 0 0 1em 1em; }
body {
font-family: sans-serif;
#font-family: Geneva, Verdana, Helvetica, Arial, sans-serif;
background-color: #FFF;
color:#000;
}
a:link {
color: #A00;
}
a:visited {
color: #800;
}
a { text-decoration: none; }
a:hover { text-decoration: underline; }
.timestamp { text-align:right; background-color: #DDD; font-size:75%;}
h1 {
font-size:160%;
}
h2 {
font-size:110%;
#color: #FFF;
#background-color: #666;
#padding:3px;
}
h3 { text-align:left; }
img {
border: 0;
}
ul.menu {
position:relative;
left:-2.5em;
margin-bottom:0px;
margin-top:0px;
}
ul.menu1 {
position:relative;
left:-2.1em;
margin-bottom:0px;
margin-top:0px;
}
li.menu {
list-style-type: none;
position:relative;
#left:-0.5em;
}
#sidebar { position: absolute; left:0px; padding:2em; top:0em; width:12em;}
#content { position: absolute; left:12em; top:0em; padding-left:3em; padding-right:3em; padding-bottom:2em; margin-top:1em; margin-right:2em; }
div.box { background-color:#EEE; border: 1px solid #000; padding: 0.5ex 0.4em 0.5ex 0.6em; margin:1em; }
div.title { font-weight:bold; background-color:#eee; margin-bottom:2px;}
div.topbar { position: absolute; top:0px; left:9em; margin:1em; }
</style>
<TITLE>Player Manual</TITLE>
</HEAD>
<body>
<div id="sidebar">
<h2 style="text-align:center;">
<a href="index.html">
<img width=140 src="http://playerstage.sourceforge.net/images/player_button_v3.png" alt="Player logo"><br></a>
</h2>
<div class="box">
<div class=title>Player</div>
<ul class=menu>
<li class=menu><a href="index.html">Frontpage</a>
<li class=menu><a href="modules.html">Contents</a>
</ul>
</div>
<div class="box">
<div class=title>User</div>
<ul class=menu>
<li class=menu><a href="install.html">Installation</a>
<li class=menu><a href="start.html">Quick start</a>
<li class=menu><a href="supported_hardware.html">Supported devices</a>
<li class=menu><a href="group__tutorials.html">Tutorials</a>
<li class=menu><a href="group__utils.html">Utilities</a>
<li class=menu><a href="group__clientlibs.html">Client libraries</a>
<li class=menu><a href="http://playerstage.sourceforge.net/wiki/Basic_FAQ">FAQ</a>
<li class=menu><a href="help.html">Help</a>
</ul>
</div>
<div class=box>
<div class="title">Developer</div>
<ul class=menu>
<li class=menu><a href="architecture.html">Architecture</a>
<li class=menu><a href="group__libplayercore.html">libplayercore</a>
<ul class=menu1>
<li class=menu><a href="group__interfaces.html">interfaces</a></li>
</ul>
<li class=menu><a href="group__libplayerdrivers.html">libplayerdrivers</a>
<ul class=menu1>
<li class=menu><a href="group__drivers.html">drivers</a></li>
</ul>
<li class=menu><a href="group__libplayercommon.html">libplayercommon</a>
<li class=menu><a href="group__libplayerutils.html">libplayerutils</a>
<li class=menu><a href="group__libplayersd.html">libplayersd</a>
<li class=menu><a href="group__libplayertcp.html">libplayertcp</a>
<li class=menu><a href="group__libplayerxdr.html">libplayerxdr</a>
<li class=menu><a href="todo.html">TODO</a>
</ul>
</div>
<div class=box>
<!-- <a href="http://sourceforge.net"><img border=0 src="http://sourceforge.net/sflogo.php?group_id=42445&type=1"></a> -->
<div class="title">Online</div>
<a href="http://playerstage.sourceforge.net">Homepage</a><br>
<a href="http://sourceforge.net/project/showfiles.php?group_id=42445">Download</a><br>
<a href="http://sourceforge.net/projects/playerstage">Project</a><br>
<a href="http://sourceforge.net/tracker/?group_id=42445">Bugs</a><br>
<a href="http://sourceforge.net/mail/?group_id=42445">Help</a>
</div>
</div>
<div id="content" >
<!-- Generated by Doxygen 1.7.1 -->
<div class="header">
<div class="summary">
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pri-attribs">Private Attributes</a> </div>
<div class="headertitle">
<h1>Khepera Class Reference</h1> </div>
</div>
<div class="contents">
<!-- doxytag: class="Khepera" --><!-- doxytag: inherits="ThreadedDriver" --><div class="dynheader">
Inheritance diagram for Khepera:</div>
<div class="dyncontent">
<div class="center">
<img src="classKhepera.png" usemap="#Khepera_map" alt=""/>
<map id="Khepera_map" name="Khepera_map">
<area href="classThreadedDriver.html" alt="ThreadedDriver" shape="rect" coords="0,56,102,80"/>
<area href="classDriver.html" alt="Driver" shape="rect" coords="0,0,102,24"/>
</map>
</div>
<p><a href="classKhepera-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a27342d5bd27f140882e8d85ed7920ccf"></a><!-- doxytag: member="Khepera::Khepera" ref="a27342d5bd27f140882e8d85ed7920ccf" args="(ConfigFile *cf, int section)" -->
</td><td class="memItemRight" valign="bottom"><b>Khepera</b> (<a class="el" href="classConfigFile.html">ConfigFile</a> *cf, int section)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classKhepera.html#ae1cb404b43b6779ad8dbb715e555ae2e">Main</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Main method for driver thread. <a href="#ae1cb404b43b6779ad8dbb715e555ae2e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classKhepera.html#a47a43c15af6c6503d65695ce26ca56b7">Subscribe</a> (<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> addr)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Subscribe to this driver. <a href="#a47a43c15af6c6503d65695ce26ca56b7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classKhepera.html#a7cbbb56dd32d38b9b834414aa51da37f">Unsubscribe</a> (<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> addr)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Unsubscribe from this driver. <a href="#a7cbbb56dd32d38b9b834414aa51da37f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5316338e7666f67505f932dc1f89b2e4"></a><!-- doxytag: member="Khepera::MainSetup" ref="a5316338e7666f67505f932dc1f89b2e4" args="()" -->
virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classKhepera.html#a5316338e7666f67505f932dc1f89b2e4">MainSetup</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets up the resources needed by the driver thread. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classKhepera.html#ab7d4552fbe1ac8a15eed2380b5114545">MainQuit</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cleanup method for driver thread (called when main exits). <a href="#ab7d4552fbe1ac8a15eed2380b5114545"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a616424ff47ae929d0e700552e5e3251b"></a><!-- doxytag: member="Khepera::ResetOdometry" ref="a616424ff47ae929d0e700552e5e3251b" args="()" -->
int </td><td class="memItemRight" valign="bottom"><b>ResetOdometry</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac591edda8b27ac6ae0bf2a9f2a8bd1f7"></a><!-- doxytag: member="Khepera::SetIRState" ref="ac591edda8b27ac6ae0bf2a9f2a8bd1f7" args="(int)" -->
void </td><td class="memItemRight" valign="bottom"><b>SetIRState</b> (int)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7a854f7b4e95435582e55591b0b33105"></a><!-- doxytag: member="Khepera::UpdateData" ref="a7a854f7b4e95435582e55591b0b33105" args="(void)" -->
void </td><td class="memItemRight" valign="bottom"><b>UpdateData</b> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a80a3a1e9fe0b38c7ecaa674ed60c2022"></a><!-- doxytag: member="Khepera::UpdateIRData" ref="a80a3a1e9fe0b38c7ecaa674ed60c2022" args="(player_ir_data_t *)" -->
void </td><td class="memItemRight" valign="bottom"><b>UpdateIRData</b> (<a class="el" href="structplayer__ir__data.html">player_ir_data_t</a> *)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3ef69ad60cde9a28a174b1ad8b475998"></a><!-- doxytag: member="Khepera::UpdatePosData" ref="a3ef69ad60cde9a28a174b1ad8b475998" args="(player_position2d_data_t *)" -->
void </td><td class="memItemRight" valign="bottom"><b>UpdatePosData</b> (<a class="el" href="structplayer__position2d__data.html">player_position2d_data_t</a> *)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a75519ef09ec33624f702b0d30c037c73"></a><!-- doxytag: member="Khepera::ReadAD" ref="a75519ef09ec33624f702b0d30c037c73" args="(int)" -->
unsigned short </td><td class="memItemRight" valign="bottom"><b>ReadAD</b> (int)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2f102b92e0176b74fdf4e5c489547c94"></a><!-- doxytag: member="Khepera::ReadAllIR" ref="a2f102b92e0176b74fdf4e5c489547c94" args="(player_ir_data_t *)" -->
int </td><td class="memItemRight" valign="bottom"><b>ReadAllIR</b> (<a class="el" href="structplayer__ir__data.html">player_ir_data_t</a> *)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3edfc6c102390901b8696575d39d9a0e"></a><!-- doxytag: member="Khepera::SetSpeed" ref="a3edfc6c102390901b8696575d39d9a0e" args="(int, int)" -->
int </td><td class="memItemRight" valign="bottom"><b>SetSpeed</b> (int, int)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8454d53d1be2e6a269dfa4238a6f5059"></a><!-- doxytag: member="Khepera::ReadSpeed" ref="a8454d53d1be2e6a269dfa4238a6f5059" args="(int *, int *)" -->
int </td><td class="memItemRight" valign="bottom"><b>ReadSpeed</b> (int *, int *)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9e938e2f040c84a626f008d9cd49f0b7"></a><!-- doxytag: member="Khepera::SetPos" ref="a9e938e2f040c84a626f008d9cd49f0b7" args="(int, int)" -->
int </td><td class="memItemRight" valign="bottom"><b>SetPos</b> (int, int)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a294ec515341104d7c51bc1788ba65716"></a><!-- doxytag: member="Khepera::SetPosCounter" ref="a294ec515341104d7c51bc1788ba65716" args="(int, int)" -->
int </td><td class="memItemRight" valign="bottom"><b>SetPosCounter</b> (int, int)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a748d60ba69625aed08ec4e43c18caac2"></a><!-- doxytag: member="Khepera::ReadPos" ref="a748d60ba69625aed08ec4e43c18caac2" args="(int *, int *)" -->
int </td><td class="memItemRight" valign="bottom"><b>ReadPos</b> (int *, int *)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classKhepera.html#a7677b4bb9f6eb25531b7c418935ba9f1">ProcessMessage</a> (<a class="el" href="classQueuePointer.html">QueuePointer</a> &resp_queue, <a class="el" href="structplayer__msghdr.html">player_msghdr</a> *hdr, void *data)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classMessage.html" title="Reference-counted message objects.">Message</a> handler. <a href="#a7677b4bb9f6eb25531b7c418935ba9f1"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4bd2c86b0ee6f4221891b60af4b0a2ce"></a><!-- doxytag: member="Khepera::ir_addr" ref="a4bd2c86b0ee6f4221891b60af4b0a2ce" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td><td class="memItemRight" valign="bottom"><b>ir_addr</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3dc8db81b94b1c16d83004a139a010cc"></a><!-- doxytag: member="Khepera::position_addr" ref="a3dc8db81b94b1c16d83004a139a010cc" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td><td class="memItemRight" valign="bottom"><b>position_addr</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1f9a917a5c0aacf4a6674a750d89ccdc"></a><!-- doxytag: member="Khepera::position_subscriptions" ref="a1f9a917a5c0aacf4a6674a750d89ccdc" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>position_subscriptions</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a05371ced4a44a8de243d42844dfaae71"></a><!-- doxytag: member="Khepera::ir_subscriptions" ref="a05371ced4a44a8de243d42844dfaae71" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>ir_subscriptions</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a52aff5e82404d9a415a885216ca617cd"></a><!-- doxytag: member="Khepera::Serial" ref="a52aff5e82404d9a415a885216ca617cd" args="" -->
<a class="el" href="classKheperaSerial.html">KheperaSerial</a> * </td><td class="memItemRight" valign="bottom"><b>Serial</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0ea7c60f9646b6e72735a01c109ebe8f"></a><!-- doxytag: member="Khepera::geometry" ref="a0ea7c60f9646b6e72735a01c109ebe8f" args="" -->
player_khepera_geom_t * </td><td class="memItemRight" valign="bottom"><b>geometry</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a31c93dced0baf4bbf17fcd353c1103f2"></a><!-- doxytag: member="Khepera::param_index" ref="a31c93dced0baf4bbf17fcd353c1103f2" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>param_index</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a13b0e685a4c910586bd76fd36b318a3c"></a><!-- doxytag: member="Khepera::khepera_fd" ref="a13b0e685a4c910586bd76fd36b318a3c" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>khepera_fd</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac3a9898a9617c729260cf0997351aa33"></a><!-- doxytag: member="Khepera::last_position" ref="ac3a9898a9617c729260cf0997351aa33" args="" -->
struct timeval </td><td class="memItemRight" valign="bottom"><b>last_position</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a02d3bab122531487d9cd6fd70c7ee561"></a><!-- doxytag: member="Khepera::refresh_last_position" ref="a02d3bab122531487d9cd6fd70c7ee561" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>refresh_last_position</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a57669361888f8312d59196c33ad3e999"></a><!-- doxytag: member="Khepera::last_lpos" ref="a57669361888f8312d59196c33ad3e999" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>last_lpos</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2800cd8e3bdda5376f6a43716ee9cda3"></a><!-- doxytag: member="Khepera::last_rpos" ref="a2800cd8e3bdda5376f6a43716ee9cda3" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>last_rpos</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9c9972397495efbbcd921c32d1acff3f"></a><!-- doxytag: member="Khepera::x" ref="a9c9972397495efbbcd921c32d1acff3f" args="" -->
double </td><td class="memItemRight" valign="bottom"><b>x</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a51a74454244b64d986879f58c66173dc"></a><!-- doxytag: member="Khepera::y" ref="a51a74454244b64d986879f58c66173dc" args="" -->
double </td><td class="memItemRight" valign="bottom"><b>y</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2c87802be88ad62299bddde346909c33"></a><!-- doxytag: member="Khepera::yaw" ref="a2c87802be88ad62299bddde346909c33" args="" -->
double </td><td class="memItemRight" valign="bottom"><b>yaw</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0db69d8a29a071d5e6643e1212c25fc3"></a><!-- doxytag: member="Khepera::last_x_f" ref="a0db69d8a29a071d5e6643e1212c25fc3" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>last_x_f</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4bab4b243eac6b355adb15944bd5cb77"></a><!-- doxytag: member="Khepera::last_y_f" ref="a4bab4b243eac6b355adb15944bd5cb77" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>last_y_f</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa204bd4a10392ad2281e634e23a3d1b3"></a><!-- doxytag: member="Khepera::last_theta" ref="aa204bd4a10392ad2281e634e23a3d1b3" args="" -->
double </td><td class="memItemRight" valign="bottom"><b>last_theta</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad2ddf82c6b4de4991183202deee49245"></a><!-- doxytag: member="Khepera::last_pos_update" ref="ad2ddf82c6b4de4991183202deee49245" args="" -->
struct timeval </td><td class="memItemRight" valign="bottom"><b>last_pos_update</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0a68ce31c055b662282cd26f13b58ff9"></a><!-- doxytag: member="Khepera::last_ir_update" ref="a0a68ce31c055b662282cd26f13b58ff9" args="" -->
struct timeval </td><td class="memItemRight" valign="bottom"><b>last_ir_update</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa1bfa46bd1f91ef4b5053904d6da4850"></a><!-- doxytag: member="Khepera::pos_update_period" ref="aa1bfa46bd1f91ef4b5053904d6da4850" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>pos_update_period</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa02f05ff7a7c20d9604ee7180067fbaa"></a><!-- doxytag: member="Khepera::desired_heading" ref="aa02f05ff7a7c20d9604ee7180067fbaa" args="" -->
short </td><td class="memItemRight" valign="bottom"><b>desired_heading</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8b4ee8bd5aa6b4d0b4b3c2c9c101fa35"></a><!-- doxytag: member="Khepera::ir_sequence" ref="a8b4ee8bd5aa6b4d0b4b3c2c9c101fa35" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>ir_sequence</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a84d95ff22a191439c2eefd1827f4b7fb"></a><!-- doxytag: member="Khepera::last_ir" ref="a84d95ff22a191439c2eefd1827f4b7fb" args="" -->
struct timeval </td><td class="memItemRight" valign="bottom"><b>last_ir</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa73128a2675ed562994acde9bd23ca84"></a><!-- doxytag: member="Khepera::motors_enabled" ref="aa73128a2675ed562994acde9bd23ca84" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>motors_enabled</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3c20836e4ac13e3426dabc371d70b166"></a><!-- doxytag: member="Khepera::velocity_mode" ref="a3c20836e4ac13e3426dabc371d70b166" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>velocity_mode</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af7aa21f7b95223d864b8b5c7886ba723"></a><!-- doxytag: member="Khepera::direct_velocity_control" ref="af7aa21f7b95223d864b8b5c7886ba723" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>direct_velocity_control</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad828f945607ab1cbc41468458fd2f5e2"></a><!-- doxytag: member="Khepera::khepera_serial_port" ref="ad828f945607ab1cbc41468458fd2f5e2" args="[MAX_FILENAME_SIZE]" -->
char </td><td class="memItemRight" valign="bottom"><b>khepera_serial_port</b> [MAX_FILENAME_SIZE]</td></tr>
</table>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ae1cb404b43b6779ad8dbb715e555ae2e"></a><!-- doxytag: member="Khepera::Main" ref="ae1cb404b43b6779ad8dbb715e555ae2e" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void Khepera::Main </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Main method for driver thread. </p>
<p>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. </p>
<p>Implements <a class="el" href="classThreadedDriver.html#a962ea9c4e4e36570dd33604552726ae9">ThreadedDriver</a>.</p>
<p>References <a class="el" href="classDriver.html#a91c6a959c611b5ff76623e82de665f68">Driver::ProcessMessages()</a>.</p>
</div>
</div>
<a class="anchor" id="ab7d4552fbe1ac8a15eed2380b5114545"></a><!-- doxytag: member="Khepera::MainQuit" ref="ab7d4552fbe1ac8a15eed2380b5114545" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void Khepera::MainQuit </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Cleanup method for driver thread (called when main exits). </p>
<p>Overload this method and to do additional cleanup when the driver thread exits. </p>
<p>Reimplemented from <a class="el" href="classThreadedDriver.html#ae35d4f9522aace06af1ca7056af9a2ae">ThreadedDriver</a>.</p>
</div>
</div>
<a class="anchor" id="a7677b4bb9f6eb25531b7c418935ba9f1"></a><!-- doxytag: member="Khepera::ProcessMessage" ref="a7677b4bb9f6eb25531b7c418935ba9f1" args="(QueuePointer &resp_queue, player_msghdr *hdr, void *data)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int Khepera::ProcessMessage </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classQueuePointer.html">QueuePointer</a> & </td>
<td class="paramname"> <em>resp_queue</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structplayer__msghdr.html">player_msghdr</a> * </td>
<td class="paramname"> <em>hdr</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">void * </td>
<td class="paramname"> <em>data</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p><a class="el" href="classMessage.html" title="Reference-counted message objects.">Message</a> handler. </p>
<p>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</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>resp_queue</em> </td><td>The queue to which any response should go. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>hdr</em> </td><td>The message header </td></tr>
<tr><td valign="top"></td><td valign="top"><em>data</em> </td><td>The message body </td></tr>
</table>
</dd>
</dl>
<p>Reimplemented from <a class="el" href="classDriver.html#ab05d0e8502a494a83d0442a48095a35c">Driver</a>.</p>
<p>References <a class="el" href="classMessage.html#a5fd1734509a7520a64186c2653207751">Message::MatchMessage()</a>, <a class="el" href="structplayer__pose2d.html#a81438ba2b285ecbd3e52ea39450b5a92">player_pose2d::pa</a>, <a class="el" href="group__interface__ir.html#gabd9f0ae263eb0b24cf0e7f74e45a3b7b">PLAYER_IR_REQ_POSE</a>, <a class="el" href="group__message__types.html#gaf8fb5087b5a1f4ec631034e71dec0f3d">PLAYER_MSGTYPE_CMD</a>, <a class="el" href="group__message__types.html#ga59ed953188471436df98bfc3adf0f457">PLAYER_MSGTYPE_REQ</a>, <a class="el" href="group__message__types.html#ga312e72e1417096125470061385979696">PLAYER_MSGTYPE_RESP_ACK</a>, <a class="el" href="group__message__types.html#gae80fbeee8ef3da0e6f78ec1a18613750">PLAYER_MSGTYPE_RESP_NACK</a>, <a class="el" href="group__interface__position2d.html#gacaf0b14c255b47d09fef5efd7dd0fb22">PLAYER_POSITION2D_CMD_VEL</a>, <a class="el" href="group__interface__position2d.html#ga66fec75cddfc8ff49ef5bca8de091c75">PLAYER_POSITION2D_REQ_GET_GEOM</a>, <a class="el" href="group__interface__position2d.html#ga72e5926ea39cef102c7c8c19a574eef6">PLAYER_POSITION2D_REQ_MOTOR_POWER</a>, <a class="el" href="group__interface__position2d.html#gaa413820e1c30ab43d3ccae15f2617bef">PLAYER_POSITION2D_REQ_RESET_ODOM</a>, <a class="el" href="group__interface__position2d.html#ga66d9cc2103dc207554a6466e685fc1fc">PLAYER_POSITION2D_REQ_SET_ODOM</a>, <a class="el" href="group__interface__position2d.html#gae49f0820a7309278ebe437235513e400">PLAYER_POSITION2D_REQ_VELOCITY_MODE</a>, <a class="el" href="classDriver.html#a8ac61526abb8989ca115bd773b7cbc1a">Driver::Publish()</a>, <a class="el" href="structplayer__pose2d.html#a7f84ac1c98924591797d8ce3de61d586">player_pose2d::px</a>, <a class="el" href="structplayer__msghdr.html#aeba88246e5ba9d3d6c1f2b60c329352b">player_msghdr::subtype</a>, and <a class="el" href="structplayer__position2d__cmd__vel.html#a38db0013f72bf2787356ff2b47c5ee00">player_position2d_cmd_vel::vel</a>.</p>
</div>
</div>
<a class="anchor" id="a47a43c15af6c6503d65695ce26ca56b7"></a><!-- doxytag: member="Khepera::Subscribe" ref="a47a43c15af6c6503d65695ce26ca56b7" args="(player_devaddr_t addr)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int Khepera::Subscribe </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td>
<td class="paramname"> <em>addr</em></td>
<td> ) </td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Subscribe to this driver. </p>
<p>The <a class="el" href="classKhepera.html#a47a43c15af6c6503d65695ce26ca56b7" title="Subscribe to this driver.">Subscribe()</a> and <a class="el" href="classKhepera.html#a7cbbb56dd32d38b9b834414aa51da37f" title="Unsubscribe from this driver.">Unsubscribe()</a> methods are used to control subscriptions to the driver; a driver MAY override them, but usually won't.</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>addr</em> </td><td>Address of the device to subscribe to (the driver may have more than one interface). </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>Returns 0 on success. </dd></dl>
<p>Reimplemented from <a class="el" href="classDriver.html#ad56aad9b98662be96c000f4e3baf0ee3">Driver</a>.</p>
<p>References <a class="el" href="structplayer__devaddr.html#ac6a1d9efc69d7dee301aba2ef4b5948d">player_devaddr::interf</a>, and <a class="el" href="classDriver.html#ad56aad9b98662be96c000f4e3baf0ee3">Driver::Subscribe()</a>.</p>
</div>
</div>
<a class="anchor" id="a7cbbb56dd32d38b9b834414aa51da37f"></a><!-- doxytag: member="Khepera::Unsubscribe" ref="a7cbbb56dd32d38b9b834414aa51da37f" args="(player_devaddr_t addr)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int Khepera::Unsubscribe </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td>
<td class="paramname"> <em>addr</em></td>
<td> ) </td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Unsubscribe from this driver. </p>
<p>The <a class="el" href="classKhepera.html#a47a43c15af6c6503d65695ce26ca56b7" title="Subscribe to this driver.">Subscribe()</a> and <a class="el" href="classKhepera.html#a7cbbb56dd32d38b9b834414aa51da37f" title="Unsubscribe from this driver.">Unsubscribe()</a> methods are used to control subscriptions to the driver; a driver MAY override them, but usually won't.</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>addr</em> </td><td>Address of the device to unsubscribe from (the driver may have more than one interface). </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>Returns 0 on success. </dd></dl>
<p>Reimplemented from <a class="el" href="classDriver.html#a0f9daeb9fbb8fd0097e3e388fef686be">Driver</a>.</p>
<p>References <a class="el" href="structplayer__devaddr.html#ac6a1d9efc69d7dee301aba2ef4b5948d">player_devaddr::interf</a>, and <a class="el" href="classDriver.html#a0f9daeb9fbb8fd0097e3e388fef686be">Driver::Unsubscribe()</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="khepera_8h_source.html">khepera.h</a></li>
<li>khepera.cc</li>
</ul>
</div>
<!-- render the modification time of the source file -->
<div class="timestamp">
<hr>
<table style="width:100%;">
<tr>
<td style="text-align:left;">
Last updated 12 September 2005 21:38:45
<!--
<td style="text-align:right;">
<a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px"
src="http://www.w3.org/Icons/valid-html401"
alt="Valid HTML 4.01!"></a>
<a href="http://jigsaw.w3.org/css-validator/">
<img style="vertical-align:middle;border:0;width:88px;height:31px"
src="http://jigsaw.w3.org/css-validator/images/vcss"
alt="Valid CSS!">
</a>
-->
</tr>
</table>
</div>
</tr>
</table>
</BODY>
</HTML>
