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<h1>erratic.h</h1> </div>
</div>
<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// -*- mode:C++; tab-width:8; c-basic-offset:2; indent-tabs-mode:1; -*-</span>
<a name="l00002"></a>00002
<a name="l00026"></a>00026 <span class="preprocessor">#ifndef _ERRATICDEVICE_H</span>
<a name="l00027"></a>00027 <span class="preprocessor"></span><span class="preprocessor">#define _ERRATICDEVICE_H</span>
<a name="l00028"></a>00028 <span class="preprocessor"></span>
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef ERRATIC_VERSION</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define ERRATIC_VERSION "1.0b"</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span>
<a name="l00033"></a>00033 <span class="preprocessor">#ifndef ERRATIC_DATE</span>
<a name="l00034"></a>00034 <span class="preprocessor"></span><span class="preprocessor">#define ERRATIC_DATE "2006-05-07"</span>
<a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <pthread.h></span>
<a name="l00038"></a>00038 <span class="preprocessor">#include <sys/time.h></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <queue></span>
<a name="l00040"></a>00040
<a name="l00041"></a>00041 <span class="preprocessor">#include <libplayercore/playercore.h></span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <replace/replace.h></span>
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="preprocessor">#include "packet.h"</span>
<a name="l00045"></a>00045 <span class="preprocessor">#include "robot_params.h"</span>
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="comment">//#include <stdint.h></span>
<a name="l00048"></a>00048
<a name="l00049"></a>00049 <span class="preprocessor">#define CPU_VOLTAGE 3.5</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span>
<a name="l00051"></a>00051 <span class="comment">// angular constants, angular units are 4096 / rev</span>
<a name="l00052"></a>00052 <span class="preprocessor">#define ATOR(x) (M_PI * ((double)(x)) / 2048.0)</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span><span class="preprocessor">#define ATOD(x) (180.0 * ((double)(x)) / 2048.0)</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor">#define RTOA(x) ((short)((x) * 2048.0) / M_PI)</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span>
<a name="l00056"></a>00056 <span class="comment">// Default max speeds</span>
<a name="l00057"></a>00057 <span class="preprocessor">#define MOTOR_DEF_MAX_SPEED 0.5</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#define MOTOR_DEF_MAX_TURNSPEED DTOR(100)</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span>
<a name="l00060"></a>00060 <span class="comment">// This merely sets a delay policy in the initial connection</span>
<a name="l00061"></a>00061 <span class="preprocessor">#define ROBOT_CYCLETIME 20000</span>
<a name="l00062"></a>00062 <span class="preprocessor"></span>
<a name="l00063"></a>00063 <span class="comment">/* Erratic constants */</span>
<a name="l00064"></a>00064
<a name="l00065"></a>00065 <span class="preprocessor">#define VIDERE_NOMINAL_VOLTAGE 12.0</span>
<a name="l00066"></a>00066 <span class="preprocessor"></span>
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="comment">// Commands for the robot</span>
<a name="l00069"></a>00069 <span class="keyword">typedef</span> <span class="keyword">enum</span> command {
<a name="l00070"></a>00070 pulse = 0,
<a name="l00071"></a>00071 open_controller = 1,
<a name="l00072"></a>00072 close_controller = 2,
<a name="l00073"></a>00073 enable_motors = 4,
<a name="l00074"></a>00074 set_max_trans_acc = 5,
<a name="l00075"></a>00075 set_max_position_velocity = 6,
<a name="l00076"></a>00076 reset_origo = 7,
<a name="l00077"></a>00077 trans_vel = 11, <span class="comment">// mm/s</span>
<a name="l00078"></a>00078 rot_pos = 12, <span class="comment">// deg</span>
<a name="l00079"></a>00079 rot_dpos = 13, <span class="comment">// deg</span>
<a name="l00080"></a>00080 configuration = 18,
<a name="l00081"></a>00081 rot_vel = 21, <span class="comment">// deg/s</span>
<a name="l00082"></a>00082 set_max_rot_acc = 23,
<a name="l00083"></a>00083 set_sonar = 28,
<a name="l00084"></a>00084 stop = 29,
<a name="l00085"></a>00085 wheel_vel = 32, <span class="comment">// mm/s</span>
<a name="l00086"></a>00086 set_analog = 71,
<a name="l00087"></a>00087 save_config = 72,
<a name="l00088"></a>00088 set_pwm_freq = 73,
<a name="l00089"></a>00089 set_pwm_max_on = 74,
<a name="l00090"></a>00090 servo_pos = 75,
<a name="l00091"></a>00091 set_pid_trans_p = 80,
<a name="l00092"></a>00092 set_pid_trans_v = 81,
<a name="l00093"></a>00093 set_pid_trans_i = 82,
<a name="l00094"></a>00094 set_pid_rot_p = 83,
<a name="l00095"></a>00095 set_pid_rot_v = 84,
<a name="l00096"></a>00096 set_pid_rot_i = 85
<a name="l00097"></a>00097
<a name="l00098"></a>00098 } command_e;
<a name="l00099"></a>00099
<a name="l00100"></a>00100 <span class="comment">// Argument types used in robot commands</span>
<a name="l00101"></a>00101 <span class="keyword">typedef</span> <span class="keyword">enum</span> argtype {
<a name="l00102"></a>00102 argint = 0x3B,
<a name="l00103"></a>00103 argnint = 0x1B,
<a name="l00104"></a>00104 argstr = 0x2B
<a name="l00105"></a>00105 } argtype_e;
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="comment">// Types of replies from the robot</span>
<a name="l00108"></a>00108 <span class="keyword">typedef</span> <span class="keyword">enum</span> reply {
<a name="l00109"></a>00109 debug = 0x15,
<a name="l00110"></a>00110 config = 0x20,
<a name="l00111"></a>00111 stopped = 0x32,
<a name="l00112"></a>00112 moving = 0x33,
<a name="l00113"></a>00113 motor = 0x80,
<a name="l00114"></a>00114 encoder = 0x90,
<a name="l00115"></a>00115 ain = 0x9a,
<a name="l00116"></a>00116 sonar = 0x9b
<a name="l00117"></a>00117 } reply_e;
<a name="l00118"></a>00118
<a name="l00119"></a>00119
<a name="l00120"></a>00120 <span class="preprocessor">#define DEFAULT_VIDERE_PORT "/dev/erratic"</span>
<a name="l00121"></a>00121 <span class="preprocessor"></span>
<a name="l00122"></a><a class="code" href="structplayer__erratic__data.html">00122</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structplayer__erratic__data.html">player_erratic_data</a>
<a name="l00123"></a>00123 {
<a name="l00124"></a>00124 <a class="code" href="structplayer__position2d__data.html" title="position2d data">player_position2d_data_t</a> position;
<a name="l00125"></a>00125 <a class="code" href="structplayer__power__data.html" title="Data: voltage (PLAYER_POWER_DATA_STATE).">player_power_data_t</a> power;
<a name="l00126"></a>00126 <a class="code" href="structplayer__aio__data.html" title="Data: state (PLAYER_AIO_DATA_STATE).">player_aio_data_t</a> aio;
<a name="l00127"></a>00127 <a class="code" href="structplayer__ir__data.html" title="Data: ranges (PLAYER_IR_DATA_RANGES).">player_ir_data</a> ir;
<a name="l00128"></a>00128 <a class="code" href="structplayer__sonar__data.html" title="Data: ranges (PLAYER_SONAR_DATA_RANGES).">player_sonar_data</a> sonar;
<a name="l00129"></a>00129 } <a class="code" href="struct____attribute____.html">__attribute__</a> ((packed)) player_erratic_data_t;
<a name="l00130"></a>00130
<a name="l00131"></a>00131 <span class="comment">// this is here because we need the above typedef's before including it.</span>
<a name="l00132"></a>00132 <span class="preprocessor">#include "motorpacket.h"</span>
<a name="l00133"></a>00133 <span class="preprocessor"></span>
<a name="l00134"></a>00134 <span class="keyword">extern</span> <span class="keywordtype">bool</span> debug_mode;
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="keyword">class </span><a class="code" href="classErraticMotorPacket.html">ErraticMotorPacket</a>;
<a name="l00137"></a>00137
<a name="l00138"></a><a class="code" href="classErratic.html">00138</a> <span class="keyword">class </span><a class="code" href="classErratic.html">Erratic</a> : <span class="keyword">public</span> <a class="code" href="classDriver.html" title="Base class for all drivers.">Driver</a>
<a name="l00139"></a>00139 {
<a name="l00140"></a>00140 <span class="keyword">private</span>:
<a name="l00141"></a>00141 <span class="keywordtype">int</span> mcount;
<a name="l00142"></a>00142 player_erratic_data_t erratic_data;
<a name="l00143"></a>00143
<a name="l00144"></a>00144 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> position_id;
<a name="l00145"></a>00145 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> power_id;
<a name="l00146"></a>00146 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> aio_id;
<a name="l00147"></a>00147 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> ir_id;
<a name="l00148"></a>00148 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> sonar_id;
<a name="l00149"></a>00149 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> ptz_id, ptz2_id;
<a name="l00150"></a>00150
<a name="l00151"></a>00151 <span class="keywordtype">int</span> position_subscriptions;
<a name="l00152"></a>00152 <span class="keywordtype">int</span> aio_ir_subscriptions;
<a name="l00153"></a>00153 <span class="keywordtype">int</span> sonar_subscriptions;
<a name="l00154"></a>00154 <span class="keywordtype">int</span> ptz_subscriptions;
<a name="l00155"></a>00155 <span class="keywordtype">int</span> ptz2_subscriptions;
<a name="l00156"></a>00156
<a name="l00157"></a>00157 <span class="comment">//ErraticMotorPacket* sippacket;</span>
<a name="l00158"></a>00158 <a class="code" href="classErraticMotorPacket.html">ErraticMotorPacket</a> *motor_packet;
<a name="l00159"></a>00159 pthread_mutex_t motor_packet_mutex;
<a name="l00160"></a>00160
<a name="l00161"></a>00161 <span class="keywordtype">int</span> Connect();
<a name="l00162"></a>00162 <span class="keywordtype">int</span> Disconnect();
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="keywordtype">void</span> ResetRawPositions();
<a name="l00165"></a>00165 <span class="keywordtype">void</span> ToggleMotorPower(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> val);
<a name="l00166"></a>00166
<a name="l00167"></a>00167 <span class="keywordtype">void</span> ToggleAIn(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> val);
<a name="l00168"></a>00168 <span class="keywordtype">void</span> ToggleSonar(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> val);
<a name="l00169"></a>00169
<a name="l00170"></a>00170 <span class="keywordtype">int</span> HandleConfig(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &resp_queue, <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr, <span class="keywordtype">void</span>* data);
<a name="l00171"></a>00171 <span class="keywordtype">int</span> HandleCommand(<a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr, <span class="keywordtype">void</span> * data);
<a name="l00172"></a>00172 <span class="keywordtype">void</span> HandlePositionCommand(<a class="code" href="structplayer__position2d__cmd__vel.html" title="position 2d velocity command">player_position2d_cmd_vel_t</a> position_cmd);
<a name="l00173"></a>00173 <span class="keywordtype">void</span> HandleCarCommand(<a class="code" href="structplayer__position2d__cmd__car.html" title="position2d command setting velocity and steering angle">player_position2d_cmd_car_t</a> position_cmd);
<a name="l00174"></a>00174 <span class="keywordtype">void</span> HandlePtzCommand(<a class="code" href="structplayer__ptz__cmd.html" title="Command: state (PLAYER_PTZ_CMD_STATE).">player_ptz_cmd_t</a> ptz_cmd, <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> <span class="keywordtype">id</span>);
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="keywordtype">void</span> PublishAllData();
<a name="l00177"></a>00177 <span class="keywordtype">void</span> PublishPosition2D();
<a name="l00178"></a>00178 <span class="keywordtype">void</span> PublishPower();
<a name="l00179"></a>00179 <span class="keywordtype">void</span> PublishAIn();
<a name="l00180"></a>00180 <span class="keywordtype">void</span> PublishIR();
<a name="l00181"></a>00181 <span class="keywordtype">void</span> PublishSonar();
<a name="l00182"></a>00182
<a name="l00183"></a>00183 <span class="keywordtype">float</span> IRRangeFromVoltage(<span class="keywordtype">float</span> voltage);
<a name="l00184"></a>00184 <span class="keywordtype">float</span> IRFloorRange(<span class="keywordtype">float</span> value);
<a name="l00185"></a>00185
<a name="l00186"></a>00186 <span class="keywordtype">void</span> StartThreads();
<a name="l00187"></a>00187 <span class="keywordtype">void</span> StopThreads();
<a name="l00188"></a>00188
<a name="l00189"></a>00189 <span class="keywordtype">void</span> Send(<a class="code" href="classErraticPacket.html">ErraticPacket</a> *packet);
<a name="l00190"></a>00190 <span class="keywordtype">void</span> SendThread();
<a name="l00191"></a>00191 <span class="keyword">static</span> <span class="keywordtype">void</span> *SendThreadDummy(<span class="keywordtype">void</span> *driver);
<a name="l00192"></a>00192 <span class="keywordtype">void</span> <a class="code" href="classErratic.html#a500b886eb90f16557f2f7fdf0c595ec3" title="Talking to the robot.">ReceiveThread</a>();
<a name="l00193"></a>00193 <span class="keyword">static</span> <span class="keywordtype">void</span> *ReceiveThreadDummy(<span class="keywordtype">void</span> *driver);
<a name="l00194"></a>00194
<a name="l00195"></a>00195 <span class="keywordtype">int</span> read_fd, write_fd;
<a name="l00196"></a>00196 <span class="keyword">const</span> <span class="keywordtype">char</span>* psos_serial_port;
<a name="l00197"></a>00197
<a name="l00198"></a>00198 <a class="code" href="structplayer__position2d__cmd__vel.html" title="position 2d velocity command">player_position2d_cmd_vel_t</a> last_position_cmd;
<a name="l00199"></a>00199 <a class="code" href="structplayer__position2d__cmd__car.html" title="position2d command setting velocity and steering angle">player_position2d_cmd_car_t</a> last_car_cmd;
<a name="l00200"></a>00200
<a name="l00201"></a>00201 std::queue<ErraticPacket *> send_queue;
<a name="l00202"></a>00202 pthread_mutex_t send_queue_mutex;
<a name="l00203"></a>00203 pthread_cond_t send_queue_cond;
<a name="l00204"></a>00204
<a name="l00205"></a>00205 pthread_t send_thread;
<a name="l00206"></a>00206 pthread_t receive_thread;
<a name="l00207"></a>00207
<a name="l00208"></a>00208 <span class="comment">// Parameters</span>
<a name="l00209"></a>00209
<a name="l00210"></a>00210 <span class="keywordtype">bool</span> direct_wheel_vel_control;
<a name="l00211"></a>00211
<a name="l00212"></a>00212 <span class="keywordtype">bool</span> print_all_packets;
<a name="l00213"></a>00213 <span class="keywordtype">bool</span> print_status_summary;
<a name="l00214"></a>00214
<a name="l00215"></a>00215 <span class="keywordtype">bool</span> save_settings_in_robot;
<a name="l00216"></a>00216
<a name="l00217"></a>00217 <span class="keywordtype">int</span> param_idx; <span class="comment">// index in the RobotParams table for this robot</span>
<a name="l00218"></a>00218
<a name="l00219"></a>00219 <span class="comment">// Max motor speeds (mm/sec,deg/sec)</span>
<a name="l00220"></a>00220 <span class="keywordtype">int</span> motor_max_speed;
<a name="l00221"></a>00221 <span class="keywordtype">int</span> motor_max_turnspeed;
<a name="l00222"></a>00222
<a name="l00223"></a>00223 <span class="comment">// Customized control settings for the robot</span>
<a name="l00224"></a>00224 int16_t pid_trans_p, pid_trans_v, pid_trans_i;
<a name="l00225"></a>00225 int16_t pid_rot_p, pid_rot_v, pid_rot_i;
<a name="l00226"></a>00226
<a name="l00227"></a>00227 <span class="comment">// This is a fairly low-level setting that is exposed</span>
<a name="l00228"></a>00228 uint16_t motor_pwm_frequency, motor_pwm_max_on;
<a name="l00229"></a>00229
<a name="l00230"></a>00230 <span class="comment">// Bound the command velocities</span>
<a name="l00231"></a>00231 <span class="keywordtype">bool</span> use_vel_band;
<a name="l00232"></a>00232
<a name="l00233"></a>00233 <span class="comment">// Max motor accel/decel (mm/sec/sec, deg/sec/sec)</span>
<a name="l00234"></a>00234 <span class="keywordtype">short</span> motor_max_trans_accel, motor_max_trans_decel;
<a name="l00235"></a>00235 <span class="keywordtype">short</span> motor_max_rot_accel, motor_max_rot_decel;
<a name="l00236"></a>00236
<a name="l00237"></a>00237 <span class="keyword">public</span>:
<a name="l00238"></a>00238
<a name="l00239"></a>00239 <a class="code" href="classErratic.html">Erratic</a>(<a class="code" href="classConfigFile.html" title="Class for loading configuration file information.">ConfigFile</a>* cf, <span class="keywordtype">int</span> section);
<a name="l00240"></a>00240
<a name="l00241"></a>00241 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classErratic.html#aa299b2b9882799be7d1d3eafa8deea20" title="Subscribe to this driver.">Subscribe</a>(<a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> <span class="keywordtype">id</span>);
<a name="l00242"></a>00242 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classErratic.html#a6b9ad903cdbc6a8576191159e5d8432f" title="Unsubscribe from this driver.">Unsubscribe</a>(<a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> <span class="keywordtype">id</span>);
<a name="l00243"></a>00243
<a name="l00244"></a>00244 <span class="comment">/* the main thread */</span>
<a name="l00245"></a>00245 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classErratic.html#a8f08878ef62c526cd633469a1019f5f5" title="Talking to the Player architecture.">Main</a>();
<a name="l00246"></a>00246
<a name="l00247"></a>00247 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classErratic.html#ac059b19b88420b27819e7b7ad7c6a590" title="Initialize the driver.">Setup</a>();
<a name="l00248"></a>00248 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classErratic.html#a4360024f074e706497fc0fb6aa570100" title="Finalize the driver.">Shutdown</a>();
<a name="l00249"></a>00249
<a name="l00250"></a>00250 <span class="comment">// MessageHandler</span>
<a name="l00251"></a>00251 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classErratic.html#aa5efa738ad74d1bd6e6e053459f395a9" title="Message handler.">ProcessMessage</a>(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &resp_queue, <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr, <span class="keywordtype">void</span> * data);
<a name="l00252"></a>00252 };
<a name="l00253"></a>00253
<a name="l00254"></a>00254
<a name="l00255"></a>00255 <span class="preprocessor">#endif</span>
</pre></div></div>
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