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<div class="header">
<div class="summary">
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pri-methods">Private Member Functions</a> |
<a href="#pri-attribs">Private Attributes</a> </div>
<div class="headertitle">
<h1>ER Class Reference</h1> </div>
</div>
<div class="contents">
<!-- doxytag: class="ER" --><!-- doxytag: inherits="ThreadedDriver" --><div class="dynheader">
Inheritance diagram for ER:</div>
<div class="dyncontent">
<div class="center">
<img src="classER.png" usemap="#ER_map" alt=""/>
<map id="ER_map" name="ER_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="classER-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="a193ef7611d7749b332f9dc6c7cfbb211"></a><!-- doxytag: member="ER::ER" ref="a193ef7611d7749b332f9dc6c7cfbb211" args="(ConfigFile *cf, int section)" -->
</td><td class="memItemRight" valign="bottom"><b>ER</b> (<a class="el" href="classConfigFile.html">ConfigFile</a> *cf, int section)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a223f1e2f77a08eb528b468ae012bad37"></a><!-- doxytag: member="ER::SetVelocity" ref="a223f1e2f77a08eb528b468ae012bad37" args="(double lvel, double rvel)" -->
int </td><td class="memItemRight" valign="bottom"><b>SetVelocity</b> (double lvel, double rvel)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afcb6de7f0029efb65e86a379222e469c"></a><!-- doxytag: member="ER::Stop" ref="afcb6de7f0029efb65e86a379222e469c" args="(int StopMode)" -->
void </td><td class="memItemRight" valign="bottom"><b>Stop</b> (int StopMode)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classER.html#af2d9f11435db5bf7851fdc2a2295f00e">Main</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Main method for driver thread. <a href="#af2d9f11435db5bf7851fdc2a2295f00e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9ab12b3ab859384843a81673befa1452"></a><!-- doxytag: member="ER::MainSetup" ref="a9ab12b3ab859384843a81673befa1452" args="()" -->
virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classER.html#a9ab12b3ab859384843a81673befa1452">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="classER.html#a5e241e5ee09297d8643916872fe27f6f">MainQuit</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cleanup method for driver thread (called when main exits). <a href="#a5e241e5ee09297d8643916872fe27f6f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classER.html#a12a52473e8b394db5147bb9bc0624dea">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="#a12a52473e8b394db5147bb9bc0624dea"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a44385a3187bd511854467e1c972240f6"></a><!-- doxytag: member="ER::Test" ref="a44385a3187bd511854467e1c972240f6" args="()" -->
void </td><td class="memItemRight" valign="bottom"><b>Test</b> ()</td></tr>
<tr><td colspan="2"><h2><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad67c149f42e616d1744564e80a426dc8"></a><!-- doxytag: member="ER::InitOdom" ref="ad67c149f42e616d1744564e80a426dc8" args="()" -->
int </td><td class="memItemRight" valign="bottom"><b>InitOdom</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4976da3533d9868946e7e492596f0518"></a><!-- doxytag: member="ER::InitRobot" ref="a4976da3533d9868946e7e492596f0518" args="()" -->
int </td><td class="memItemRight" valign="bottom"><b>InitRobot</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a653389de05749a3f30814d5da679a1a8"></a><!-- doxytag: member="ER::WriteBuf" ref="a653389de05749a3f30814d5da679a1a8" args="(unsigned char *s, size_t len)" -->
int </td><td class="memItemRight" valign="bottom"><b>WriteBuf</b> (unsigned char *s, size_t len)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa5c7e5413c7abb2c46520f68b99bde5e"></a><!-- doxytag: member="ER::ReadBuf" ref="aa5c7e5413c7abb2c46520f68b99bde5e" args="(unsigned char *s, size_t len)" -->
int </td><td class="memItemRight" valign="bottom"><b>ReadBuf</b> (unsigned char *s, size_t len)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a915a5f3c30496fbd4ff98670e0fe6dd6"></a><!-- doxytag: member="ER::SendCommand" ref="a915a5f3c30496fbd4ff98670e0fe6dd6" args="(unsigned char *cmd, int cmd_len, unsigned char *ret_val, int ret_len)" -->
int </td><td class="memItemRight" valign="bottom"><b>SendCommand</b> (unsigned char *cmd, int cmd_len, unsigned char *ret_val, int ret_len)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="affe9f919a2fb6286a6469595aaaefd9f"></a><!-- doxytag: member="ER::checksum_ok" ref="affe9f919a2fb6286a6469595aaaefd9f" args="(unsigned char *buf, int len)" -->
int </td><td class="memItemRight" valign="bottom"><b>checksum_ok</b> (unsigned char *buf, int len)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a26355757d26b92b9d5b8cc2486ed929a"></a><!-- doxytag: member="ER::ComputeTickDiff" ref="a26355757d26b92b9d5b8cc2486ed929a" args="(int from, int to)" -->
int </td><td class="memItemRight" valign="bottom"><b>ComputeTickDiff</b> (int from, int to)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a977bf1c75cd75539f58601af946d1bd7"></a><!-- doxytag: member="ER::ChangeMotorState" ref="a977bf1c75cd75539f58601af946d1bd7" args="(int state)" -->
int </td><td class="memItemRight" valign="bottom"><b>ChangeMotorState</b> (int state)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2027efd6eb3ab09d37bd1c6afc01d614"></a><!-- doxytag: member="ER::BytesToInt32" ref="a2027efd6eb3ab09d37bd1c6afc01d614" args="(unsigned char *ptr)" -->
int </td><td class="memItemRight" valign="bottom"><b>BytesToInt32</b> (unsigned char *ptr)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acf74343035057678ccc3b415e31b038e"></a><!-- doxytag: member="ER::BytesToFloat" ref="acf74343035057678ccc3b415e31b038e" args="(unsigned char *ptr)" -->
float </td><td class="memItemRight" valign="bottom"><b>BytesToFloat</b> (unsigned char *ptr)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ada811cb66257f55c8b9146aa931f546b"></a><!-- doxytag: member="ER::UpdateOdom" ref="ada811cb66257f55c8b9146aa931f546b" args="(int ltics, int rtics)" -->
void </td><td class="memItemRight" valign="bottom"><b>UpdateOdom</b> (int ltics, int rtics)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af03a5d42b9b1b778ff38166bb310b05a"></a><!-- doxytag: member="ER::SpeedCommand" ref="af03a5d42b9b1b778ff38166bb310b05a" args="(unsigned char address, double speed, int dir)" -->
void </td><td class="memItemRight" valign="bottom"><b>SpeedCommand</b> (unsigned char address, double speed, int dir)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7caefe5a133c38ec5c0a63ab7448e374"></a><!-- doxytag: member="ER::SetOdometry" ref="a7caefe5a133c38ec5c0a63ab7448e374" args="(long, long, long)" -->
void </td><td class="memItemRight" valign="bottom"><b>SetOdometry</b> (long, long, long)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5d6aff93118641a34fb1b0e2babc0a24"></a><!-- doxytag: member="ER::ResetOdometry" ref="a5d6aff93118641a34fb1b0e2babc0a24" args="()" -->
void </td><td class="memItemRight" valign="bottom"><b>ResetOdometry</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aad3fa8a01570ab3a1dcdb07763507004"></a><!-- doxytag: member="ER::GetOdom" ref="aad3fa8a01570ab3a1dcdb07763507004" args="(int *ltics, int *rtics)" -->
int </td><td class="memItemRight" valign="bottom"><b>GetOdom</b> (int *ltics, int *rtics)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aee5072d608cf6a863fb432db6ec6d9ec"></a><!-- doxytag: member="ER::GetBatteryVoltage" ref="aee5072d608cf6a863fb432db6ec6d9ec" args="(int *voltage)" -->
int </td><td class="memItemRight" valign="bottom"><b>GetBatteryVoltage</b> (int *voltage)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abcf479a2689f368ab056cbf8cfa08a56"></a><!-- doxytag: member="ER::GetRangeSensor" ref="abcf479a2689f368ab056cbf8cfa08a56" args="(int s, float *val)" -->
int </td><td class="memItemRight" valign="bottom"><b>GetRangeSensor</b> (int s, float *val)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5bf4da8ebf0e2776e4a9859187b79dd9"></a><!-- doxytag: member="ER::MotorSpeed" ref="a5bf4da8ebf0e2776e4a9859187b79dd9" args="()" -->
void </td><td class="memItemRight" valign="bottom"><b>MotorSpeed</b> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aaed564f37b79c8ccd82318669d148f56"></a><!-- doxytag: member="ER::send_command" ref="aaed564f37b79c8ccd82318669d148f56" args="(unsigned char address, unsigned char c, int ret_num, unsigned char *ret)" -->
int </td><td class="memItemRight" valign="bottom"><b>send_command</b> (unsigned char address, unsigned char c, int ret_num, unsigned char *ret)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6f324701d95ee8f41d9d9d9d409d03d8"></a><!-- doxytag: member="ER::send_command_2_arg" ref="a6f324701d95ee8f41d9d9d9d409d03d8" args="(unsigned char address, unsigned char c, int arg, int ret_num, unsigned char *ret)" -->
int </td><td class="memItemRight" valign="bottom"><b>send_command_2_arg</b> (unsigned char address, unsigned char c, int arg, int ret_num, unsigned char *ret)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adbde0d10c7e22e5b74b6ffbc4222de4c"></a><!-- doxytag: member="ER::send_command_4_arg" ref="adbde0d10c7e22e5b74b6ffbc4222de4c" args="(unsigned char address, unsigned char c, int arg, int ret_num, unsigned char *ret)" -->
int </td><td class="memItemRight" valign="bottom"><b>send_command_4_arg</b> (unsigned char address, unsigned char c, int arg, int ret_num, unsigned char *ret)</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="a825566b180415994c78dfe2c741dea99"></a><!-- doxytag: member="ER::er1_data" ref="a825566b180415994c78dfe2c741dea99" args="" -->
player_er1_data_t </td><td class="memItemRight" valign="bottom"><b>er1_data</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a451ffe89e26bed8c9050b2077a45e6ed"></a><!-- doxytag: member="ER::position_id" ref="a451ffe89e26bed8c9050b2077a45e6ed" args="" -->
<a class="el" href="structplayer__devaddr.html">player_devaddr_t</a> </td><td class="memItemRight" valign="bottom"><b>position_id</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a91867cdaec2841bfbfe8d8df29f5916d"></a><!-- doxytag: member="ER::position_subscriptions" ref="a91867cdaec2841bfbfe8d8df29f5916d" 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="ae403ce916a7a83068fc775cf0f1e2e23"></a><!-- doxytag: member="ER::_tc_num" ref="ae403ce916a7a83068fc775cf0f1e2e23" args="" -->
int * </td><td class="memItemRight" valign="bottom"><b>_tc_num</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab976ebf24d5f9a302fedf9a02b83ba61"></a><!-- doxytag: member="ER::_fd" ref="ab976ebf24d5f9a302fedf9a02b83ba61" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>_fd</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a44fc88a276f2dbf9259c93a91576cb95"></a><!-- doxytag: member="ER::_serial_port" ref="a44fc88a276f2dbf9259c93a91576cb95" args="" -->
const char * </td><td class="memItemRight" valign="bottom"><b>_serial_port</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af65b8aba437896d646a2c71ba8601fb5"></a><!-- doxytag: member="ER::_fd_blocking" ref="af65b8aba437896d646a2c71ba8601fb5" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>_fd_blocking</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4099609e787727919fe2b8c0995296e9"></a><!-- doxytag: member="ER::_axle_length" ref="a4099609e787727919fe2b8c0995296e9" args="" -->
double </td><td class="memItemRight" valign="bottom"><b>_axle_length</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9de64dc3444403b4af2352e5acf64967"></a><!-- doxytag: member="ER::_motor_0_dir" ref="a9de64dc3444403b4af2352e5acf64967" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>_motor_0_dir</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae3958a5afe9951f75fd8e94dc459d2c0"></a><!-- doxytag: member="ER::_motor_1_dir" ref="ae3958a5afe9951f75fd8e94dc459d2c0" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>_motor_1_dir</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a14a9b50223446fa82e47c16c2f7cf93f"></a><!-- doxytag: member="ER::_debug" ref="a14a9b50223446fa82e47c16c2f7cf93f" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>_debug</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aec34536ec2e31644a60f3ccc97e7bdf4"></a><!-- doxytag: member="ER::_need_to_set_speed" ref="aec34536ec2e31644a60f3ccc97e7bdf4" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>_need_to_set_speed</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac1ea01de43e7ae20ace8f35dcaf18e80"></a><!-- doxytag: member="ER::_odom_initialized" ref="ac1ea01de43e7ae20ace8f35dcaf18e80" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>_odom_initialized</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a84bd6c5413ba9f1c040e795a12d85400"></a><!-- doxytag: member="ER::_stopped" ref="a84bd6c5413ba9f1c040e795a12d85400" args="" -->
bool </td><td class="memItemRight" valign="bottom"><b>_stopped</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aad2b36fcf023d40d94c3d68800bbb560"></a><!-- doxytag: member="ER::_last_ltics" ref="aad2b36fcf023d40d94c3d68800bbb560" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>_last_ltics</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4329d1f73b7bd0b8d4355c642b002403"></a><!-- doxytag: member="ER::_last_rtics" ref="a4329d1f73b7bd0b8d4355c642b002403" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>_last_rtics</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac8053277621c4d13367f8151500d3388"></a><!-- doxytag: member="ER::_px" ref="ac8053277621c4d13367f8151500d3388" args="" -->
double </td><td class="memItemRight" valign="bottom"><b>_px</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a899fc539bf9631d5724ae6a461fa3ecd"></a><!-- doxytag: member="ER::_py" ref="a899fc539bf9631d5724ae6a461fa3ecd" args="" -->
double </td><td class="memItemRight" valign="bottom"><b>_py</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3e0e1acc16675ba78a253a413dd2c225"></a><!-- doxytag: member="ER::_pa" ref="a3e0e1acc16675ba78a253a413dd2c225" args="" -->
double </td><td class="memItemRight" valign="bottom"><b>_pa</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a89573a2fb94d8a1d4591809eb92bde6a"></a><!-- doxytag: member="ER::_powered" ref="a89573a2fb94d8a1d4591809eb92bde6a" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>_powered</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a458d7600ade54c8762145908c7bafa23"></a><!-- doxytag: member="ER::_resting" ref="a458d7600ade54c8762145908c7bafa23" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>_resting</b></td></tr>
</table>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="af2d9f11435db5bf7851fdc2a2295f00e"></a><!-- doxytag: member="ER::Main" ref="af2d9f11435db5bf7851fdc2a2295f00e" args="()" -->
<div class="memitem">
<div class="memproto">
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<td class="memname">void ER::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="structplayer__pose2d.html#a81438ba2b285ecbd3e52ea39450b5a92">player_pose2d::pa</a>, <a class="el" href="group__message__types.html#ga57872b03daef439c29a81f0aba7208b5">PLAYER_MSGTYPE_DATA</a>, <a class="el" href="group__interface__position2d.html#gaf0fbfea4fcbea0c2eee0bedabd481fba">PLAYER_POSITION2D_DATA_STATE</a>, <a class="el" href="structplayer__position2d__data.html#aec2b4f19406a26db96ef38f8b8b9c733">player_position2d_data::pos</a>, <a class="el" href="classDriver.html#a91c6a959c611b5ff76623e82de665f68">Driver::ProcessMessages()</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__pose2d.html#a9b31f8c715a04d1165f06a27f1ab6d18">player_pose2d::py</a>, <a class="el" href="structplayer__position2d__data.html#a1f93425d1fc8e0b0a38715000fd27a9c">player_position2d_data::stall</a>, and <a class="el" href="structplayer__position2d__data.html#a650a6c9b398579ea2701792d6b566eba">player_position2d_data::vel</a>.</p>
</div>
</div>
<a class="anchor" id="a5e241e5ee09297d8643916872fe27f6f"></a><!-- doxytag: member="ER::MainQuit" ref="a5e241e5ee09297d8643916872fe27f6f" args="()" -->
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<td class="memname">void ER::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="a12a52473e8b394db5147bb9bc0624dea"></a><!-- doxytag: member="ER::ProcessMessage" ref="a12a52473e8b394db5147bb9bc0624dea" args="(QueuePointer &resp_queue, player_msghdr *hdr, void *data)" -->
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<td class="memname">int ER::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="structplayer__position2d__cmd__car.html#abb0ed4798f35995d72643767e680a3a2">player_position2d_cmd_car::angle</a>, <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__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#gafcd67e56caf41a533c474864f90a65b4">PLAYER_POSITION2D_CMD_CAR</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="structplayer__position2d__set__odom__req.html#a7ae5e74b34ca2c0643207c6570ff54b2">player_position2d_set_odom_req::pose</a>, <a class="el" href="structplayer__position2d__geom.html#a610b44830e27c0626f2b2c4c5cecc558">player_position2d_geom::pose</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__pose3d.html#aa36562136aabc6805b4411d4b942e661">player_pose3d::px</a>, <a class="el" href="structplayer__pose2d.html#a9b31f8c715a04d1165f06a27f1ab6d18">player_pose2d::py</a>, <a class="el" href="structplayer__pose3d.html#a7fc88aeb333507a6026af12116d933b6">player_pose3d::py</a>, <a class="el" href="structplayer__pose3d.html#abf168b9b5acd66c83a01783512be56dd">player_pose3d::pyaw</a>, <a class="el" href="structplayer__position2d__geom.html#ad5867aec329d6b1370894fe3392a29a4">player_position2d_geom::size</a>, <a class="el" href="structplayer__bbox3d.html#ae5e642ddc5357ede0e2b7ca896e2b50d">player_bbox3d::sl</a>, <a class="el" href="structplayer__position2d__power__config.html#a9a27cd9a1b0b89ea1e3a9846fc500add">player_position2d_power_config::state</a>, <a class="el" href="structplayer__msghdr.html#aeba88246e5ba9d3d6c1f2b60c329352b">player_msghdr::subtype</a>, <a class="el" href="structplayer__bbox3d.html#a44e93586d87a7cc4e2311ddc4d35e82b">player_bbox3d::sw</a>, <a class="el" href="structplayer__position2d__cmd__vel.html#a38db0013f72bf2787356ff2b47c5ee00">player_position2d_cmd_vel::vel</a>, and <a class="el" href="structplayer__position2d__cmd__car.html#aa69c54fcb27945a0c4ec84a555b085b9">player_position2d_cmd_car::velocity</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="er_8h_source.html">er.h</a></li>
<li>er.cc</li>
</ul>
</div>
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Last updated 12 September 2005 21:38:45
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