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<h1>garcia_mixed.h</h1> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Player - One Hell of a Robot Server</span>
<a name="l00003"></a>00003 <span class="comment"> * Copyright (C) 2000 Brian Gerkey et al.</span>
<a name="l00004"></a>00004 <span class="comment"> *</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00007"></a>00007 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00008"></a>00008 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00009"></a>00009 <span class="comment"> * (at your option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment"> *</span>
<a name="l00011"></a>00011 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00012"></a>00012 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00013"></a>00013 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00014"></a>00014 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00017"></a>00017 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00018"></a>00018 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00019"></a>00019 <span class="comment"> *</span>
<a name="l00020"></a>00020 <span class="comment"> */</span>
<a name="l00021"></a>00021
<a name="l00022"></a>00022 <span class="preprocessor">#include <stdint.h></span>
<a name="l00023"></a>00023
<a name="l00024"></a>00024 <span class="preprocessor">#include <libplayercore/playercore.h></span>
<a name="l00025"></a>00025
<a name="l00026"></a>00026 <span class="preprocessor">#include "acpGarcia.h"</span>
<a name="l00027"></a>00027
<a name="l00029"></a>00029 <span class="comment">// The class for the driver</span>
<a name="l00030"></a><a class="code" href="classGarciaDriver.html">00030</a> <span class="keyword">class </span><a class="code" href="classGarciaDriver.html">GarciaDriver</a> : <span class="keyword">public</span> <a class="code" href="classThreadedDriver.html" title="Base class for drivers which oeprate with a thread.">ThreadedDriver</a>
<a name="l00031"></a>00031 {
<a name="l00032"></a>00032 <span class="keyword">public</span>:
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="comment">// Constructor; need that</span>
<a name="l00035"></a>00035 <a class="code" href="classGarciaDriver.html">GarciaDriver</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="l00036"></a>00036
<a name="l00037"></a>00037 <span class="keyword">virtual</span> ~<a class="code" href="classGarciaDriver.html">GarciaDriver</a>();
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="comment">// Must implement the following methods.</span>
<a name="l00040"></a>00040 <span class="keywordtype">int</span> <a class="code" href="classGarciaDriver.html#af345b9909efb513ab8237d8a4e388351" title="Sets up the resources needed by the driver thread.">MainSetup</a>();
<a name="l00041"></a>00041 <span class="keywordtype">void</span> <a class="code" href="classGarciaDriver.html#a3223d9c9fc51ef35a7db6adcb632462e" title="Cleanup method for driver thread (called when main exits).">MainQuit</a>();
<a name="l00042"></a>00042 <span class="comment">// Main function for device thread.</span>
<a name="l00043"></a>00043 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classGarciaDriver.html#a89c32a2cb2a2e8f6c5a38eed2b61a50c" title="Main method for driver thread.">Main</a>();
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="comment">// This method will be invoked on each incoming message</span>
<a name="l00046"></a>00046 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classGarciaDriver.html#af0f620f101f28c478f3623d308247adf" title="Message handler.">ProcessMessage</a>(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> & resp_queue,
<a name="l00047"></a>00047 <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr,
<a name="l00048"></a>00048 <span class="keywordtype">void</span> * data);
<a name="l00049"></a>00049 <span class="comment">//void ProcessConfig();</span>
<a name="l00050"></a>00050 <span class="keywordtype">void</span> ProcessPos2dPosCmd(<a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr_t</a>* hdr, <a class="code" href="structplayer__position2d__cmd__pos.html" title="position2d position command">player_position2d_cmd_pos_t</a> &data);
<a name="l00051"></a>00051 <span class="keywordtype">void</span> ProcessPos2dVelCmd(<a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr_t</a>* hdr, <a class="code" href="structplayer__position2d__cmd__vel.html" title="position 2d velocity command">player_position2d_cmd_vel_t</a> &data);
<a name="l00052"></a>00052 <span class="keywordtype">void</span> ProcessSpeechCommand(<a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr_t</a>* hdr, <a class="code" href="structplayer__speech__cmd.html" title="Command: say a string (PLAYER_SPEECH_CMD_SAY).">player_speech_cmd_t</a> &data);
<a name="l00053"></a>00053 <span class="keywordtype">void</span> ProcessDioCommand(<a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr_t</a>* hdr, <a class="code" href="structplayer__dio__cmd.html" title="Command: output values (PLAYER_DIO_CMD_VALUES).">player_dio_cmd_t</a> &data);
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="keywordtype">void</span> ProcessPos2dGeomReq(<a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr_t</a>* hdr);
<a name="l00056"></a>00056 <span class="keywordtype">void</span> ProcessIrPoseReq(<a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr_t</a>* hdr);
<a name="l00057"></a>00057
<a name="l00058"></a>00058 <span class="keywordtype">void</span> RefreshData();
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="keyword">private</span>:
<a name="l00061"></a>00061
<a name="l00062"></a>00062 <span class="comment">// position2d interface</span>
<a name="l00063"></a>00063 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> mPos2dAddr;
<a name="l00064"></a>00064 <a class="code" href="structplayer__position2d__data.html" title="position2d data">player_position2d_data_t</a> mPos2dData;
<a name="l00065"></a>00065 <a class="code" href="structplayer__position2d__cmd__pos.html" title="position2d position command">player_position2d_cmd_pos_t</a> mPos2dPosCmd;
<a name="l00066"></a>00066 <a class="code" href="structplayer__position2d__cmd__vel.html" title="position 2d velocity command">player_position2d_cmd_vel_t</a> mPos2dVelCmd;
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="comment">// ir interface</span>
<a name="l00069"></a>00069 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> mIrAddr;
<a name="l00070"></a>00070 <a class="code" href="structplayer__ir__data.html" title="Data: ranges (PLAYER_IR_DATA_RANGES).">player_ir_data_t</a> mIrData;
<a name="l00071"></a>00071
<a name="l00072"></a>00072 <span class="comment">// speech interface</span>
<a name="l00073"></a>00073 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> mSpeechAddr;
<a name="l00074"></a>00074 <a class="code" href="structplayer__speech__cmd.html" title="Command: say a string (PLAYER_SPEECH_CMD_SAY).">player_speech_cmd_t</a> mSpeechCmd;
<a name="l00075"></a>00075
<a name="l00076"></a>00076 <span class="comment">// dio interface</span>
<a name="l00077"></a>00077 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> mDioAddr;
<a name="l00078"></a>00078 <a class="code" href="structplayer__dio__data.html" title="Data: input values (PLAYER_DIO_DATA_VALUES).">player_dio_data_t</a> mDioData;
<a name="l00079"></a>00079 <a class="code" href="structplayer__dio__cmd.html" title="Command: output values (PLAYER_DIO_CMD_VALUES).">player_dio_cmd_t</a> mDioCmd;
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="comment">// power interface</span>
<a name="l00082"></a>00082 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> mPowerAddr;
<a name="l00083"></a>00083 <a class="code" href="structplayer__power__data.html" title="Data: voltage (PLAYER_POWER_DATA_STATE).">player_power_data_t</a> mPowerData;
<a name="l00084"></a>00084
<a name="l00085"></a>00085 int32_t mSleep;
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <span class="keywordtype">double</span> mLength;
<a name="l00088"></a>00088 <span class="keywordtype">double</span> mWidth;
<a name="l00089"></a>00089 <span class="keywordtype">double</span> mWheelBase;
<a name="l00090"></a>00090 <span class="keywordtype">double</span> mWheelRadius;
<a name="l00091"></a>00091
<a name="l00092"></a>00092 acpValue mSpeed;
<a name="l00093"></a>00093 acpValue mPitch;
<a name="l00094"></a>00094 acpValue mVolume;
<a name="l00095"></a>00095
<a name="l00096"></a>00096 acpGarcia* mGarcia;
<a name="l00097"></a>00097 };
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