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<h1>khepera.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</span>
<a name="l00004"></a>00004 <span class="comment"> * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> *</span>
<a name="l00007"></a>00007 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00008"></a>00008 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00009"></a>00009 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00010"></a>00010 <span class="comment"> * (at your option) any later version.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00015"></a>00015 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00018"></a>00018 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00019"></a>00019 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00020"></a>00020 <span class="comment"> *</span>
<a name="l00021"></a>00021 <span class="comment"> */</span>
<a name="l00022"></a>00022
<a name="l00023"></a>00023 <span class="comment">/* Copyright (C) 2004</span>
<a name="l00024"></a>00024 <span class="comment"> * Toby Collett, University of Auckland Robotics Group</span>
<a name="l00025"></a>00025 <span class="comment"> *</span>
<a name="l00026"></a>00026 <span class="comment"> * Header for the khepera robot. The</span>
<a name="l00027"></a>00027 <span class="comment"> * architecture is similar to the P2OS device, in that the position, IR and</span>
<a name="l00028"></a>00028 <span class="comment"> * power services all need to go through a single serial port and</span>
<a name="l00029"></a>00029 <span class="comment"> * base device class. So this code was copied from p2osdevice and</span>
<a name="l00030"></a>00030 <span class="comment"> * modified to taste.</span>
<a name="l00031"></a>00031 <span class="comment"> *</span>
<a name="l00032"></a>00032 <span class="comment"> */</span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#ifndef _KHEPERADEVICE_H</span>
<a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#define _KHEPERADEVICE_H</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 <errno.h></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="comment">//#include <khepera_params.h></span>
<a name="l00043"></a>00043 <span class="preprocessor">#include "khepera_serial.h"</span>
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="preprocessor">#define KHEPERA_CONFIG_BUFFER_SIZE 1024</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span><span class="preprocessor">#define KHEPERA_BAUDRATE B38400</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">#define KHEPERA_DEFAULT_SERIAL_PORT "/dev/ttyUSB0"</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">#define KHEPERA_DEFAULT_SCALE 10</span>
<a name="l00049"></a>00049 <span class="preprocessor"></span><span class="preprocessor">#define KHEPERA_DEFAULT_ENCODER_RES (1.0/12.0)</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor">#define KHEPERA_DEFAULT_IR_CALIB_A (64.158)</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor">#define KHEPERA_DEFAULT_IR_CALIB_B (-0.1238)</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span>
<a name="l00053"></a>00053 <span class="preprocessor">#define KHEPERA_MOTOR_LEFT 0</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor">#define KHEPERA_MOTOR_RIGHT 1</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span>
<a name="l00056"></a>00056 <span class="preprocessor">#define KHEPERA_FIXED_FACTOR 10000</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span>
<a name="l00058"></a>00058 <span class="preprocessor">#define CRLF "\r\n"</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#define KHEPERA_COMMAND_PROMPT "\r\n"</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span>
<a name="l00061"></a>00061 <span class="preprocessor">#ifndef ABS</span>
<a name="l00062"></a>00062 <span class="preprocessor"></span><span class="preprocessor">#define ABS(x) ((x) < 0 ? -(x) : (x))</span>
<a name="l00063"></a>00063 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00064"></a>00064 <span class="preprocessor"></span>
<a name="l00065"></a>00065 <span class="preprocessor">#ifndef SGN</span>
<a name="l00066"></a>00066 <span class="preprocessor"></span><span class="preprocessor">#define SGN(x) ((x) < 0 ? -1 : 1)</span>
<a name="l00067"></a>00067 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00068"></a>00068 <span class="preprocessor"></span>
<a name="l00069"></a><a class="code" href="structplayer__khepera__geom.html">00069</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structplayer__khepera__geom.html">player_khepera_geom</a>
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071 <span class="keywordtype">char</span> * PortName;
<a name="l00072"></a>00072 <span class="keywordtype">double</span> scale;
<a name="l00073"></a>00073 <a class="code" href="structplayer__ir__pose.html" title="Request/reply: get pose.">player_ir_pose_t</a> ir;
<a name="l00074"></a>00074 <span class="keywordtype">double</span> * ir_calib_a;
<a name="l00075"></a>00075 <span class="keywordtype">double</span> * ir_calib_b;
<a name="l00076"></a>00076 <a class="code" href="structplayer__position2d__geom.html" title="position2d geom">player_position2d_geom_t</a> position;
<a name="l00077"></a>00077 <span class="keywordtype">double</span> encoder_res;
<a name="l00078"></a>00078 } <a class="code" href="struct____attribute____.html">__attribute__</a> ((packed)) player_khepera_geom_t;
<a name="l00079"></a>00079
<a name="l00080"></a>00080
<a name="l00081"></a><a class="code" href="classKhepera.html">00081</a> class <a class="code" href="classKhepera.html">Khepera</a> : public <a class="code" href="classThreadedDriver.html" title="Base class for drivers which oeprate with a thread.">ThreadedDriver</a>
<a name="l00082"></a>00082 {
<a name="l00083"></a>00083 <span class="keyword">public</span>:
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <a class="code" href="classKhepera.html">Khepera</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="l00086"></a>00086 ~<a class="code" href="classKhepera.html">Khepera</a>();
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="comment">/* the main thread */</span>
<a name="l00089"></a>00089 <span class="keyword">virtual</span> <span class="keywordtype">void</span> Main();
<a name="l00090"></a>00090
<a name="l00091"></a>00091 <span class="keyword">virtual</span> <span class="keywordtype">int</span> Subscribe(<a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> addr);
<a name="l00092"></a>00092 <span class="keyword">virtual</span> <span class="keywordtype">int</span> Unsubscribe(<a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> addr);
<a name="l00093"></a>00093
<a name="l00094"></a>00094 <span class="keyword">virtual</span> <span class="keywordtype">int</span> MainSetup();
<a name="l00095"></a>00095 <span class="keyword">virtual</span> <span class="keywordtype">void</span> MainQuit();
<a name="l00096"></a>00096
<a name="l00097"></a>00097 <span class="keywordtype">int</span> ResetOdometry();
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="comment">// handle IR</span>
<a name="l00100"></a>00100 <span class="keywordtype">void</span> SetIRState(<span class="keywordtype">int</span>);
<a name="l00101"></a>00101
<a name="l00102"></a>00102 <span class="keywordtype">void</span> UpdateData(<span class="keywordtype">void</span>);
<a name="l00103"></a>00103
<a name="l00104"></a>00104 <span class="keywordtype">void</span> UpdateIRData(<a class="code" href="structplayer__ir__data.html" title="Data: ranges (PLAYER_IR_DATA_RANGES).">player_ir_data_t</a> *);
<a name="l00105"></a>00105 <span class="keywordtype">void</span> UpdatePosData(<a class="code" href="structplayer__position2d__data.html" title="position2d data">player_position2d_data_t</a> *);
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="comment">// the following are all interface functions to the REB</span>
<a name="l00108"></a>00108 <span class="comment">// this handles the A/D device which deals with IR for us</span>
<a name="l00109"></a>00109 <span class="comment">//void ConfigAD(int, int);</span>
<a name="l00110"></a>00110 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> ReadAD(<span class="keywordtype">int</span>);
<a name="l00111"></a>00111 <span class="keywordtype">int</span> ReadAllIR(<a class="code" href="structplayer__ir__data.html" title="Data: ranges (PLAYER_IR_DATA_RANGES).">player_ir_data_t</a> *);
<a name="l00112"></a>00112
<a name="l00113"></a>00113 <span class="comment">// this handles motor control</span>
<a name="l00114"></a>00114 <span class="keywordtype">int</span> SetSpeed(<span class="keywordtype">int</span>, <span class="keywordtype">int</span>);
<a name="l00115"></a>00115 <span class="keywordtype">int</span> ReadSpeed(<span class="keywordtype">int</span>*, <span class="keywordtype">int</span>*);
<a name="l00116"></a>00116
<a name="l00117"></a>00117 <span class="keywordtype">int</span> SetPos(<span class="keywordtype">int</span>, <span class="keywordtype">int</span>);
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="keywordtype">int</span> SetPosCounter(<span class="keywordtype">int</span>, <span class="keywordtype">int</span>);
<a name="l00120"></a>00120 <span class="keywordtype">int</span> ReadPos(<span class="keywordtype">int</span> *, <span class="keywordtype">int</span>*);
<a name="l00121"></a>00121
<a name="l00122"></a>00122 <span class="comment">//unsigned char ReadStatus(int, int *, int *);</span>
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="comment">// MessageHandler</span>
<a name="l00125"></a>00125 <span class="keywordtype">int</span> ProcessMessage(<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="l00126"></a>00126
<a name="l00127"></a>00127 <span class="keyword">private</span>:
<a name="l00128"></a>00128 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> ir_addr;
<a name="l00129"></a>00129 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> position_addr;
<a name="l00130"></a>00130 <span class="keywordtype">int</span> position_subscriptions;
<a name="l00131"></a>00131 <span class="keywordtype">int</span> ir_subscriptions;
<a name="l00132"></a>00132
<a name="l00133"></a>00133 <a class="code" href="classKheperaSerial.html">KheperaSerial</a> * Serial;
<a name="l00134"></a>00134
<a name="l00135"></a>00135 player_khepera_geom_t* geometry;
<a name="l00136"></a>00136
<a name="l00137"></a>00137 <span class="keywordtype">int</span> param_index; <span class="comment">// index in the RobotParams table for this robot</span>
<a name="l00138"></a>00138 <span class="keywordtype">int</span> khepera_fd; <span class="comment">// khepera device file descriptor</span>
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="keyword">struct </span>timeval last_position; <span class="comment">// last position update</span>
<a name="l00141"></a>00141 <span class="keywordtype">bool</span> refresh_last_position;
<a name="l00142"></a>00142 <span class="keywordtype">int</span> last_lpos, last_rpos;
<a name="l00143"></a>00143 <span class="keywordtype">double</span> x,y,yaw;
<a name="l00144"></a>00144 <span class="keywordtype">int</span> last_x_f, last_y_f;
<a name="l00145"></a>00145 <span class="keywordtype">double</span> last_theta;
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="keyword">struct </span>timeval last_pos_update; <span class="comment">// time of last pos update</span>
<a name="l00148"></a>00148 <span class="keyword">struct </span>timeval last_ir_update;
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <span class="keywordtype">int</span> pos_update_period;
<a name="l00151"></a>00151
<a name="l00152"></a>00152 <span class="keywordtype">short</span> desired_heading;
<a name="l00153"></a>00153
<a name="l00154"></a>00154 <span class="keywordtype">int</span> ir_sequence;
<a name="l00155"></a>00155 <span class="keyword">struct </span>timeval last_ir;
<a name="l00156"></a>00156
<a name="l00157"></a>00157 <span class="keywordtype">bool</span> motors_enabled;
<a name="l00158"></a>00158 <span class="keywordtype">bool</span> velocity_mode;
<a name="l00159"></a>00159 <span class="keywordtype">bool</span> direct_velocity_control;
<a name="l00160"></a>00160
<a name="l00161"></a>00161 <span class="comment">// device used to communicate with reb</span>
<a name="l00162"></a>00162 <span class="keywordtype">char</span> khepera_serial_port[MAX_FILENAME_SIZE];
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="comment">//struct pollfd write_pfd, read_pfd;</span>
<a name="l00165"></a>00165
<a name="l00166"></a>00166
<a name="l00167"></a>00167 };
<a name="l00168"></a>00168
<a name="l00169"></a>00169
<a name="l00170"></a>00170 <span class="preprocessor">#endif</span>
</pre></div></div>
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