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<h1>p2os.h</h1> </div>
</div>
<div class="contents">
<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">/*</span>
<a name="l00024"></a>00024 <span class="comment"> * $Id: p2os.h 8184 2009-08-07 08:48:58Z gbiggs $</span>
<a name="l00025"></a>00025 <span class="comment"> *</span>
<a name="l00026"></a>00026 <span class="comment"> * the P2OS device. it's the parent device for all the P2 'sub-devices',</span>
<a name="l00027"></a>00027 <span class="comment"> * like gripper, position, sonar, etc. there's a thread here that</span>
<a name="l00028"></a>00028 <span class="comment"> * actually interacts with P2OS via the serial line. the other</span>
<a name="l00029"></a>00029 <span class="comment"> * "devices" communicate with this thread by putting into and getting</span>
<a name="l00030"></a>00030 <span class="comment"> * data out of shared buffers.</span>
<a name="l00031"></a>00031 <span class="comment"> */</span>
<a name="l00032"></a>00032 <span class="preprocessor">#ifndef _P2OSDEVICE_H</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span><span class="preprocessor">#define _P2OSDEVICE_H</span>
<a name="l00034"></a>00034 <span class="preprocessor"></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <pthread.h></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <sys/time.h></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="preprocessor">#include <libplayercore/playercore.h></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <replace/replace.h></span>
<a name="l00040"></a>00040
<a name="l00041"></a>00041 <span class="preprocessor">#include "packet.h"</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include "robot_params.h"</span>
<a name="l00043"></a>00043
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="comment">// Default max speeds</span>
<a name="l00046"></a>00046 <span class="preprocessor">#define MOTOR_DEF_MAX_SPEED 0.5</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">#define MOTOR_DEF_MAX_TURNSPEED DTOR(100)</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span>
<a name="l00049"></a>00049 <span class="comment">/*</span>
<a name="l00050"></a>00050 <span class="comment"> * Apparently, newer kernel require a large value (200000) here. It only</span>
<a name="l00051"></a>00051 <span class="comment"> * makes the initialization phase take a bit longer, and doesn't have any</span>
<a name="l00052"></a>00052 <span class="comment"> * impact on the speed at which packets are received from P2OS</span>
<a name="l00053"></a>00053 <span class="comment"> */</span>
<a name="l00054"></a>00054 <span class="preprocessor">#define P2OS_CYCLETIME_USEC 200000</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span>
<a name="l00056"></a>00056 <span class="comment">/* p2os constants */</span>
<a name="l00057"></a>00057
<a name="l00058"></a>00058 <span class="preprocessor">#define P2OS_NOMINAL_VOLTAGE 12.0</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span>
<a name="l00060"></a>00060 <span class="comment">/* Command numbers */</span>
<a name="l00061"></a>00061 <span class="preprocessor">#define SYNC0 0</span>
<a name="l00062"></a>00062 <span class="preprocessor"></span><span class="preprocessor">#define SYNC1 1</span>
<a name="l00063"></a>00063 <span class="preprocessor"></span><span class="preprocessor">#define SYNC2 2</span>
<a name="l00064"></a>00064 <span class="preprocessor"></span>
<a name="l00065"></a>00065 <span class="preprocessor">#define PULSE 0</span>
<a name="l00066"></a>00066 <span class="preprocessor"></span><span class="preprocessor">#define OPEN 1</span>
<a name="l00067"></a>00067 <span class="preprocessor"></span><span class="preprocessor">#define CLOSE 2</span>
<a name="l00068"></a>00068 <span class="preprocessor"></span><span class="preprocessor">#define ENABLE 4</span>
<a name="l00069"></a>00069 <span class="preprocessor"></span><span class="preprocessor">#define SETA 5</span>
<a name="l00070"></a>00070 <span class="preprocessor"></span><span class="preprocessor">#define SETV 6</span>
<a name="l00071"></a>00071 <span class="preprocessor"></span><span class="preprocessor">#define SETO 7</span>
<a name="l00072"></a>00072 <span class="preprocessor"></span><span class="preprocessor">#define VEL 11</span>
<a name="l00073"></a>00073 <span class="preprocessor"></span><span class="preprocessor">#define RVEL 21</span>
<a name="l00074"></a>00074 <span class="preprocessor"></span><span class="preprocessor">#define SETRA 23</span>
<a name="l00075"></a>00075 <span class="preprocessor"></span><span class="preprocessor">#define SONAR 28</span>
<a name="l00076"></a>00076 <span class="preprocessor"></span><span class="preprocessor">#define STOP 29</span>
<a name="l00077"></a>00077 <span class="preprocessor"></span><span class="preprocessor">#define VEL2 32</span>
<a name="l00078"></a>00078 <span class="preprocessor"></span><span class="preprocessor">#define GRIPPER 33</span>
<a name="l00079"></a>00079 <span class="preprocessor"></span><span class="preprocessor">#define GRIPPERVAL 36</span>
<a name="l00080"></a>00080 <span class="preprocessor"></span><span class="preprocessor">#define TTY2 42 // Added in AmigOS 1.2</span>
<a name="l00081"></a>00081 <span class="preprocessor"></span><span class="preprocessor">#define GETAUX 43 // Added in AmigOS 1.2</span>
<a name="l00082"></a>00082 <span class="preprocessor"></span><span class="preprocessor">#define BUMP_STALL 44</span>
<a name="l00083"></a>00083 <span class="preprocessor"></span><span class="preprocessor">#define JOYDRIVE 47</span>
<a name="l00084"></a>00084 <span class="preprocessor"></span><span class="preprocessor">#define GYRO 58 // Added in AROS 1.8</span>
<a name="l00085"></a>00085 <span class="preprocessor"></span><span class="preprocessor">#define ROTKP 82 // Added in P2OS1.M</span>
<a name="l00086"></a>00086 <span class="preprocessor"></span><span class="preprocessor">#define ROTKV 83 // Added in P2OS1.M</span>
<a name="l00087"></a>00087 <span class="preprocessor"></span><span class="preprocessor">#define ROTKI 84 // Added in P2OS1.M</span>
<a name="l00088"></a>00088 <span class="preprocessor"></span><span class="preprocessor">#define TRANSKP 85 // Added in P2OS1.M</span>
<a name="l00089"></a>00089 <span class="preprocessor"></span><span class="preprocessor">#define TRANSKV 86 // Added in P2OS1.M</span>
<a name="l00090"></a>00090 <span class="preprocessor"></span><span class="preprocessor">#define TRANSKI 87 // Added in P2OS1.M</span>
<a name="l00091"></a>00091 <span class="preprocessor"></span><span class="preprocessor">#define TTY3 66 // Added in AmigOS 1.3</span>
<a name="l00092"></a>00092 <span class="preprocessor"></span><span class="preprocessor">#define GETAUX2 67 // Added in AmigOS 1.3</span>
<a name="l00093"></a>00093 <span class="preprocessor"></span><span class="preprocessor">#define ARM_INFO 70</span>
<a name="l00094"></a>00094 <span class="preprocessor"></span><span class="preprocessor">#define ARM_STATUS 71</span>
<a name="l00095"></a>00095 <span class="preprocessor"></span><span class="preprocessor">#define ARM_INIT 72</span>
<a name="l00096"></a>00096 <span class="preprocessor"></span><span class="preprocessor">#define ARM_CHECK 73</span>
<a name="l00097"></a>00097 <span class="preprocessor"></span><span class="preprocessor">#define ARM_POWER 74</span>
<a name="l00098"></a>00098 <span class="preprocessor"></span><span class="preprocessor">#define ARM_HOME 75</span>
<a name="l00099"></a>00099 <span class="preprocessor"></span><span class="preprocessor">#define ARM_PARK 76</span>
<a name="l00100"></a>00100 <span class="preprocessor"></span><span class="preprocessor">#define ARM_POS 77</span>
<a name="l00101"></a>00101 <span class="preprocessor"></span><span class="preprocessor">#define ARM_SPEED 78</span>
<a name="l00102"></a>00102 <span class="preprocessor"></span><span class="preprocessor">#define ARM_STOP 79</span>
<a name="l00103"></a>00103 <span class="preprocessor"></span><span class="preprocessor">#define ARM_AUTOPARK 80</span>
<a name="l00104"></a>00104 <span class="preprocessor"></span><span class="preprocessor">#define ARM_GRIPPARK 81</span>
<a name="l00105"></a>00105 <span class="preprocessor"></span><span class="preprocessor">#define SOUND 90</span>
<a name="l00106"></a>00106 <span class="preprocessor"></span><span class="preprocessor">#define PLAYLIST 91</span>
<a name="l00107"></a>00107 <span class="preprocessor"></span>
<a name="l00108"></a>00108 <span class="comment">/* Server Information Packet (SIP) types */</span>
<a name="l00109"></a>00109 <span class="preprocessor">#define STATUSSTOPPED 0x32</span>
<a name="l00110"></a>00110 <span class="preprocessor"></span><span class="preprocessor">#define STATUSMOVING 0x33</span>
<a name="l00111"></a>00111 <span class="preprocessor"></span><span class="preprocessor">#define ENCODER 0x90</span>
<a name="l00112"></a>00112 <span class="preprocessor"></span><span class="preprocessor">#define SERAUX 0xB0</span>
<a name="l00113"></a>00113 <span class="preprocessor"></span><span class="preprocessor">#define SERAUX2 0xB8 // Added in AmigOS 1.3</span>
<a name="l00114"></a>00114 <span class="preprocessor"></span><span class="preprocessor">#define GYROPAC 0x98 // Added AROS 1.8</span>
<a name="l00115"></a>00115 <span class="preprocessor"></span><span class="preprocessor">#define ARMPAC 160 // ARMpac</span>
<a name="l00116"></a>00116 <span class="preprocessor"></span><span class="preprocessor">#define ARMINFOPAC 161 // ARMINFOpac</span>
<a name="l00117"></a>00117 <span class="preprocessor"></span><span class="comment">//#define PLAYLIST 0xD0</span>
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="comment">/* Argument types */</span>
<a name="l00120"></a>00120 <span class="preprocessor">#define ARGINT 0x3B // Positive int (LSB, MSB)</span>
<a name="l00121"></a>00121 <span class="preprocessor"></span><span class="preprocessor">#define ARGNINT 0x1B // Negative int (LSB, MSB)</span>
<a name="l00122"></a>00122 <span class="preprocessor"></span><span class="preprocessor">#define ARGSTR 0x2B // String (Note: 1st byte is length!!)</span>
<a name="l00123"></a>00123 <span class="preprocessor"></span>
<a name="l00124"></a>00124 <span class="comment">/* gripper stuff */</span>
<a name="l00125"></a>00125 <span class="preprocessor">#define GRIPopen 1</span>
<a name="l00126"></a>00126 <span class="preprocessor"></span><span class="preprocessor">#define GRIPclose 2</span>
<a name="l00127"></a>00127 <span class="preprocessor"></span><span class="preprocessor">#define GRIPstop 3</span>
<a name="l00128"></a>00128 <span class="preprocessor"></span><span class="preprocessor">#define LIFTup 4</span>
<a name="l00129"></a>00129 <span class="preprocessor"></span><span class="preprocessor">#define LIFTdown 5</span>
<a name="l00130"></a>00130 <span class="preprocessor"></span><span class="preprocessor">#define LIFTstop 6</span>
<a name="l00131"></a>00131 <span class="preprocessor"></span><span class="preprocessor">#define GRIPstore 7</span>
<a name="l00132"></a>00132 <span class="preprocessor"></span><span class="preprocessor">#define GRIPdeploy 8</span>
<a name="l00133"></a>00133 <span class="preprocessor"></span><span class="preprocessor">#define GRIPhalt 15</span>
<a name="l00134"></a>00134 <span class="preprocessor"></span><span class="preprocessor">#define GRIPpress 16</span>
<a name="l00135"></a>00135 <span class="preprocessor"></span><span class="preprocessor">#define LIFTcarry 17</span>
<a name="l00136"></a>00136 <span class="preprocessor"></span>
<a name="l00137"></a>00137 <span class="comment">/* CMUcam stuff */</span>
<a name="l00138"></a>00138 <span class="preprocessor">#define CMUCAM_IMAGE_WIDTH 80</span>
<a name="l00139"></a>00139 <span class="preprocessor"></span><span class="preprocessor">#define CMUCAM_IMAGE_HEIGHT 143</span>
<a name="l00140"></a>00140 <span class="preprocessor"></span><span class="preprocessor">#define CMUCAM_MESSAGE_LEN 10</span>
<a name="l00141"></a>00141 <span class="preprocessor"></span>
<a name="l00142"></a>00142 <span class="comment">/* conection stuff */</span>
<a name="l00143"></a>00143 <span class="preprocessor">#define DEFAULT_P2OS_PORT "/dev/ttyS0"</span>
<a name="l00144"></a>00144 <span class="preprocessor"></span><span class="preprocessor">#define DEFAULT_P2OS_TCP_REMOTE_HOST "localhost"</span>
<a name="l00145"></a>00145 <span class="preprocessor"></span><span class="preprocessor">#define DEFAULT_P2OS_TCP_REMOTE_PORT 8101</span>
<a name="l00146"></a>00146 <span class="preprocessor"></span>
<a name="l00147"></a>00147 <span class="comment">/* Canon PTZ (VC-C4) Stuff */</span>
<a name="l00148"></a>00148 <span class="preprocessor">#define CAM_ERROR_NONE 0x30</span>
<a name="l00149"></a>00149 <span class="preprocessor"></span><span class="preprocessor">#define CAM_ERROR_BUSY 0x31</span>
<a name="l00150"></a>00150 <span class="preprocessor"></span><span class="preprocessor">#define CAM_ERROR_PARAM 0x35</span>
<a name="l00151"></a>00151 <span class="preprocessor"></span><span class="preprocessor">#define CAM_ERROR_MODE 0x39</span>
<a name="l00152"></a>00152 <span class="preprocessor"></span>
<a name="l00153"></a>00153 <span class="preprocessor">#define PTZ_SLEEP_TIME_USEC 100000</span>
<a name="l00154"></a>00154 <span class="preprocessor"></span>
<a name="l00155"></a>00155 <span class="preprocessor">#define MAX_PTZ_COMMAND_LENGTH 19</span>
<a name="l00156"></a>00156 <span class="preprocessor"></span><span class="preprocessor">#define MAX_PTZ_REQUEST_LENGTH 17</span>
<a name="l00157"></a>00157 <span class="preprocessor"></span><span class="preprocessor">#define COMMAND_RESPONSE_BYTES 6</span>
<a name="l00158"></a>00158 <span class="preprocessor"></span>
<a name="l00159"></a>00159 <span class="preprocessor">#define PTZ_PAN_MAX 98.0 // 875 units 0x36B</span>
<a name="l00160"></a>00160 <span class="preprocessor"></span><span class="preprocessor">#define PTZ_TILT_MAX 88.0 // 790 units 0x316</span>
<a name="l00161"></a>00161 <span class="preprocessor"></span><span class="preprocessor">#define PTZ_TILT_MIN -30.0 // -267 units 0x10B</span>
<a name="l00162"></a>00162 <span class="preprocessor"></span><span class="preprocessor">#define MAX_ZOOM 1960 //1900</span>
<a name="l00163"></a>00163 <span class="preprocessor"></span><span class="preprocessor">#define ZOOM_CONV_FACTOR 17</span>
<a name="l00164"></a>00164 <span class="preprocessor"></span>
<a name="l00165"></a>00165 <span class="preprocessor">#define PT_BUFFER_INC 512</span>
<a name="l00166"></a>00166 <span class="preprocessor"></span><span class="preprocessor">#define PT_READ_TIMEOUT 10000</span>
<a name="l00167"></a>00167 <span class="preprocessor"></span><span class="preprocessor">#define PT_READ_TRIALS 2</span>
<a name="l00168"></a>00168 <span class="preprocessor"></span>
<a name="l00169"></a><a class="code" href="structplayer__p2os__data.html">00169</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structplayer__p2os__data.html">player_p2os_data</a>
<a name="l00170"></a>00170 {
<a name="l00171"></a>00171 <span class="comment">//Standard SIP</span>
<a name="l00172"></a>00172 <a class="code" href="structplayer__position2d__data.html" title="position2d data">player_position2d_data_t</a> position;
<a name="l00173"></a>00173 <a class="code" href="structplayer__sonar__data.html" title="Data: ranges (PLAYER_SONAR_DATA_RANGES).">player_sonar_data_t</a> sonar;
<a name="l00174"></a>00174 <a class="code" href="structplayer__gripper__data.html" title="Data: state (PLAYER_GRIPPER_DATA_STATE).">player_gripper_data_t</a> gripper;
<a name="l00175"></a>00175 <a class="code" href="structplayer__actarray__data.html" title="Data: state (PLAYER_ACTARRAY_DATA_STATE).">player_actarray_data_t</a> lift;
<a name="l00176"></a>00176 <a class="code" href="structplayer__power__data.html" title="Data: voltage (PLAYER_POWER_DATA_STATE).">player_power_data_t</a> power;
<a name="l00177"></a>00177 <a class="code" href="structplayer__bumper__data.html" title="Data: state (PLAYER_BUMPER_DATA_GEOM).">player_bumper_data_t</a> bumper;
<a name="l00178"></a>00178 <a class="code" href="structplayer__position2d__data.html" title="position2d data">player_position2d_data_t</a> compass;
<a name="l00179"></a>00179 <a class="code" href="structplayer__dio__data.html" title="Data: input values (PLAYER_DIO_DATA_VALUES).">player_dio_data_t</a> dio;
<a name="l00180"></a>00180 <a class="code" href="structplayer__aio__data.html" title="Data: state (PLAYER_AIO_DATA_STATE).">player_aio_data_t</a> aio;
<a name="l00181"></a>00181
<a name="l00182"></a>00182 <span class="comment">//Blobfinder</span>
<a name="l00183"></a>00183 <a class="code" href="structplayer__blobfinder__data.html" title="Data: detected blobs (PLAYER_BLOBFINDER_DATA_BLOBS).">player_blobfinder_data_t</a> blobfinder;
<a name="l00184"></a>00184
<a name="l00185"></a>00185 <span class="comment">//Gyro</span>
<a name="l00186"></a>00186 <a class="code" href="structplayer__position2d__data.html" title="position2d data">player_position2d_data_t</a> gyro;
<a name="l00187"></a>00187
<a name="l00188"></a>00188 <span class="comment">//ARMPAC</span>
<a name="l00189"></a>00189 <a class="code" href="structplayer__actarray__data.html" title="Data: state (PLAYER_ACTARRAY_DATA_STATE).">player_actarray_data_t</a> actArray;
<a name="l00190"></a>00190 <a class="code" href="structplayer__gripper__data.html" title="Data: state (PLAYER_GRIPPER_DATA_STATE).">player_gripper_data_t</a> armGripper;
<a name="l00191"></a>00191 } <a class="code" href="struct____attribute____.html">__attribute__</a> ((packed)) player_p2os_data_t;
<a name="l00192"></a>00192
<a name="l00193"></a>00193 <span class="comment">// this is here because we need the above typedef's before including it.</span>
<a name="l00194"></a>00194 <span class="preprocessor">#include "sip.h"</span>
<a name="l00195"></a>00195 <span class="preprocessor"></span>
<a name="l00196"></a>00196 <span class="preprocessor">#include "kinecalc.h"</span>
<a name="l00197"></a>00197
<a name="l00198"></a>00198 <span class="keyword">class </span><a class="code" href="classSIP.html">SIP</a>;
<a name="l00199"></a>00199
<a name="l00200"></a>00200 <span class="comment">// Circular Buffer Used by PTZ camera</span>
<a name="l00201"></a><a class="code" href="classcircbuf.html">00201</a> <span class="keyword">class </span><a class="code" href="classcircbuf.html">circbuf</a>{
<a name="l00202"></a>00202 <span class="keyword">public</span>:
<a name="l00203"></a>00203 <a class="code" href="classcircbuf.html">circbuf</a>(<span class="keywordtype">int</span> size=512);
<a name="l00204"></a>00204
<a name="l00205"></a>00205 <span class="keywordtype">void</span> putOnBuf(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> c);
<a name="l00206"></a>00206 <span class="keywordtype">int</span> getFromBuf();
<a name="l00207"></a>00207 <span class="keywordtype">bool</span> haveData();
<a name="l00208"></a>00208 <span class="keywordtype">int</span> size();
<a name="l00209"></a>00209 <span class="keywordtype">void</span> printBuf();
<a name="l00210"></a>00210
<a name="l00211"></a>00211 <span class="keywordtype">bool</span> gotPacket();
<a name="l00212"></a>00212 <span class="keywordtype">void</span> reset();
<a name="l00213"></a>00213
<a name="l00214"></a>00214 <span class="keyword">private</span>:
<a name="l00215"></a>00215 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* buf;
<a name="l00216"></a>00216 <span class="keywordtype">int</span> start;
<a name="l00217"></a>00217 <span class="keywordtype">int</span> end;
<a name="l00218"></a>00218 <span class="keywordtype">int</span> mysize;
<a name="l00219"></a>00219 <span class="keywordtype">bool</span> gotPack;
<a name="l00220"></a>00220 };
<a name="l00221"></a>00221
<a name="l00222"></a>00222 <span class="comment">// Forward declaration of the KineCalc_Base class declared in kinecalc_base.h</span>
<a name="l00223"></a>00223 <span class="comment">//class KineCalc;</span>
<a name="l00224"></a>00224
<a name="l00225"></a><a class="code" href="classP2OS.html">00225</a> <span class="keyword">class </span><a class="code" href="classP2OS.html">P2OS</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="l00226"></a>00226 {
<a name="l00227"></a>00227 <span class="keyword">private</span>:
<a name="l00228"></a>00228 player_p2os_data_t p2os_data;
<a name="l00229"></a>00229
<a name="l00230"></a>00230 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> position_id;
<a name="l00231"></a>00231 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> sonar_id;
<a name="l00232"></a>00232 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> aio_id;
<a name="l00233"></a>00233 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> dio_id;
<a name="l00234"></a>00234 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> gripper_id;
<a name="l00235"></a>00235 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> lift_id;
<a name="l00236"></a>00236 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> bumper_id;
<a name="l00237"></a>00237 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> power_id;
<a name="l00238"></a>00238 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> compass_id;
<a name="l00239"></a>00239 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> gyro_id;
<a name="l00240"></a>00240 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> blobfinder_id;
<a name="l00241"></a>00241 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> audio_id;
<a name="l00242"></a>00242 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> actarray_id;
<a name="l00243"></a>00243 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> limb_id;
<a name="l00244"></a>00244 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> ptz_id;
<a name="l00245"></a>00245 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> armgripper_id;
<a name="l00246"></a>00246
<a name="l00247"></a>00247 <span class="comment">// Book keeping to only send new commands</span>
<a name="l00248"></a>00248 <span class="keywordtype">bool</span> sentGripperCmd;
<a name="l00249"></a>00249 uint8_t lastGripperCmd;
<a name="l00250"></a>00250 uint8_t lastLiftCmd;
<a name="l00251"></a>00251 <a class="code" href="structplayer__actarray__position__cmd.html" title="Command: Joint position control (PLAYER_ACTARRAY_CMD_POS).">player_actarray_position_cmd_t</a> lastLiftPosCmd;
<a name="l00252"></a>00252 <span class="keywordtype">bool</span> sentArmGripperCmd;
<a name="l00253"></a>00253 uint8_t lastArmGripperCmd;
<a name="l00254"></a>00254 uint8_t lastActArrayCmd;
<a name="l00255"></a>00255 <a class="code" href="structplayer__actarray__position__cmd.html" title="Command: Joint position control (PLAYER_ACTARRAY_CMD_POS).">player_actarray_position_cmd_t</a> lastActArrayPosCmd;
<a name="l00256"></a>00256 <a class="code" href="structplayer__actarray__home__cmd.html" title="Command: Joint home (PLAYER_CMD_ACTARRAY_HOME).">player_actarray_home_cmd_t</a> lastActArrayHomeCmd;
<a name="l00257"></a>00257
<a name="l00258"></a>00258 <span class="comment">// bookkeeping to only send new audio I/O commands</span>
<a name="l00259"></a>00259 <span class="keywordtype">bool</span> sent_audio_cmd;
<a name="l00260"></a>00260 <a class="code" href="structplayer__audio__sample__item.html" title="Player audio sample selection.">player_audio_sample_item_t</a> last_audio_cmd;
<a name="l00261"></a>00261 <span class="comment">// PID settings</span>
<a name="l00262"></a>00262 <span class="keywordtype">int</span> rot_kp, rot_kv, rot_ki, trans_kp, trans_kv, trans_ki;
<a name="l00263"></a>00263
<a name="l00264"></a>00264
<a name="l00265"></a>00265 <span class="keywordtype">int</span> position_subscriptions;
<a name="l00266"></a>00266 <span class="keywordtype">int</span> sonar_subscriptions;
<a name="l00267"></a>00267 <span class="keywordtype">int</span> actarray_subscriptions;
<a name="l00268"></a>00268 <span class="keywordtype">int</span> ptz_subscriptions;
<a name="l00269"></a>00269
<a name="l00270"></a>00270 <a class="code" href="classSIP.html">SIP</a>* sippacket;
<a name="l00271"></a>00271
<a name="l00272"></a>00272 <span class="keywordtype">int</span> SendReceive(<a class="code" href="classP2OSPacket.html">P2OSPacket</a>* pkt, <span class="keywordtype">bool</span> publish_data=<span class="keyword">true</span>);
<a name="l00273"></a>00273 <span class="keywordtype">void</span> ResetRawPositions();
<a name="l00274"></a>00274 <span class="comment">/* toggle sonars on/off, according to val */</span>
<a name="l00275"></a>00275 <span class="keywordtype">void</span> ToggleSonarPower(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> val);
<a name="l00276"></a>00276 <span class="comment">/* toggle motors on/off, according to val */</span>
<a name="l00277"></a>00277 <span class="keywordtype">void</span> ToggleMotorPower(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> val);
<a name="l00278"></a>00278 <span class="keywordtype">int</span> HandleConfig(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> & resp_queue,
<a name="l00279"></a>00279 <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr,
<a name="l00280"></a>00280 <span class="keywordtype">void</span>* data);
<a name="l00281"></a>00281 <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="l00282"></a>00282 <span class="keywordtype">void</span> StandardSIPPutData(<span class="keywordtype">double</span> timestampStandardSIP);
<a name="l00283"></a>00283 <span class="keywordtype">void</span> GyroPutData(<span class="keywordtype">double</span> timestampGyro);
<a name="l00284"></a>00284 <span class="keywordtype">void</span> BlobfinderPutData(<span class="keywordtype">double</span> timestampSERAUX);
<a name="l00285"></a>00285 <span class="keywordtype">void</span> ActarrayPutData(<span class="keywordtype">double</span> timestampArm);
<a name="l00286"></a>00286 <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="l00287"></a>00287 <span class="keywordtype">int</span> HandleGripperCommand (<a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> *hdr, <span class="keywordtype">void</span> *data);
<a name="l00288"></a>00288 <span class="keywordtype">int</span> HandleLiftCommand (<a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> *hdr, <span class="keywordtype">void</span> *data);
<a name="l00289"></a>00289 <span class="keywordtype">int</span> HandleArmGripperCommand (<a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> *hdr, <span class="keywordtype">void</span> *data);
<a name="l00290"></a>00290 <span class="keywordtype">void</span> HandleAudioCommand(<a class="code" href="structplayer__audio__sample__item.html" title="Player audio sample selection.">player_audio_sample_item_t</a> audio_cmd);
<a name="l00291"></a>00291
<a name="l00293"></a>00293 <span class="keywordtype">void</span> get_ptz_packet(<span class="keywordtype">int</span> s1, <span class="keywordtype">int</span> s2=0);
<a name="l00294"></a>00294 <span class="keywordtype">int</span> SetupPtz();
<a name="l00295"></a>00295
<a name="l00297"></a>00297 <span class="comment">// Gripper stuff</span>
<a name="l00298"></a>00298 <a class="code" href="structplayer__pose3d.html" title="A pose in space.">player_pose3d_t</a> gripperPose;
<a name="l00299"></a>00299 <a class="code" href="structplayer__bbox3d.html" title="A rectangular bounding box, used to define the size of an object.">player_bbox3d_t</a> gripperOuterSize;
<a name="l00300"></a>00300 <a class="code" href="structplayer__bbox3d.html" title="A rectangular bounding box, used to define the size of an object.">player_bbox3d_t</a> gripperInnerSize;
<a name="l00301"></a>00301 <a class="code" href="structplayer__bbox3d.html" title="A rectangular bounding box, used to define the size of an object.">player_bbox3d_t</a> armGripperOuterSize;
<a name="l00302"></a>00302 <a class="code" href="structplayer__bbox3d.html" title="A rectangular bounding box, used to define the size of an object.">player_bbox3d_t</a> armGripperInnerSize;
<a name="l00303"></a>00303 <span class="keywordtype">void</span> OpenGripper (<span class="keywordtype">void</span>);
<a name="l00304"></a>00304 <span class="keywordtype">void</span> CloseGripper (<span class="keywordtype">void</span>);
<a name="l00305"></a>00305 <span class="keywordtype">void</span> StopGripper (<span class="keywordtype">void</span>);
<a name="l00306"></a>00306 <span class="keywordtype">void</span> OpenArmGripper (<span class="keywordtype">void</span>);
<a name="l00307"></a>00307 <span class="keywordtype">void</span> CloseArmGripper (<span class="keywordtype">void</span>);
<a name="l00308"></a>00308 <span class="keywordtype">void</span> StopArmGripper (<span class="keywordtype">void</span>);
<a name="l00309"></a>00309
<a name="l00311"></a>00311 <span class="comment">// Actarray stuff</span>
<a name="l00312"></a>00312 <span class="keywordtype">double</span> aaLengths[6];
<a name="l00313"></a>00313 <span class="keywordtype">double</span> aaOrients[18];
<a name="l00314"></a>00314 <span class="keywordtype">double</span> aaAxes[18];
<a name="l00315"></a>00315 <a class="code" href="structplayer__point__3d.html" title="A point in 3D space.">player_point_3d_t</a> aaBasePos;
<a name="l00316"></a>00316 <a class="code" href="structplayer__orientation__3d.html" title="An angle in 3D space.">player_orientation_3d_t</a> aaBaseOrient;
<a name="l00317"></a>00317 <span class="keyword">inline</span> <span class="keywordtype">double</span> TicksToDegrees (<span class="keywordtype">int</span> joint, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> ticks);
<a name="l00318"></a>00318 <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> DegreesToTicks (<span class="keywordtype">int</span> joint, <span class="keywordtype">double</span> degrees);
<a name="l00319"></a>00319 <span class="keyword">inline</span> <span class="keywordtype">double</span> TicksToRadians (<span class="keywordtype">int</span> joint, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> ticks);
<a name="l00320"></a>00320 <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> RadiansToTicks (<span class="keywordtype">int</span> joint, <span class="keywordtype">double</span> rads);
<a name="l00321"></a>00321 <span class="keyword">inline</span> <span class="keywordtype">double</span> RadsPerSectoSecsPerTick (<span class="keywordtype">int</span> joint, <span class="keywordtype">double</span> speed);
<a name="l00322"></a>00322 <span class="keyword">inline</span> <span class="keywordtype">double</span> SecsPerTicktoRadsPerSec (<span class="keywordtype">int</span> joint, <span class="keywordtype">double</span> secs);
<a name="l00323"></a>00323 <span class="keywordtype">void</span> ToggleActArrayPower (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> val, <span class="keywordtype">bool</span> lock = <span class="keyword">true</span>); <span class="comment">// Toggle actarray power on/off</span>
<a name="l00324"></a>00324 <span class="keywordtype">void</span> SetActArrayJointSpeed (<span class="keywordtype">int</span> joint, <span class="keywordtype">double</span> speed); <span class="comment">// Set a joint speed</span>
<a name="l00325"></a>00325 <span class="keywordtype">void</span> HandleActArrayPosCmd (<a class="code" href="structplayer__actarray__position__cmd.html" title="Command: Joint position control (PLAYER_ACTARRAY_CMD_POS).">player_actarray_position_cmd_t</a> cmd);
<a name="l00326"></a>00326 <span class="keywordtype">void</span> HandleActArrayHomeCmd (<a class="code" href="structplayer__actarray__home__cmd.html" title="Command: Joint home (PLAYER_CMD_ACTARRAY_HOME).">player_actarray_home_cmd_t</a> cmd);
<a name="l00327"></a>00327 <span class="keywordtype">int</span> HandleActArrayCommand (<a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr, <span class="keywordtype">void</span> * data);
<a name="l00328"></a>00328
<a name="l00330"></a>00330 <span class="comment">// Limb stuff</span>
<a name="l00331"></a>00331 <a class="code" href="classKineCalc.html">KineCalc</a> *kineCalc;
<a name="l00332"></a>00332 <span class="keywordtype">float</span> armOffsetX, armOffsetY, armOffsetZ;
<a name="l00333"></a>00333 <span class="comment">// This is here because we don't want it zeroed every time someone fills in some other data</span>
<a name="l00334"></a>00334 <a class="code" href="structplayer__limb__data.html" title="Data: state (PLAYER_LIMB_DATA).">player_limb_data_t</a> limb_data;
<a name="l00335"></a>00335 <span class="keywordtype">void</span> HandleLimbHomeCmd (<span class="keywordtype">void</span>);
<a name="l00336"></a>00336 <span class="keywordtype">void</span> HandleLimbStopCmd (<span class="keywordtype">void</span>);
<a name="l00337"></a>00337 <span class="keywordtype">void</span> HandleLimbSetPoseCmd (<a class="code" href="structplayer__limb__setpose__cmd.html" title="Command: Set end effector pose (PLAYER_LIMB_CMD_SETPOSE).">player_limb_setpose_cmd_t</a> cmd);
<a name="l00338"></a>00338 <span class="keywordtype">void</span> HandleLimbSetPositionCmd (<a class="code" href="structplayer__limb__setposition__cmd.html" title="Command: Set end effector position (PLAYER_LIMB_CMD_SETPOSITION).">player_limb_setposition_cmd_t</a> cmd);
<a name="l00339"></a>00339 <span class="keywordtype">void</span> HandleLimbVecMoveCmd (<a class="code" href="structplayer__limb__vecmove__cmd.html" title="Command: Vector move the end effector (PLAYER_LIMB_CMD_VECMOVE).">player_limb_vecmove_cmd_t</a> cmd);
<a name="l00340"></a>00340 <span class="keywordtype">int</span> HandleLimbCommand (<a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr, <span class="keywordtype">void</span> * data);
<a name="l00341"></a>00341
<a name="l00342"></a>00342 <span class="keywordtype">int</span> param_idx; <span class="comment">// index in the RobotParams table for this robot</span>
<a name="l00343"></a>00343 <span class="keywordtype">int</span> direct_wheel_vel_control; <span class="comment">// false -> separate trans and rot vel</span>
<a name="l00344"></a>00344 <span class="keywordtype">int</span> psos_fd; <span class="comment">// p2os device file descriptor</span>
<a name="l00345"></a>00345 <span class="keyword">const</span> <span class="keywordtype">char</span>* psos_serial_port; <span class="comment">// name of serial port device</span>
<a name="l00346"></a>00346 <span class="keywordtype">bool</span> psos_use_tcp; <span class="comment">// use TCP port instead of serial port</span>
<a name="l00347"></a>00347 <span class="keyword">const</span> <span class="keywordtype">char</span>* psos_tcp_host; <span class="comment">// hostname to use if using TCP</span>
<a name="l00348"></a>00348 <span class="keywordtype">int</span> psos_tcp_port; <span class="comment">// remote port to use if using TCP</span>
<a name="l00349"></a>00349
<a name="l00350"></a>00350 <span class="keyword">struct </span>timeval lastblob_tv;
<a name="l00351"></a>00351
<a name="l00352"></a>00352 <span class="comment">// Max motor speeds (mm/sec,deg/sec)</span>
<a name="l00353"></a>00353 <span class="keywordtype">int</span> motor_max_speed;
<a name="l00354"></a>00354 <span class="keywordtype">int</span> motor_max_turnspeed;
<a name="l00355"></a>00355
<a name="l00356"></a>00356 <span class="comment">// Bound the command velocities</span>
<a name="l00357"></a>00357 <span class="keywordtype">bool</span> use_vel_band;
<a name="l00358"></a>00358
<a name="l00359"></a>00359 <span class="comment">// Max motor accel/decel (mm/sec/sec, deg/sec/sec)</span>
<a name="l00360"></a>00360 <span class="keywordtype">short</span> motor_max_trans_accel, motor_max_trans_decel;
<a name="l00361"></a>00361 <span class="keywordtype">short</span> motor_max_rot_accel, motor_max_rot_decel;
<a name="l00362"></a>00362
<a name="l00363"></a>00363 <span class="keywordtype">int</span> radio_modemp; <span class="comment">// are we using a radio modem?</span>
<a name="l00364"></a>00364 <span class="keywordtype">int</span> joystickp; <span class="comment">// are we using a joystick?</span>
<a name="l00365"></a>00365 <span class="keywordtype">int</span> bumpstall; <span class="comment">// should we change the bumper-stall behavior?</span>
<a name="l00366"></a>00366 <span class="keywordtype">bool</span> ignore_checksum;
<a name="l00367"></a>00367
<a name="l00368"></a>00368 <span class="comment">// PTZ Camera Stuff</span>
<a name="l00369"></a>00369 <a class="code" href="structplayer__ptz__data.html" title="Data: state (PLAYER_PTZ_DATA_STATE).">player_ptz_data_t</a> ptz_data;
<a name="l00370"></a>00370 <span class="keywordtype">int</span> maxfov, minfov;
<a name="l00371"></a>00371 <span class="keywordtype">int</span> maxzoom;
<a name="l00372"></a>00372 <span class="keywordtype">int</span> pandemand, tiltdemand, zoomdemand;
<a name="l00373"></a>00373 <span class="keywordtype">int</span> SendCommand(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *str, <span class="keywordtype">int</span> len);
<a name="l00374"></a>00374 <span class="keywordtype">int</span> SendRequest(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* str, <span class="keywordtype">int</span> len, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* reply, uint8_t camera = 1);
<a name="l00375"></a>00375 <span class="keywordtype">void</span> PrintPacket(<span class="keywordtype">char</span>* str, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* cmd, <span class="keywordtype">int</span> len);
<a name="l00376"></a>00376 <span class="keywordtype">int</span> SendAbsPanTilt(<span class="keywordtype">int</span> pan, <span class="keywordtype">int</span> tilt);
<a name="l00377"></a>00377 <span class="keywordtype">int</span> setDefaultTiltRange();
<a name="l00378"></a>00378 <span class="keywordtype">int</span> GetAbsPanTilt(<span class="keywordtype">int</span>* pan, <span class="keywordtype">int</span>* tilt);
<a name="l00379"></a>00379 <span class="keywordtype">int</span> GetAbsZoom(<span class="keywordtype">int</span>* zoom);
<a name="l00380"></a>00380 <span class="keywordtype">int</span> SendAbsZoom(<span class="keywordtype">int</span> zoom);
<a name="l00381"></a>00381 <span class="keywordtype">int</span> read_ptz(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *reply, <span class="keywordtype">int</span> size);
<a name="l00382"></a>00382 <span class="keywordtype">int</span> ReceiveCommandAnswer(<span class="keywordtype">int</span> asize);
<a name="l00383"></a>00383 <span class="keywordtype">int</span> ReceiveRequestAnswer(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *data, <span class="keywordtype">int</span> s1, <span class="keywordtype">int</span> s2);
<a name="l00384"></a>00384 <span class="keywordtype">int</span> setControlMode();
<a name="l00385"></a>00385 <span class="keywordtype">int</span> setNotifyCommand();
<a name="l00386"></a>00386 <span class="keywordtype">int</span> setPower(<span class="keywordtype">int</span> on);
<a name="l00387"></a>00387 <span class="keywordtype">int</span> setOnScreenOff();
<a name="l00388"></a>00388 <span class="keywordtype">int</span> CheckHostControlMode();
<a name="l00389"></a>00389 <span class="keywordtype">int</span> sendInit();
<a name="l00390"></a>00390 <span class="keywordtype">int</span> GetMaxZoom(<span class="keywordtype">int</span> * maxzoom);
<a name="l00391"></a>00391 <a class="code" href="classcircbuf.html">circbuf</a> cb;
<a name="l00392"></a>00392
<a name="l00393"></a>00393 <span class="keywordtype">float</span> pulse; <span class="comment">// Pulse time</span>
<a name="l00394"></a>00394 <span class="keywordtype">double</span> lastPulseTime; <span class="comment">// Last time of sending a pulse or command to the robot</span>
<a name="l00395"></a>00395 <span class="keywordtype">void</span> SendPulse (<span class="keywordtype">void</span>);
<a name="l00396"></a>00396
<a name="l00397"></a>00397 <span class="keyword">public</span>:
<a name="l00398"></a>00398
<a name="l00399"></a>00399 <a class="code" href="classP2OS.html">P2OS</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="l00400"></a>00400 ~<a class="code" href="classP2OS.html">P2OS</a> (<span class="keywordtype">void</span>);
<a name="l00401"></a>00401
<a name="l00402"></a>00402 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classP2OS.html#a41b9cfcee8fa3fd74bd1aa27d8286fac" 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="l00403"></a>00403 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classP2OS.html#a9a9a48fe08bc40aafb73bf6e5ead1368" 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="l00404"></a>00404
<a name="l00405"></a>00405 <span class="comment">/* the main thread */</span>
<a name="l00406"></a>00406 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classP2OS.html#ac3d15930f59fe70567cb4db0eadb6e6b" title="Main method for driver thread.">Main</a>();
<a name="l00407"></a>00407
<a name="l00408"></a>00408 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classP2OS.html#a0d68295c8ef5abb7fd895d8cf017e295" title="Sets up the resources needed by the driver thread.">MainSetup</a>();
<a name="l00409"></a>00409 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classP2OS.html#a9304ae4d2fb1750d6fd77f62cc76be6b" title="Cleanup method for driver thread (called when main exits).">MainQuit</a>();
<a name="l00410"></a>00410
<a name="l00411"></a>00411 <span class="comment">// MessageHandler</span>
<a name="l00412"></a>00412 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classP2OS.html#a91bda6c36ac50b99c6cf4a3f9258cb8c" title="Message handler.">ProcessMessage</a>(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> & resp_queue,
<a name="l00413"></a>00413 <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr,
<a name="l00414"></a>00414 <span class="keywordtype">void</span> * data);
<a name="l00415"></a>00415
<a name="l00416"></a>00416 <span class="keywordtype">void</span> CMUcamReset(<span class="keywordtype">bool</span> doLock = <span class="keyword">true</span>);
<a name="l00417"></a>00417 <span class="keywordtype">void</span> CMUcamTrack(<span class="keywordtype">int</span> rmin=0, <span class="keywordtype">int</span> rmax=0, <span class="keywordtype">int</span> gmin=0,
<a name="l00418"></a>00418 <span class="keywordtype">int</span> gmax=0, <span class="keywordtype">int</span> bmin=0, <span class="keywordtype">int</span> bmax=0);
<a name="l00419"></a>00419 <span class="keywordtype">void</span> CMUcamStartTracking(<span class="keywordtype">bool</span> doLock = <span class="keyword">true</span>);
<a name="l00420"></a>00420 <span class="keywordtype">void</span> CMUcamStopTracking(<span class="keywordtype">bool</span> doLock = <span class="keyword">true</span>);
<a name="l00421"></a>00421 };
<a name="l00422"></a>00422
<a name="l00423"></a>00423
<a name="l00424"></a>00424 <span class="preprocessor">#endif</span>
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