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<h1>segwayrmp400.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) 2009 Goutham Mallapragda, Anthony Cascone, Rich Mattes & Brian Gerkey</span>
<a name="l00004"></a>00004 <span class="comment"> *</span>
<a name="l00005"></a>00005 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00006"></a>00006 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00007"></a>00007 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00008"></a>00008 <span class="comment"> * (at your option) any later version.</span>
<a name="l00009"></a>00009 <span class="comment"> *</span>
<a name="l00010"></a>00010 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00011"></a>00011 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00012"></a>00012 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00013"></a>00013 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00014"></a>00014 <span class="comment"> *</span>
<a name="l00015"></a>00015 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00016"></a>00016 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00017"></a>00017 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00018"></a>00018 <span class="comment"> *</span>
<a name="l00019"></a>00019 <span class="comment"> */</span>
<a name="l00020"></a>00020 <span class="comment">/*</span>
<a name="l00021"></a>00021 <span class="comment"> Desc: Segway RMP 400 Driver</span>
<a name="l00022"></a>00022 <span class="comment"> Authors: Goutham Mallapragada, Anthony Cascone, Rich Mattes</span>
<a name="l00023"></a>00023 <span class="comment"> Updated: July 21, 2009</span>
<a name="l00024"></a>00024 <span class="comment">*/</span>
<a name="l00025"></a>00025
<a name="l00026"></a>00026 <span class="preprocessor">#ifndef __SEGWAYRMP400_H_</span>
<a name="l00027"></a>00027 <span class="preprocessor"></span><span class="preprocessor">#define __SEGWAYRMP400_H_</span>
<a name="l00028"></a>00028 <span class="preprocessor"></span>
<a name="l00029"></a>00029 <span class="preprocessor">#include <stdio.h></span>
<a name="l00030"></a>00030 <span class="preprocessor">#include <pthread.h></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <string.h></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <stdlib.h></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <math.h></span>
<a name="l00034"></a>00034 <span class="preprocessor">#if !defined (WIN32)</span>
<a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor"> #include <unistd.h></span>
<a name="l00036"></a>00036 <span class="preprocessor"> #include <netinet/in.h></span>
<a name="l00037"></a>00037 <span class="preprocessor">#endif</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <libplayercore/playercore.h></span>
<a name="l00040"></a>00040
<a name="l00041"></a>00041
<a name="l00043"></a><a class="code" href="classSegwayRMP400.html">00043</a> <span class="keyword">class </span><a class="code" href="classSegwayRMP400.html" title="SegwayRMP400 Position Driver.">SegwayRMP400</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="l00044"></a>00044 {
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="keyword">public</span>:
<a name="l00047"></a>00047
<a name="l00049"></a>00049 <a class="code" href="classSegwayRMP400.html#acb6a15335d0c3af344f7dd183f844767" title="Standard Constructor.">SegwayRMP400</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="l00050"></a>00050
<a name="l00052"></a>00052 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classSegwayRMP400.html#a844d25800afd96bc5f5fe61e0a352757" title="Initialize (Player Standard).">MainSetup</a>();
<a name="l00053"></a>00053
<a name="l00055"></a>00055 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classSegwayRMP400.html#a5748fd3e2f481374b0c41d60bf5b09f7" title="Shutdown (Player Standard).">MainQuit</a>();
<a name="l00056"></a>00056
<a name="l00057"></a>00057 <span class="keyword">private</span>:
<a name="l00058"></a>00058
<a name="l00059"></a>00059 <span class="comment">// Devices</span>
<a name="l00060"></a><a class="code" href="classSegwayRMP400.html#ab7abf21018e8f673661ce0a78c1767a8">00060</a> <a class="code" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a>* <a class="code" href="classSegwayRMP400.html#ab7abf21018e8f673661ce0a78c1767a8" title="child segwayrmp200 devices for 2d subsrciption">segwayrmp2d</a>[2];
<a name="l00061"></a><a class="code" href="classSegwayRMP400.html#ab5b13e52c6df35f69c1724861bed2bc0">00061</a> <a class="code" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a>* <a class="code" href="classSegwayRMP400.html#ab5b13e52c6df35f69c1724861bed2bc0" title="child segwayrmp200 devices for 3d subsrciption">segwayrmp3d</a>[2];
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="comment">// Device Addresses</span>
<a name="l00064"></a><a class="code" href="classSegwayRMP400.html#a3fc9c507c75dfe70b3d211820e222b14">00064</a> <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> <a class="code" href="classSegwayRMP400.html#a3fc9c507c75dfe70b3d211820e222b14" title="2d Position Interface Address (Output)">segwayrmp2d_id</a>[2];
<a name="l00065"></a><a class="code" href="classSegwayRMP400.html#aa70ba72dd12a6820b204bcc339cac411">00065</a> <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> <a class="code" href="classSegwayRMP400.html#aa70ba72dd12a6820b204bcc339cac411" title="3d Position Interface Address (Output)">segwayrmp3d_id</a>[2];
<a name="l00066"></a>00066
<a name="l00067"></a><a class="code" href="classSegwayRMP400.html#a28883cad5f2beb87280d44fd4d7f74b6">00067</a> <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> <a class="code" href="classSegwayRMP400.html#a28883cad5f2beb87280d44fd4d7f74b6" title="3d Position Interface Address (Input)">position3d_id</a>;
<a name="l00068"></a><a class="code" href="classSegwayRMP400.html#a0738031194ee554cee8efb76850a7580">00068</a> <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> <a class="code" href="classSegwayRMP400.html#a0738031194ee554cee8efb76850a7580" title="2d Position Interface Address (Input)">position2d_id</a>;
<a name="l00069"></a>00069
<a name="l00070"></a>00070 <span class="comment">// Device Data Structures</span>
<a name="l00071"></a><a class="code" href="classSegwayRMP400.html#a8b93e866d7921c5300c052d3ce797c3c">00071</a> <a class="code" href="structplayer__position2d__data.html" title="position2d data">player_position2d_data_t</a> <a class="code" href="classSegwayRMP400.html#a8b93e866d7921c5300c052d3ce797c3c" title="Incoming data from child segwayrmp200 devices 2d.">rmp2d_data</a>[2];
<a name="l00072"></a><a class="code" href="classSegwayRMP400.html#aade762d073d01b7142d47af781726793">00072</a> <a class="code" href="structplayer__position3d__data.html" title="Data: state (PLAYER_POSITION3D_DATA_STATE).">player_position3d_data_t</a> <a class="code" href="classSegwayRMP400.html#aade762d073d01b7142d47af781726793" title="Incoming data from child segwayrmp200 devices 3d.">rmp3d_data</a>[2];
<a name="l00073"></a>00073
<a name="l00074"></a><a class="code" href="classSegwayRMP400.html#a4124faae1210f962766eeb64fff61b42">00074</a> <a class="code" href="structplayer__position2d__data.html" title="position2d data">player_position2d_data_t</a> <a class="code" href="classSegwayRMP400.html#a4124faae1210f962766eeb64fff61b42" title="Output data for parent segwayrmp400 device 2d.">position2d_data</a>;
<a name="l00075"></a><a class="code" href="classSegwayRMP400.html#a3c8eb7313ece4fb4afd2e0eb3690ed2b">00075</a> <a class="code" href="structplayer__position2d__cmd__vel.html" title="position 2d velocity command">player_position2d_cmd_vel_t</a> <a class="code" href="classSegwayRMP400.html#a3c8eb7313ece4fb4afd2e0eb3690ed2b" title="Output cmd for parent segwayrmp400 device 2d.">position2d_cmd</a>;
<a name="l00076"></a>00076
<a name="l00077"></a><a class="code" href="classSegwayRMP400.html#abf904f5f2d992031abf30dc96cd37778">00077</a> <a class="code" href="structplayer__position3d__data.html" title="Data: state (PLAYER_POSITION3D_DATA_STATE).">player_position3d_data_t</a> <a class="code" href="classSegwayRMP400.html#abf904f5f2d992031abf30dc96cd37778" title="Output data for parent segwayrmp400 device 3d.">position3d_data</a>;
<a name="l00078"></a><a class="code" href="classSegwayRMP400.html#a850d82241091b391b3aab5393eb13dbc">00078</a> <a class="code" href="structplayer__position3d__cmd__vel.html" title="Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL).">player_position3d_cmd_vel_t</a> <a class="code" href="classSegwayRMP400.html#a850d82241091b391b3aab5393eb13dbc" title="Output cmd for parent segwayrmp400 device 3d.">position3d_cmd</a>;
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="comment">// Flags</span>
<a name="l00081"></a><a class="code" href="classSegwayRMP400.html#a42887d38d65ef446eb3f4009ffb8d754">00081</a> <span class="keywordtype">bool</span> <a class="code" href="classSegwayRMP400.html#a42887d38d65ef446eb3f4009ffb8d754" title="Provide 2d interface Flag.">provide_2d</a>;
<a name="l00082"></a><a class="code" href="classSegwayRMP400.html#ad1f35b7f8819af642ad95d69c1d1eb15">00082</a> <span class="keywordtype">bool</span> <a class="code" href="classSegwayRMP400.html#ad1f35b7f8819af642ad95d69c1d1eb15" title="Provide 3d interface Flag.">provide_3d</a>;
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <span class="keywordtype">int</span> counter;
<a name="l00086"></a>00086 <span class="keywordtype">void</span> <a class="code" href="classSegwayRMP400.html#a9307e1f4218a1fc424dc91938960fb06" title="Main.">Main</a>();
<a name="l00087"></a>00087
<a name="l00089"></a>00089 <span class="keywordtype">int</span> <a class="code" href="classSegwayRMP400.html#a349a66282dd9c799c541014713d2cec4" title="Process message function (Player Standard).">ProcessMessage</a>(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &resp_queue, <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr_t</a>* hdr, <span class="keywordtype">void</span>* data);
<a name="l00090"></a>00090
<a name="l00092"></a>00092 <span class="keywordtype">void</span> <a class="code" href="classSegwayRMP400.html#af9a7d2442e7dbd619197c7219afd3b26" title="Packages position data and publishes.">ProcessData</a>();
<a name="l00093"></a>00093
<a name="l00095"></a>00095 <span class="keywordtype">int</span> <a class="code" href="classSegwayRMP400.html#acc75b9921b519fbf42577452a7ae618c" title="Internal method to handle position 3D commands.">HandlePosition3DCmd</a>(<a class="code" href="structplayer__position3d__cmd__vel.html" title="Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL).">player_position3d_cmd_vel_t</a>* cmd);
<a name="l00096"></a>00096
<a name="l00098"></a>00098 <span class="keywordtype">int</span> <a class="code" href="classSegwayRMP400.html#a93f9e247bb5689d176e069c2adff3e1d" title="Internal method to handle position 2D commands.">HandlePosition2DCmd</a>(<a class="code" href="structplayer__position2d__cmd__vel.html" title="position 2d velocity command">player_position2d_cmd_vel_t</a>* cmd);
<a name="l00099"></a>00099
<a name="l00101"></a><a class="code" href="classSegwayRMP400.html#a401a1e12359326eb07e4e5f7c786db28">00101</a> <span class="keywordtype">bool</span> <a class="code" href="classSegwayRMP400.html#a401a1e12359326eb07e4e5f7c786db28" title="Flags for new data.">newfront3d</a>, newback3d, newfront2d, newback2d;
<a name="l00102"></a>00102
<a name="l00104"></a><a class="code" href="classSegwayRMP400.html#af813ca1123ac76d519e04e6eb903cc4d">00104</a> <span class="keywordtype">bool</span> <a class="code" href="classSegwayRMP400.html#af813ca1123ac76d519e04e6eb903cc4d" title="Flag for full speed data reporting.">fullspeed</a>;
<a name="l00105"></a>00105 };
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="preprocessor">#endif</span>
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