<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ --> <HEAD> <meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8"> <meta name="keywords" content="stage, robot, simulation, player, player/stage"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <style type="text/css"> .floatright { float: right; margin: 0 0 1em 1em; } body { font-family: sans-serif; #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif; background-color: #FFF; color:#000; } a:link { color: #A00; } a:visited { color: #800; } a { text-decoration: none; } a:hover { text-decoration: underline; } .timestamp { text-align:right; background-color: #DDD; font-size:75%;} h1 { font-size:160%; } h2 { font-size:110%; #color: #FFF; #background-color: #666; #padding:3px; } h3 { text-align:left; } img { border: 0; } ul.menu { position:relative; left:-2.5em; margin-bottom:0px; margin-top:0px; } ul.menu1 { position:relative; 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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 <a name="l00021"></a>00021 <span class="preprocessor">#include "canio.h"</span> <a name="l00022"></a>00022 <span class="preprocessor">#include "canio_kvaser.h"</span> <a name="l00023"></a>00023 <span class="preprocessor">#include "usb_packet.h"</span> <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">#ifndef BusType</span> <a name="l00027"></a>00027 <span class="preprocessor"></span><span class="keyword">typedef</span> <span class="keyword">enum</span> { UNKNOWN, RS232, CANBUS, USB } BusType; <a name="l00028"></a>00028 <span class="preprocessor">#endif</span> <a name="l00029"></a>00029 <span class="preprocessor"></span> <a name="l00030"></a>00030 <span class="preprocessor">#define SPEEDTHRESH 0.01</span> <a name="l00031"></a>00031 <span class="preprocessor"></span> <a name="l00032"></a>00032 <span class="comment">// Forward declarations</span> <a name="l00033"></a>00033 <span class="keyword">class </span><a class="code" href="classrmp__frame__t.html">rmp_frame_t</a>; <a name="l00034"></a>00034 <a name="l00035"></a>00035 <a name="l00036"></a>00036 <span class="comment">// Driver for robotic Segway</span> <a name="l00037"></a><a class="code" href="classSegwayRMP.html">00037</a> <span class="keyword">class </span><a class="code" href="classSegwayRMP.html">SegwayRMP</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="l00038"></a>00038 { <a name="l00039"></a>00039 <span class="keyword">public</span>: <a name="l00040"></a>00040 <span class="comment">// Constructors etc</span> <a name="l00041"></a>00041 <a class="code" href="classSegwayRMP.html">SegwayRMP</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="l00042"></a>00042 ~<a class="code" href="classSegwayRMP.html">SegwayRMP</a>(); <a name="l00043"></a>00043 <a name="l00044"></a>00044 <span class="comment">// Setup/shutdown routines.</span> <a name="l00045"></a>00045 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classSegwayRMP.html#a99e72458a2a8d143d532c848bdb478c0" title="Sets up the resources needed by the driver thread.">MainSetup</a>(); <a name="l00046"></a>00046 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classSegwayRMP.html#aef2368b2aca07a6a3aa8cc7234101ad1" title="Cleanup method for driver thread (called when main exits).">MainQuit</a>(); <a name="l00047"></a>00047 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classSegwayRMP.html#a17e359d0e45f05a98a0891ffab1f2731" title="Message handler.">ProcessMessage</a>(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> & resp_queue, <a name="l00048"></a>00048 <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr, <a name="l00049"></a>00049 <span class="keywordtype">void</span> * data); <a name="l00051"></a>00051 <span class="keywordtype">int</span> <a class="code" href="classSegwayRMP.html#a7e0037672a31a3bb4d1efdfa54bb7871" title="Sets up the CAN bus for communication.">CanBusSetup</a>(); <a name="l00052"></a>00052 <a name="l00054"></a>00054 <span class="keywordtype">int</span> <a class="code" href="classSegwayRMP.html#a760e9f3897a439508d50711bc8fdc94a" title="Sets up the USB bus for communication.">USBSetup</a>(); <a name="l00055"></a>00055 <a name="l00056"></a>00056 <span class="keyword">protected</span>: <a name="l00057"></a>00057 <a name="l00058"></a>00058 <span class="comment">// Supported interfaces</span> <a name="l00059"></a>00059 <span class="comment">// Position2d device</span> <a name="l00060"></a>00060 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> position_id; <a name="l00061"></a>00061 <a class="code" href="structplayer__position2d__data.html" title="position2d data">player_position2d_data_t</a> position_data; <a name="l00062"></a>00062 <a name="l00063"></a>00063 <span class="comment">// Position3d device</span> <a name="l00064"></a>00064 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> position3d_id; <a name="l00065"></a>00065 <a class="code" href="structplayer__position3d__data.html" title="Data: state (PLAYER_POSITION3D_DATA_STATE).">player_position3d_data_t</a> position3d_data; <a name="l00066"></a>00066 <a name="l00067"></a>00067 <span class="comment">// Main Battery device</span> <a name="l00068"></a>00068 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> power_base_id; <a name="l00069"></a>00069 <a class="code" href="structplayer__power__data.html" title="Data: voltage (PLAYER_POWER_DATA_STATE).">player_power_data_t</a> power_base_data; <a name="l00070"></a>00070 <a name="l00071"></a>00071 <span class="comment">// UI Battery device</span> <a name="l00072"></a>00072 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> power_ui_id; <a name="l00073"></a>00073 <a class="code" href="structplayer__power__data.html" title="Data: voltage (PLAYER_POWER_DATA_STATE).">player_power_data_t</a> power_ui_data; <a name="l00074"></a>00074 <a name="l00075"></a>00075 <span class="keyword">private</span>: <a name="l00076"></a>00076 <a name="l00077"></a>00077 BusType bus_type; <a name="l00078"></a>00078 <span class="keyword">const</span> <span class="keywordtype">char</span>* portname; <a name="l00079"></a>00079 <span class="keyword">const</span> <span class="keywordtype">char</span>* caniotype; <a name="l00080"></a>00080 <span class="keyword">const</span> <span class="keywordtype">char</span>* usb_device; <a name="l00081"></a>00081 <a name="l00082"></a>00082 <span class="keywordtype">int</span> timeout_counter; <a name="l00083"></a>00083 <a name="l00084"></a>00084 <span class="keywordtype">float</span> max_xspeed, max_yawspeed; <a name="l00085"></a>00085 <a name="l00086"></a>00086 <span class="keywordtype">bool</span> firstread; <a name="l00087"></a>00087 <a name="l00088"></a>00088 <a class="code" href="classDualCANIO.html">DualCANIO</a> *canio; <a name="l00089"></a>00089 <a class="code" href="classUSBIO.html">USBIO</a> *usbio; <a name="l00090"></a>00090 <a name="l00091"></a>00091 <span class="keywordtype">float</span> curr_xspeed, curr_yawspeed; <a name="l00092"></a>00092 <span class="keywordtype">float</span> last_xspeed, last_yawspeed; <a name="l00093"></a>00093 <a name="l00094"></a>00094 <span class="comment">// Flag to override the default update of 20Hz</span> <a name="l00095"></a>00095 <span class="keywordtype">bool</span> speed_change; <a name="l00096"></a>00096 <a name="l00097"></a>00097 <span class="comment">// Flag set if motors can be enabled (i.e., enable them to be</span> <a name="l00098"></a>00098 <span class="comment">// enabled). Set by a config request.</span> <a name="l00099"></a>00099 <span class="keywordtype">bool</span> motor_allow_enable; <a name="l00100"></a>00100 <a name="l00101"></a>00101 <span class="comment">// Flag set if motors are currently enabled</span> <a name="l00102"></a>00102 <span class="keywordtype">bool</span> motor_enabled; <a name="l00103"></a>00103 <a name="l00104"></a>00104 <span class="comment">// For handling rollover</span> <a name="l00105"></a>00105 uint32_t last_raw_yaw, last_raw_left, last_raw_right, last_raw_foreaft; <a name="l00106"></a>00106 <a name="l00107"></a>00107 <span class="comment">// Odometry calculation</span> <a name="l00108"></a>00108 <span class="keywordtype">double</span> odom_x, odom_y, odom_yaw; <a name="l00109"></a>00109 <a name="l00110"></a>00110 <span class="comment">// helper to handle config requests</span> <a name="l00111"></a>00111 <span class="keywordtype">int</span> HandlePositionConfig(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &resp_queue, uint32_t subtype, <span class="keywordtype">void</span>* data, <span class="keywordtype">size_t</span> len); <a name="l00112"></a>00112 <a name="l00113"></a>00113 <span class="comment">// helper to handle config requests</span> <a name="l00114"></a>00114 <span class="keywordtype">int</span> HandlePosition3DConfig(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &resp_queue, uint32_t subtype, <span class="keywordtype">void</span>* data, <span class="keywordtype">size_t</span> len); <a name="l00115"></a>00115 <a name="l00116"></a>00116 <span class="comment">// helper to read a cycle of data from the RMP</span> <a name="l00117"></a>00117 <span class="keywordtype">int</span> Read(); <a name="l00118"></a>00118 <span class="keywordtype">int</span> CanBusRead(); <a name="l00119"></a>00119 <span class="keywordtype">int</span> USBRead(); <a name="l00120"></a>00120 <a name="l00121"></a>00121 <span class="comment">// Calculate the difference between two raw counter values, taking care</span> <a name="l00122"></a>00122 <span class="comment">// of rollover.</span> <a name="l00123"></a>00123 <span class="keywordtype">int</span> Diff(uint32_t from, uint32_t to, <span class="keywordtype">bool</span> first); <a name="l00124"></a>00124 <a name="l00125"></a>00125 <span class="comment">// helper to write a packet</span> <a name="l00126"></a>00126 <span class="keywordtype">int</span> Write(<a class="code" href="classCanPacket.html">CanPacket</a>& pkt); <a name="l00127"></a>00127 <a name="l00128"></a>00128 <span class="comment">// Main function for device thread.</span> <a name="l00129"></a>00129 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classSegwayRMP.html#a533bab32d35b2733f40e9083d0df0531" title="Main method for driver thread.">Main</a>(); <a name="l00130"></a>00130 <a name="l00131"></a>00131 <span class="comment">// helper to create a status command packet from the given args</span> <a name="l00132"></a>00132 <span class="keywordtype">void</span> MakeStatusCommand(<a class="code" href="classCanPacket.html">CanPacket</a>* pkt, uint16_t cmd, uint16_t val); <a name="l00133"></a>00133 <a name="l00134"></a>00134 <span class="comment">// helper to take a player command and turn it into a CAN command packet</span> <a name="l00135"></a>00135 <span class="keywordtype">void</span> MakeVelocityCommand(<a class="code" href="classCanPacket.html">CanPacket</a>* pkt, int32_t xspeed, int32_t yawspeed); <a name="l00136"></a>00136 <a name="l00137"></a>00137 <span class="keywordtype">void</span> MakeShutdownCommand(<a class="code" href="classCanPacket.html">CanPacket</a>* pkt); <a name="l00138"></a>00138 <a name="l00139"></a>00139 <span class="keywordtype">void</span> <a class="code" href="classSegwayRMP.html#a0bc3d7cb89fafebe6563a991567dd53a">UpdateData</a>(<a class="code" href="classrmp__frame__t.html">rmp_frame_t</a> *); <a name="l00140"></a>00140 }; <a name="l00141"></a>00141 <a name="l00142"></a>00142 </pre></div></div> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>