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<h1>snd.h</h1> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* Smooth ND driver for Player/Stage</span>
<a name="l00002"></a>00002 <span class="comment"> * </span>
<a name="l00003"></a>00003 <span class="comment"> * SND Authors: Joey Durham (algorithm) , </span>
<a name="l00004"></a>00004 <span class="comment"> * Luca Invernizzi (driver implementation)</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * Implemented on top of Player - One Hell of a Robot Server</span>
<a name="l00007"></a>00007 <span class="comment"> * Copyright (C) 2003 (Brian Gerkey, Andrew Howard)</span>
<a name="l00008"></a>00008 <span class="comment"> * </span>
<a name="l00009"></a>00009 <span class="comment"> * </span>
<a name="l00010"></a>00010 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00011"></a>00011 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00012"></a>00012 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00013"></a>00013 <span class="comment"> * (at your option) any later version.</span>
<a name="l00014"></a>00014 <span class="comment"> *</span>
<a name="l00015"></a>00015 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00016"></a>00016 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00017"></a>00017 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00018"></a>00018 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00019"></a>00019 <span class="comment"> *</span>
<a name="l00020"></a>00020 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00021"></a>00021 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00022"></a>00022 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00023"></a>00023 <span class="comment"> *</span>
<a name="l00024"></a>00024 <span class="comment"> */</span>
<a name="l00025"></a>00025
<a name="l00026"></a>00026 <span class="preprocessor">#ifndef snd_H</span>
<a name="l00027"></a>00027 <span class="preprocessor"></span><span class="preprocessor">#define snd_H</span>
<a name="l00028"></a>00028 <span class="preprocessor"></span>
<a name="l00029"></a>00029
<a name="l00030"></a>00030 <span class="preprocessor">#include <pthread.h></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <semaphore.h></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <vector></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <libplayercore/playercore.h></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">class </span><a class="code" href="classsnd__Proxy.html">snd_Proxy</a>;
<a name="l00037"></a>00037
<a name="l00039"></a>00039 <span class="comment">// The class for the driver</span>
<a name="l00040"></a><a class="code" href="classsnd.html">00040</a> <span class="keyword">class </span><a class="code" href="classsnd.html">snd</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="l00041"></a>00041 {
<a name="l00042"></a>00042 <span class="keyword">public</span>:
<a name="l00043"></a>00043 <a class="code" href="classsnd.html">snd</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="l00044"></a>00044 <span class="comment">// Must implement the following methods.</span>
<a name="l00045"></a>00045 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classsnd.html#a72a5e2138eb746897909123a6a969784" title="Initialize the driver.">Setup</a>();
<a name="l00046"></a>00046 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classsnd.html#a0c601e3520ca8e8ba5c13e6677c4cc5a" title="Finalize the driver.">Shutdown</a>();
<a name="l00047"></a>00047 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classsnd.html#a92897857622d982630d9d93104fd3b42" 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="l00050"></a>00050
<a name="l00051"></a>00051
<a name="l00052"></a>00052 <span class="keyword">private</span>:
<a name="l00053"></a>00053 <span class="comment">// Main function for device thread.</span>
<a name="l00054"></a>00054 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classsnd.html#aee309bd90b33851006be59b8782331d5" title="Main method for driver thread.">Main</a>();
<a name="l00055"></a>00055 <span class="keywordtype">int</span> Odometry_Setup();
<a name="l00056"></a>00056 <span class="keywordtype">int</span> Laser_Setup();
<a name="l00057"></a>00057
<a name="l00058"></a>00058 <span class="comment">// My position interface</span>
<a name="l00059"></a>00059 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> m_position_addr;
<a name="l00060"></a>00060 <span class="comment">// My laser interface</span>
<a name="l00061"></a>00061 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> m_laser_addr;
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="comment">// Address of and pointer to the laser device to which I'll subscribe</span>
<a name="l00064"></a>00064 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> laser_addr;
<a name="l00065"></a>00065 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> odom_in_addr;
<a name="l00066"></a>00066 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> odom_out_addr;
<a name="l00067"></a>00067 <a class="code" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a>* laser_dev;
<a name="l00068"></a>00068 <a class="code" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a> *odom_in_dev;
<a name="l00069"></a>00069 <a class="code" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a> *odom_out_dev;
<a name="l00070"></a>00070 <a class="code" href="structplayer__position2d__geom.html" title="position2d geom">player_position2d_geom_t</a> robot_geom;
<a name="l00071"></a>00071 <span class="keywordtype">int</span> first_goal_has_been_set_to_init_position;
<a name="l00072"></a>00072 <span class="keyword">protected</span>:
<a name="l00073"></a>00073 <span class="keywordtype">void</span> SetSpeedCmd(<a class="code" href="structplayer__position2d__cmd__vel.html" title="position 2d velocity command">player_position2d_cmd_vel_t</a> cmd);
<a name="l00074"></a>00074
<a name="l00075"></a>00075 <a class="code" href="structplayer__pose2d.html" title="A pose in the plane.">player_pose2d_t</a> odom_pose;
<a name="l00076"></a>00076
<a name="l00077"></a>00077 std::vector<double> laser__ranges;
<a name="l00078"></a>00078 <span class="keywordtype">double</span> laser__resolution;
<a name="l00079"></a>00079 <span class="keywordtype">double</span> laser__max_range;
<a name="l00080"></a>00080 uint32_t laser__ranges_count;
<a name="l00081"></a>00081 <span class="keyword">public</span>:
<a name="l00082"></a>00082 <span class="keywordtype">double</span> robot_radius;
<a name="l00083"></a>00083 <span class="keywordtype">double</span> min_gap_width;
<a name="l00084"></a>00084 <span class="keywordtype">double</span> obstacle_avoid_dist;
<a name="l00085"></a>00085 <span class="keywordtype">double</span> max_speed;
<a name="l00086"></a>00086 <span class="keywordtype">double</span> max_turn_rate;
<a name="l00087"></a>00087 <span class="keywordtype">double</span> goal_position_tol;
<a name="l00088"></a>00088 <span class="keywordtype">double</span> goal_angle_tol;
<a name="l00089"></a>00089 <span class="keywordtype">double</span> goalX,goalY,goalA;
<a name="l00090"></a>00090 pthread_t algorithm_thread;
<a name="l00091"></a>00091 pthread_mutex_t goal_mutex;
<a name="l00092"></a>00092 pthread_cond_t goal_changed_cond;
<a name="l00093"></a>00093 <span class="keywordtype">double</span> goal_changed;
<a name="l00094"></a>00094 pthread_mutex_t data_mutex;
<a name="l00095"></a>00095 pthread_cond_t data_changed_cond;
<a name="l00096"></a>00096 <span class="keywordtype">double</span> data_changed;
<a name="l00097"></a>00097 <span class="keywordtype">int</span> data_odometry_ready;
<a name="l00098"></a>00098 <span class="keywordtype">int</span> data_laser_ready;
<a name="l00099"></a>00099
<a name="l00100"></a>00100 <span class="keywordtype">void</span> WaitForNextGoal();
<a name="l00101"></a>00101 <span class="keywordtype">void</span> SignalNextGoal(<span class="keywordtype">double</span> goalX,<span class="keywordtype">double</span> goalY,<span class="keywordtype">double</span> goalA);
<a name="l00102"></a>00102 <span class="keywordtype">void</span> Read();
<a name="l00103"></a>00103 <span class="keywordtype">void</span> ReadIfWaiting();
<a name="l00104"></a>00104 };
<a name="l00105"></a>00105
<a name="l00106"></a>00106 <span class="comment">/*This class acts as a substitute for libplayerc++ proxies.</span>
<a name="l00107"></a>00107 <span class="comment"> * This has been done to reuse the code of the algorithm (which is in </span>
<a name="l00108"></a>00108 <span class="comment"> * gap_nd_nav.cc)</span>
<a name="l00109"></a>00109 <span class="comment"> */</span>
<a name="l00110"></a><a class="code" href="classsnd__Proxy.html">00110</a> <span class="keyword">class </span><a class="code" href="classsnd__Proxy.html">snd_Proxy</a> : <span class="keyword">public</span> <a class="code" href="classsnd.html">snd</a>
<a name="l00111"></a>00111 {
<a name="l00112"></a>00112 <span class="keyword">public</span>:
<a name="l00113"></a>00113 <span class="keywordtype">double</span> GetScanRes() ;
<a name="l00114"></a>00114 <span class="keywordtype">double</span> GetMaxRange() ;
<a name="l00115"></a>00115 uint32_t GetCount() ;
<a name="l00116"></a>00116 <span class="keywordtype">double</span> range(<span class="keyword">const</span> <span class="keywordtype">int</span> index);
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <span class="keywordtype">void</span> SetMotorEnable(<span class="keywordtype">int</span> turnkey);
<a name="l00119"></a>00119 <span class="keywordtype">void</span> SetOdometry(<span class="keywordtype">double</span> position_x0,
<a name="l00120"></a>00120 <span class="keywordtype">double</span> position_y0,
<a name="l00121"></a>00121 <span class="keywordtype">double</span> position_alpha0);
<a name="l00122"></a>00122 <span class="keywordtype">double</span> GetXPos() ;
<a name="l00123"></a>00123 <span class="keywordtype">double</span> GetYPos() ;
<a name="l00124"></a>00124 <span class="keywordtype">double</span> GetYaw() ;
<a name="l00125"></a>00125 <span class="keywordtype">void</span> RequestGeom();
<a name="l00126"></a>00126 <span class="keywordtype">void</span> SetSpeed(<span class="keywordtype">double</span> velocity_modulus,
<a name="l00127"></a>00127 <span class="keywordtype">double</span> velocity_angle);
<a name="l00128"></a>00128 <a class="code" href="classsnd__Proxy.html">snd_Proxy</a>(<a class="code" href="classConfigFile.html" title="Class for loading configuration file information.">ConfigFile</a>* cf, <span class="keywordtype">int</span> section):<a class="code" href="classsnd.html">snd</a>(cf,section){}
<a name="l00129"></a>00129 };
<a name="l00130"></a>00130
<a name="l00131"></a>00131
<a name="l00132"></a>00132
<a name="l00134"></a>00134 <span class="comment">// Extra stuff for building a shared object.</span>
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="comment">/* need the extern to avoid C++ name-mangling */</span>
<a name="l00137"></a>00137 <span class="keyword">extern</span> <span class="stringliteral">"C"</span> <span class="keywordtype">int</span> player_driver_init(DriverTable* table);
<a name="l00138"></a>00138
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="preprocessor">#endif //snd_H</span>
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