26 #ifndef _ERRATICDEVICE_H
27 #define _ERRATICDEVICE_H
29 #ifndef ERRATIC_VERSION
30 #define ERRATIC_VERSION "1.0b"
34 #define ERRATIC_DATE "2006-05-07"
41 #include <libplayercore/playercore.h>
42 #include <replace/replace.h>
45 #include "robot_params.h"
49 #define CPU_VOLTAGE 3.5
52 #define ATOR(x) (M_PI * ((double)(x)) / 2048.0)
53 #define ATOD(x) (180.0 * ((double)(x)) / 2048.0)
54 #define RTOA(x) ((short)((x) * 2048.0) / M_PI)
57 #define MOTOR_DEF_MAX_SPEED 0.5
58 #define MOTOR_DEF_MAX_TURNSPEED DTOR(100)
61 #define ROBOT_CYCLETIME 20000
65 #define VIDERE_NOMINAL_VOLTAGE 12.0
69 typedef enum command {
74 set_max_trans_acc = 5,
75 set_max_position_velocity = 6,
101 typedef enum argtype {
120 #define DEFAULT_VIDERE_PORT "/dev/erratic"
124 player_position2d_data_t position;
125 player_power_data_t power;
126 player_aio_data_t aio;
128 player_sonar_data sonar;
132 #include "motorpacket.h"
134 extern bool debug_mode;
142 player_erratic_data_t erratic_data;
151 int position_subscriptions;
152 int aio_ir_subscriptions;
153 int sonar_subscriptions;
154 int ptz_subscriptions;
155 int ptz2_subscriptions;
159 pthread_mutex_t motor_packet_mutex;
164 void ResetRawPositions();
165 void ToggleMotorPower(
unsigned char val);
167 void ToggleAIn(
unsigned char val);
168 void ToggleSonar(
unsigned char val);
172 void HandlePositionCommand(player_position2d_cmd_vel_t position_cmd);
173 void HandleCarCommand(player_position2d_cmd_car_t position_cmd);
176 void PublishAllData();
177 void PublishPosition2D();
183 float IRRangeFromVoltage(
float voltage);
184 float IRFloorRange(
float value);
191 static void *SendThreadDummy(
void *driver);
193 static void *ReceiveThreadDummy(
void *driver);
195 int read_fd, write_fd;
196 const char* psos_serial_port;
198 player_position2d_cmd_vel_t last_position_cmd;
199 player_position2d_cmd_car_t last_car_cmd;
201 std::queue<ErraticPacket *> send_queue;
202 pthread_mutex_t send_queue_mutex;
203 pthread_cond_t send_queue_cond;
205 pthread_t send_thread;
206 pthread_t receive_thread;
210 bool direct_wheel_vel_control;
212 bool print_all_packets;
213 bool print_status_summary;
215 bool save_settings_in_robot;
221 int motor_max_turnspeed;
224 int16_t pid_trans_p, pid_trans_v, pid_trans_i;
225 int16_t pid_rot_p, pid_rot_v, pid_rot_i;
228 uint16_t motor_pwm_frequency, motor_pwm_max_on;
234 short motor_max_trans_accel, motor_max_trans_decel;
235 short motor_max_rot_accel, motor_max_rot_decel;
Class for loading configuration file information.
Definition: configfile.h:197
Base class for all drivers.
Definition: driver.h:109
Definition: erratic/motorpacket.h:38
Definition: erratic/packet.h:42
Definition: erratic.h:139
virtual int Shutdown()
Finalize the driver.
Definition: erratic.cc:707
void ReceiveThread()
Talking to the robot.
Definition: erratic.cc:841
virtual int Unsubscribe(player_devaddr_t id)
Unsubscribe from this driver.
Definition: erratic.cc:802
virtual void Main()
Talking to the Player architecture.
Definition: erratic.cc:1122
virtual int Subscribe(player_devaddr_t id)
Subscribe to this driver.
Definition: erratic.cc:773
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition: erratic.cc:1238
virtual int Setup()
Initialize the driver.
Definition: erratic.cc:349
An autopointer for the message queue.
Definition: message.h:74
Messages between wsn and a robot.
Definition: er.h:87
A device address.
Definition: player.h:146
Definition: erratic.h:123
Generic message header.
Definition: player.h:162