38#include <libplayercore/playercore.h>
40#include "rflex_commands.h"
43#include "rflex_configs.h"
45#define RFLEX_MOTORS_REQUEST_ON 0
46#define RFLEX_MOTORS_ON 1
47#define RFLEX_MOTORS_REQUEST_OFF 2
48#define RFLEX_MOTORS_OFF 3
50#define RFLEX_CONFIG_BUFFER_SIZE 256
52#define DEFAULT_RFLEX_PORT "/dev/ttyS0"
54#define DEFAULT_RFLEX_BUMPER_ADDRESS 0x40
55#define RFLEX_BUMPER_STYLE_BIT "bit"
56#define RFLEX_BUMPER_STYLE_ADDR "addr"
57#define DEFAULT_RFLEX_BUMPER_STYLE RFLEX_BUMPER_STYLE_ADDR
65#define DEFAULT_RFLEX_POWER_OFFSET 0
67#define MAX_NUM_LOOPS 30
74 player_position2d_data_t position;
75 player_sonar_data_t sonar;
76 player_sonar_data_t sonar2;
77 player_gripper_data_t gripper;
78 player_power_data_t power;
79 player_bumper_data_t bumper;
80 player_dio_data_t dio;
81 player_aio_data_t aio;
107 player_position2d_cmd_vel_t command;
110 int position_subscriptions;
111 int sonar_subscriptions;
112 int ir_subscriptions;
113 int bumper_subscriptions;
118 char rflex_serial_port[MAX_FILENAME_SIZE];
121 double rad_odo_theta;
123 void ResetRawPositions();
124 int initialize_robot();
125 void reset_odometry();
126 void set_odometry(
float,
float,
float);
127 void update_everything(player_rflex_data_t* d);
129 void set_config_defaults();
144 static int joy_control;
Class for loading configuration file information.
Definition configfile.h:197
An autopointer for the message queue.
Definition message.h:74
virtual void Main()
Main method for driver thread.
Definition rflex.cc:873
virtual int Subscribe(player_devaddr_t addr)
Subscribe to this driver.
Definition rflex.cc:811
virtual int Unsubscribe(player_devaddr_t addr)
Unsubscribe from this driver.
Definition rflex.cc:840
int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition rflex.cc:357
virtual void MainQuit()
Cleanup method for driver thread (called when main exits)
Definition rflex.cc:795
Base class for drivers which oeprate with a thread.
Definition driver.h:553
Messages between wsn and a robot.
Definition er.h:87
A device address.
Definition player.h:146
Generic message header.
Definition player.h:162