ersp.h

Go to the documentation of this file.

/*
 * ERSP  Player driver 
 */

/*
 * This driver is for interacting with the "ERSP" robots, made by Evolution
 * Robotics.    
 *
 * This code is inspired by the player module of ER1 and P2OS; thanks to the
 * authors of these modules.
 */

#ifndef ERSP_ERSP_H
#define ERSP_ERSP_H

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include <sys/types.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <math.h>
#include <stdlib.h>  /* for abs() */

#include <libplayercore/playercore.h>

#ifdef HAVE_ERSP
#include <evolution/Resource.hpp>
#endif

#include <scorpion.h>

/*
 * Relevant types and constants for the "ERSP" robots, made by Evolution
 * Robotics.    
 */

#define IR_MAX_RANGE 0.80

class ERSPDevice
{
  private:
   player_devaddr_t devaddr;
   int subscriptions;
   union {
      player_position2d_data_t position2d;
      player_bumper_data_t bumper;
      player_ir_data_t ir;
      player_power_data_t power;
   } devdata;

   union {
#ifdef HAVE_ERSP
      Evolution::IDriveSystem *driver;
      Evolution::IAvoidance *avoid;
      Evolution::IBattery *battery;
      Evolution::IBumpSensor *bumper;
      Evolution::IRangeSensor *range;
#endif
      void *handle;
   } devices[ERSP_DEVICES];

  public:
   ERSPDevice(ConfigFile *cf, int section);
   ~ERSPDevice(void);

   virtual int Setup();
   virtual int Update();
   virtual int Shutdown();

   // Message handling
   virtual int Subscribe(player_devaddr_t id);
   virtual int Unsubscribe(player_devaddr_t id);
   virtual int ProcessMessage(MessageQueue *queue,
               player_msghdr *msghdr,
               void *data);
};

class ERSP : public Driver 
{
  private:

   // Generic driver

   bool running;

   ERSPDevice devices[ERSP_DEVICES];

   // Publish state data.
   void PutData(void);

   // Evolution

#ifdef HAVE_ERSP
   Evolution::ResourceManager *manager;
   Evolution::IResourceContainer *container;
#endif
   const struct ersp_dev *devs;

   int SetupERSP();

  public:
   ERSP(ConfigFile *cf, int section);
   ~ERSP(void);

   // Thread life-cycle
   void Main();
   int Setup();
   int Shutdown();

   // Message handling
   int Subscribe(player_devaddr_t id);
   int Unsubscribe(player_devaddr_t id);
   int ProcessMessage(MessageQueue *queue,
            player_msghdr *msghdr,
            void *data);
};

#endif

---