hemisson_serial.h
41 HemissonSerial(int debug = 0, const char * port = HEMISSON_DEFAULT_SERIAL_PORT, const char * rate = HEMISSON_BAUDRATE);
uint8_t state
FALSE for off, TRUE for on.
Definition: player_interfaces.h:667
uint32_t element_sizes_count
Number of individual elements that make up the device.
Definition: player_interfaces.h:5016
player_pose3d_t * element_poses
Pose of each individual element that makes up the device (in device CS).
Definition: player_interfaces.h:5014
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:620
Definition: hemisson_serial.h:38
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:158
A rectangular bounding box, used to define the size of an object.
Definition: player.h:253
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
Device configuration request (PLAYER_RANGER_REQ_GET_CONFIG)
Definition: player_interfaces.h:4983
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: driver.h:657
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:663
const char * ReadString(int section, const char *name, const char *value)
Read a string value.
#define PLAYER_POSITION2D_REQ_MOTOR_POWER
Request/reply: Motor power.
Definition: player_interfaces.h:496
#define PLAYER_RANGER_REQ_GET_CONFIG
Request/reply subtype: get configuration.
Definition: player_interfaces.h:4976
#define PLAYER_POSITION2D_CMD_VEL
Command: velocity (PLAYER_POSITION2D_CMD_VEL)
Definition: player_interfaces.h:581
#define PLAYER_RANGER_DATA_RANGE
Data subtype: range scan.
Definition: player_interfaces.h:4949
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:111
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:5027
player_bbox3d_t size
Size of the device [m, m, m].
Definition: player_interfaces.h:5010
#define PLAYER_POSITION2D_REQ_GET_GEOM
Request/reply: geometry.
Definition: player_interfaces.h:483
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Data: range scan (PLAYER_RANGER_DATA_RANGE)
Definition: player_interfaces.h:5024
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
uint32_t element_poses_count
Number of individual elements that make up the device.
Definition: player_interfaces.h:5012
player_bbox3d_t * element_sizes
Size of each individual element that makes up the device.
Definition: player_interfaces.h:5018
#define PLAYER_POSITION2D_DATA_STATE
Data: state (PLAYER_POSITION2D_DATA_STATE)
Definition: player_interfaces.h:568
double * ranges
Range readings [m].
Definition: player_interfaces.h:5029
uint8_t stall
Are the motors stalled?
Definition: player_interfaces.h:613
player_bbox3d_t size
Dimensions of the base (m).
Definition: player_interfaces.h:660
#define PLAYER_RANGER_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:4964
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:75