Surveyor Class Reference
[Surveyor]

Plugin Driver for Surveyor SRV-1 (with ARM-7 processor). More...

#include <src/surveyor_driver.h>

List of all members.

Public Member Functions
	Surveyor (ConfigFile *cf, int section)
	Constructor for the Surveyor multi-interface driver.
int	Setup ()
	Set up the device and start the device thread by calling StartThread(), which spawns a new thread and executes Surveyor::Main(), which contains the main loop for the driver.
int	Shutdown ()
	Shut down the device.
int	ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data)
	Message handler that sends a response if necessary using Publish(). This function is called once for each message in the incoming queue.
Private Member Functions
virtual void	Main ()
	Main "entry point" function for the driver thread created using StartThread() within the Setup() function;.
Private Attributes
const char *	portname
	Serial port.
player_devaddr_t	position_addr
	Address of the position device (wheels odometry).
player_devaddr_t	camera_addr
	Address of the camera device.
player_devaddr_t	ir_addr
	Address of the infrared (IR) beacons.
player_devaddr_t	dio_addr
	Address of the digital input/output pins (ports).
srv1_comm_t *	srvdev
	The surveyor object.
player_position2d_cmd_vel_t	position_cmd
	position2d velocity command
player_position2d_geom_t	pos_geom
	position2d geometry
int	setup_image_mode
	Desired camera size.

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Detailed Description

Plugin Driver for Surveyor SRV-1 (with ARM-7 processor).

These robots can be controlled via ZigBee which is attached to a USB serial port on a host computer. The host computer runs the server which then communicates to the robot.

Note:

The newer SRV-1 robot (with Blackfin processor) has not yet been tested with this driver.

Compile-time dependencies

• `pkg-config --cflags playerc++`

Provides

The surveyor driver provides the following device interfaces:

• interface_position2d
• This interface does not return odometry data, but accepts velocity commands.

• interface_camera
• The camera on the robot returns JPEG images.

• interface_ir
• The robot has 4 IR beacons which can act as rudimentary range-finders
• UNIMPLEMENTED

• interface_dio
• The robot has 5 pins which can be used as digital in/out ports.
• UNIMPLEMENTED

Supported configuration requests

• none

Configuration file options

• port (string)
• Serial port used to communicate with the robot
• Default: "/dev/ttyUSB0"
• image_size (string)
• Size of the images returned by the camera.
• Default: "320x240"
• Allowed values: "320x240", "160x128", "80x64"
• plugin (string)
• Relative or Absolute path to the location of the shared-object plugin driver.

Example

 driver
    (
       name "surveyor"
       plugin "libSurveyor_Driver.so"
       provides ["position2d:0" "camera:0"]
       port "/dev/ttyUSB0"
    )
 

Bug:

• Camera interface has a small delay for snapshots (Robot has to focus first, and then shoot)
• Camera rate is very slow - about 1fps...Could do better: at least 4fps

Todo:

• Property bags to change image size on the fly
• Implement IR (IR sensors are very noisy and produce false negatives on dark and shiny obstacles)
• Implement DIO
• Opaque interface to set program

Author:

Michael Janssen (original author)

Carlos Jaramillo (current maintainer)

Definition at line 118 of file surveyor_driver.h.

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Constructor & Destructor Documentation

Surveyor::Surveyor	(	ConfigFile *	cf,
		int	section
	)

Constructor for the Surveyor multi-interface driver.

Constructor for the Surveyor driver. Retrieves options from the configuration file, allocates memory for each interface and then reads and adds the interfaces provided in the configuration file.

Parameters:

	cf	Current configuration file
	section	Current section in configuration file

Definition at line 42 of file surveyor_driver.cc.

References camera_addr, dio_addr, ir_addr, portname, position_addr, setup_image_mode, and srvdev.

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Member Function Documentation

int Surveyor::ProcessMessage	(	QueuePointer &	resp_queue,
		player_msghdr *	hdr,
		void *	data
	)

Message handler that sends a response if necessary using Publish(). This function is called once for each message in the incoming queue.

Parameters:

	resp_queue	The queue to which any response should go
	hdr	The message header
	data	The message body

Returns:

0 if the message in handled, and -1 otherwise. A NACK (Negative Acknowledgment) will be sent if a response is required.

Definition at line 232 of file surveyor_driver.cc.

References pos_geom, position_addr, position_cmd, and srvdev.

int Surveyor::Setup

(

)

Set up the device and start the device thread by calling StartThread(), which spawns a new thread and executes Surveyor::Main(), which contains the main loop for the driver.

Returns:

0 if things go well, and -1 otherwise.

Definition at line 105 of file surveyor_driver.cc.

References srv1_comm_t::image_mode, portname, setup_image_mode, and srvdev.

int Surveyor::Shutdown

(

)

Shut down the device.

Returns:

0 when the device has been completely shut down.

Definition at line 130 of file surveyor_driver.cc.

References srvdev.

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The documentation for this class was generated from the following files:

• src/surveyor_driver.h
• src/surveyor_driver.cc