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TeRKDriver Class Reference#include <TeRKDriver.h>
Inheritance diagram for TeRKDriver:
![]() Detailed DescriptionProvides access to the Telepresence Robotics Kit, which specifies an ICE (Internet Communications Engine) based protocol for robotics control.TeRK information:http://www.terk.ri.cmu.edu/ ICE information: http://www.zeroc.com/ To use this driver, you must install ICE, and cause the HAVE_ICE compiler flag to be set. This is most easily done by the Tekkotsu Environment.conf, set the ICE_ROOT parameter to the location of the Ice libraries. This will automatically cause HAVE_ICE to be set by the Makefiles whenever ICE_ROOT is a valid filesystem path. Definition at line 25 of file TeRKDriver.h.
Constructor & Destructor Documentation
do not call
Member Function Documentation
Returns the name of the class (aka its type). Suggested implementation is to declare a static string member, set it to the result of calling the registry's registerType, and then return that member here Implements DeviceDriver. Definition at line 54 of file TeRKDriver.h.
Called when motion process is starting.
Reimplemented from MotionHook. Definition at line 68 of file TeRKDriver.h.
Called by motionCheck(), after comparing the new output values to lastOutputs, and before lastOutputs is updated. Override this if you only need to send commands to the hardware for values that have changed. This function is always called for each update, even though changedIndices might be empty. Reimplemented from MotionHook. Definition at line 38 of file TeRKDriver.cc.
Called when motion process is stopping.
Reimplemented from MotionHook. Definition at line 70 of file TeRKDriver.h.
creates a proxy for a specified service
Definition at line 259 of file TeRKDriver.cc. Referenced by connectToPeer().
connect to qwerk
Definition at line 147 of file TeRKDriver.cc. Referenced by motionUpdated(), and plistValueChanged().
initializes a connection to host
Definition at line 176 of file TeRKDriver.cc. Referenced by connect().
closes the current proxies (reuses the communicator instance though)
Definition at line 89 of file TeRKDriver.h. Referenced by connect(), motionUpdated(), and ~TeRKDriver().
allows LEDs to flicker at various frequencies to emulate having linear brightness control instead of boolean control
Definition at line 99 of file TeRKDriver.h. Referenced by motionUpdated().
do not call
Member Data Documentation
hostname of the qwerk we are connecting to.
Definition at line 79 of file TeRKDriver.h. Referenced by connect(), connectToPeer(), getPeerProxy(), TeRKDriver(), and ~TeRKDriver().
used to track partial LED activation (see calcLEDValue
Definition at line 116 of file TeRKDriver.h. Referenced by calcLEDValue(), and TeRKDriver().
unique identifier, should be different for every active connection This will be constant for the lifetime of the TeRKDriver, as we only ever have one active connection per driver instance. (If more than one instance, each will have its own uuid however!) Definition at line 122 of file TeRKDriver.h. Referenced by connectToPeer(), and getPeerProxy().
TeRKProperties instance provides Ice configuration values, default values for which are in TeRKDriver.cc. These aren't really user-configurable settings, but are exposed via a Tekkotsu plist entry. Definition at line 126 of file TeRKDriver.h. Referenced by connect(), connectToPeer(), getPeerProxy(), and TeRKDriver().
The core Ice object, which manages connections, proxies, adapters, etc. We create one instance and reuse it over the life of the driver. (In other words, we shouldn't need to delete/reallocate it every time we switch hosts, although if that winds up being easier, we could certainly do that instead) Definition at line 133 of file TeRKDriver.h. Referenced by connectToPeer(), getPeerProxy(), TeRKDriver(), and ~TeRKDriver().
tests to make sure the remote host is still alive
Definition at line 137 of file TeRKDriver.h. Referenced by close(), and connectToPeer().
storage class holds proxies for various TeRK services.
Definition at line 141 of file TeRKDriver.h. Referenced by close(), connect(), getImageSources(), getSensorSources(), and motionUpdated().
holds the class name, set via registration with the DeviceDriver registry
Definition at line 198 of file TeRKDriver.h. Referenced by getClassName().
The documentation for this class was generated from the following files: |
Tekkotsu Hardware Abstraction Layer 4.0 |
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