param.h File Reference

#include <ypparam.h>
#include <utility.h>
#include <pthread.h>

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Classes
struct	_parameters

Macros
#define	DEFAULT_DEVICE_NAME   "/dev/ttyUSB0"
#define	DEFAULT_PARAMETER_FILE   "./robot.param"
#define	GRAVITY   9.81
#define	OPTION_DEFAULT   (OPTION_HIGH_PREC)
#define	SIGN(x)   ((x < 0) ? -1 : 1)

Typedefs
typedef struct _parameters	Parameters
typedef struct _parameters *	ParametersPtr

Enumerations
enum	ParamOptions {   OPTION_SHOW_ODOMETRY = 0x0001, OPTION_PARAM_CONTROL = 0x0002, OPTION_SHOW_TIMESTAMP = 0x0004, OPTION_SHOW_HELP = 0x0008,   OPTION_SHOW_LONGHELP = 0x0010, OPTION_SHOW_PARAMHELP = 0x0020, OPTION_VERSION = 0x0040, OPTION_DAEMON = 0x0080,   OPTION_SOCKET = 0x00200, OPTION_PARAM_FILE = 0x00400, OPTION_WITHOUT_DEVICE = 0x00800, OPTION_WITHOUT_SSM = 0x01000,   OPTION_ENABLE_SET_BS = 0x02000, OPTION_DO_NOT_USE_YP = 0x04000, OPTION_RECONNECT = 0x08000, OPTION_ENABLE_GET_DIGITAL_IO = 0x10000,   OPTION_PASSIVE = 0x20000, OPTION_UPDATE_PARAM = 0x40000, OPTION_HIGH_PREC = 0x80000 }
enum	ParamOutputLv { OUTPUT_LV_ERROR, OUTPUT_LV_WARNING, OUTPUT_LV_INFO, OUTPUT_LV_DEBUG }

Functions
int	apply_robot_params (void)
int	arg_analyze (int argc, char *argv[])
void	arg_help (int argc, char *argv[])
void	arg_longhelp (int argc, char *argv[])
void	calc_param_inertia2ff (void)
void	disable_state (YPSpur_state id)
int	does_option_set (ParamOptions option)
void	enable_state (YPSpur_state id)
ParametersPtr	get_param_ptr ()
void	init_param_update_thread (pthread_t *thread, char *filename)
int	isset_p (YPSpur_param id, enum motor_id motor)
int	option (ParamOptions option)
ParamOutputLv	output_lv (void)
double	p (YPSpur_param id, enum motor_id motor)
void	param_calc ()
void	param_help (void)
void	param_update (void *filename)
void	param_update_loop_cleanup (void *data)
int	parameter_set (char param, char id, long long int value64)
double *	pp (YPSpur_param id, enum motor_id motor)
int	set_param (char *filename, char *concrete_path)
int	set_param_motor (void)
int	set_param_velocity (void)
int	set_paramptr (FILE *paramfile)
int	state (YPSpur_state id)

Macro Definition Documentation

#define DEFAULT_DEVICE_NAME   "/dev/ttyUSB0"

Definition at line 57 of file param.h.

#define DEFAULT_PARAMETER_FILE   "./robot.param"

Definition at line 56 of file param.h.

#define GRAVITY   9.81

Definition at line 59 of file param.h.

#define OPTION_DEFAULT   (OPTION_HIGH_PREC)

Definition at line 54 of file param.h.

#define SIGN

(

x

)

((x < 0) ? -1 : 1)

Definition at line 60 of file param.h.

Typedef Documentation

typedef struct _parameters Parameters

typedef struct _parameters* ParametersPtr

Definition at line 70 of file param.h.

Enumeration Type Documentation

enum ParamOptions

Enumerator
OPTION_SHOW_ODOMETRY
OPTION_PARAM_CONTROL
OPTION_SHOW_TIMESTAMP
OPTION_SHOW_HELP
OPTION_SHOW_LONGHELP
OPTION_SHOW_PARAMHELP
OPTION_VERSION
OPTION_DAEMON
OPTION_SOCKET
OPTION_PARAM_FILE
OPTION_WITHOUT_DEVICE
OPTION_WITHOUT_SSM
OPTION_ENABLE_SET_BS
OPTION_DO_NOT_USE_YP
OPTION_RECONNECT
OPTION_ENABLE_GET_DIGITAL_IO
OPTION_PASSIVE
OPTION_UPDATE_PARAM
OPTION_HIGH_PREC

Definition at line 29 of file param.h.

enum ParamOutputLv

Enumerator
OUTPUT_LV_ERROR
OUTPUT_LV_WARNING
OUTPUT_LV_INFO
OUTPUT_LV_DEBUG

Definition at line 62 of file param.h.

Function Documentation

int apply_robot_params

(

void

)

Definition at line 1046 of file param.c.

int arg_analyze	(	int	argc,
		char *	argv[]
	)

Definition at line 174 of file param.c.

void arg_help	(	int	argc,
		char *	argv[]
	)

Definition at line 120 of file param.c.

void arg_longhelp	(	int	argc,
		char *	argv[]
	)

Definition at line 134 of file param.c.

void calc_param_inertia2ff

(

void

)

Definition at line 1094 of file param.c.

void disable_state

(

YPSpur_state

id

)

Definition at line 74 of file param.c.

int does_option_set

(

ParamOptions

option

)

void enable_state

(

YPSpur_state

id

)

Definition at line 69 of file param.c.

ParametersPtr get_param_ptr

(

)

Definition at line 111 of file param.c.

void init_param_update_thread	(	pthread_t *	thread,
		char *	filename
	)

Definition at line 992 of file param.c.

int isset_p	(	YPSpur_param	id,
		enum motor_id	motor
	)

Definition at line 84 of file param.c.

int option

(

ParamOptions

option

)

Definition at line 99 of file param.c.

ParamOutputLv output_lv

(

void

)

Definition at line 1413 of file libypspur-md.c.

double p	(	YPSpur_param	id,
		enum motor_id	motor
	)

Definition at line 79 of file param.c.

void param_calc

(

)

Definition at line 429 of file param.c.

void param_help

(

void

)

Definition at line 158 of file param.c.

void param_update

(

void *

filename

)

Definition at line 1006 of file param.c.

void param_update_loop_cleanup

(

void *

data

)

Definition at line 1001 of file param.c.

int parameter_set	(	char	param,
		char	id,
		long long int	value64
	)

Definition at line 379 of file param.c.

double* pp	(	YPSpur_param	id,
		enum motor_id	motor
	)

Definition at line 94 of file param.c.

int set_param	(	char *	filename,
		char *	concrete_path
	)

Definition at line 922 of file param.c.

int set_param_motor

(

void

)

Definition at line 1187 of file param.c.

int set_param_velocity

(

void

)

Definition at line 1355 of file param.c.

int set_paramptr

(

FILE *

paramfile

)

Definition at line 449 of file param.c.

int state

(

YPSpur_state

id

)

Definition at line 64 of file param.c.