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

Include dependency graph for param.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, OPTION_PING = 0x100000 }

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

◆ DEFAULT_DEVICE_NAME

#define DEFAULT_DEVICE_NAME "/dev/ttyUSB0"

Definition at line 60 of file param.h.

◆ DEFAULT_PARAMETER_FILE

#define DEFAULT_PARAMETER_FILE "./robot.param"

Definition at line 59 of file param.h.

◆ GRAVITY

#define GRAVITY 9.81

Definition at line 62 of file param.h.

◆ OPTION_DEFAULT

#define OPTION_DEFAULT (OPTION_HIGH_PREC)

Definition at line 57 of file param.h.

◆ SIGN

#define SIGN ( x ) ((x < 0) ? -1 : 1)

Definition at line 63 of file param.h.

Typedef Documentation

◆ Parameters

typedef struct _parameters Parameters

◆ ParametersPtr

typedef struct _parameters* ParametersPtr

Definition at line 73 of file param.h.

Enumeration Type Documentation

◆ ParamOptions

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
OPTION_PING

Definition at line 31 of file param.h.

◆ ParamOutputLv

enum ParamOutputLv

Enumerator
OUTPUT_LV_ERROR
OUTPUT_LV_WARNING
OUTPUT_LV_INFO
OUTPUT_LV_DEBUG

Definition at line 65 of file param.h.

Function Documentation

◆ apply_robot_params()

int apply_robot_params ( void )

Definition at line 1057 of file param.c.

◆ arg_analyze()

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

Definition at line 175 of file param.c.

◆ arg_help()

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

Definition at line 120 of file param.c.

◆ arg_longhelp()

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

Definition at line 134 of file param.c.

◆ calc_param_inertia2ff()

void calc_param_inertia2ff ( void )

Definition at line 1105 of file param.c.

◆ disable_state()

void disable_state ( YPSpur_state id )

Definition at line 74 of file param.c.

◆ does_option_set()

int does_option_set ( ParamOptions option )

◆ enable_state()

void enable_state ( YPSpur_state id )

Definition at line 69 of file param.c.

◆ get_param_ptr()

ParametersPtr get_param_ptr ( )

Definition at line 111 of file param.c.

◆ init_param_update_thread()

void init_param_update_thread	(	pthread_t *	thread,
		char *	filename
	)

Definition at line 1003 of file param.c.

◆ isset_p()

int isset_p	(	YPSpur_param	id,
		enum motor_id	motor
	)

Definition at line 84 of file param.c.

◆ option()

int option ( ParamOptions option )

Definition at line 99 of file param.c.

◆ output_lv()

ParamOutputLv output_lv ( void )

Definition at line 1431 of file libypspur-md.c.

◆ p()

double p	(	YPSpur_param	id,
		enum motor_id	motor
	)

Definition at line 79 of file param.c.

◆ param_calc()

void param_calc ( )

Definition at line 434 of file param.c.

◆ param_help()

void param_help ( void )

Definition at line 159 of file param.c.

◆ param_update()

void param_update ( void * filename )

Definition at line 1017 of file param.c.

◆ param_update_loop_cleanup()

void param_update_loop_cleanup ( void * data )

Definition at line 1012 of file param.c.

◆ parameter_set()

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

Definition at line 384 of file param.c.

◆ pp()

double* pp	(	YPSpur_param	id,
		enum motor_id	motor
	)

Definition at line 94 of file param.c.

◆ set_param()

int set_param	(	char *	filename,
		char *	concrete_path
	)

Definition at line 933 of file param.c.

◆ set_param_motor()

int set_param_motor ( void )

Definition at line 1198 of file param.c.

◆ set_param_velocity()

int set_param_velocity ( void )

Definition at line 1402 of file param.c.

◆ set_paramptr()

int set_paramptr ( FILE * paramfile )

Definition at line 454 of file param.c.

◆ state()

int state ( YPSpur_state id )

Definition at line 64 of file param.c.

Classes

Macros

Typedefs

Enumerations

Functions