kerl.cpp File Reference

Functions for robot control from Erlang. More...

#include "erl_driver.h"
#include <string.h>
#include <libplayerc/playerc.h>
#include "common_kerl.h"
#include "player_kerl.h"
#include "kerl.h"
#include "ei_extended.h"
#include "ei.h"

Include dependency graph for kerl.cpp:


Functions
void	kerlCreateRobot (KerlData *state)
void	kerlDestroyRobot (KerlData *state)
void	kerlMove (KerlData *state)
void	kerlRotate (KerlData *state)
void	kerlGetPosition (KerlData *state)
void	kerlUpdate (KerlData *state)
void	kerlResults (KerlData *state)
void	kerlSetOption (KerlData *state)
void	query (KerlData *state)

Detailed Description

Functions for robot control from Erlang.

Author:: Thomas Lorentsen

In order to control our robot from Erlang we need some functions that will interpret erlang function calls and pass them to player functions. They will then pass back to erlang a response.

These function require no return value as all data and error codes are passed onto erlang.

Function Documentation

void kerlCreateRobot ( KerlData * state )

Parameters:

	state	ei struct Creates a Player connection Pass in a unique name to identify the robot, hostname, ip and a index number to connect to player {create, <<rid>>, <<hostname>>, ip, index}
	state	ei struct Creates a Player connection Pass in a unique name to identify the robot, hostname, ip and a index number to connect to player {create, <<hostname>>, ip, index, <<robotID>>}

void kerlDestroyRobot ( KerlData * state )

Parameters:

	state	ei struct Destroys the robot who has the robot id name {destroy, <<rid>>}
	state	ei struct Destroys the robot who has the robot id name {destroy}

void kerlGetPosition ( KerlData * state )

Parameters:

	state	ei struct Return the robot current position back to erlang {getpos, <<rid>>}
	state	ei struct Return the robot current position back to erlang {Port, tuple_float_3, {x, y, a}}

void kerlMove ( KerlData * state )

Parameters:

	state	ei struct Choose to move at a speed or move a certain distance for example {move, <<rid>>, speed, 1.0}, {move, <<rid>>, distance, 15.0}
	state	ei struct Choose to move at a speed or move a certain distance for example {move, speed, 1.0}, {move, distance, 15.0}, {move, position, 0, 0, 3.14}, {move, full, 1, 1}

void kerlResults ( KerlData * state )

Parameters:

	state	ei struct Grab results from a device, you need to select the device from the tuple you pass from erlang This will pass the a list back to erlang For example you pass {results, <<rid>>, lasers} This function should return something like {lasers, [1, 2, 3], [1, 2, 3]} where lasers is the name of the device, a list of laser results and a list of angles
	state	ei struct Grab results from a device, you need to select the device from the tuple you pass from erlang This will pass the a list back to erlang For example you pass {results, lasers} This function should return something like {[1, 2, 3], [1, 2, 3]} This function can also return an empty lists but this is usually rare and only happens on the first few reads. where lasers is the name of the device, a list of list of angles and a list of laser results

void kerlRotate ( KerlData * state )

Parameters:

	state	ei struct Choose to rotate either by amount of degrees or set the speed for example: {rotate, <<rid>>, degrees, 180}, {rotate, <<rid>>, speed, 20} This function will need to decide which function to call in player_kerl depending on the tuple passed.
	state	ei struct Choose to rotate either by amount of degrees or set the speed for example: {rotate, degrees, 180}, {rotate, speed, 20} This function will need to decide which function to call in player_kerl depending on the tuple passed.

void kerlSetOption ( KerlData * state )

Parameters:

	state	ei struct Allows to set driver`s options from erlang List of supported options: update_timeout (default: 0.00)
	state	ei struct Allows to set driver`s options from erlang

void kerlUpdate ( KerlData * state )

Parameters:

	state	ei struct Force player to update its data This will allow us to grab results for devices {update, <<rid>>}
	state	ei struct Force player to update its data This will allow us to grab results for devices {update}

void query ( KerlData * state )

Parameters:

state

ei struct Returns a tuple containing useful information about the robot

Runs a query on a robot and returns a tuple containing useful information about it.