Rock

the Robot Construction Kit

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Introduction

This section will discuss some of the aspects of writing device drivers in Rock.

Unfortunately, the guidelines exposed here are seldom followed in current Rock packages themselves. The reason is that these guidelines grew from experience, and from some requirements in some domains (namely, underwater).

Anyway, what this section will talk about is:

  • general driver structure, naming, separation between driver library and driver oroGen component.
  • usage of the iodrivers_base package
  • integration in oroGen components

Structure

Ideally, a device driver should be split into two parts:

  • a driver part that talks to the device using the device’s protocol. This driver has two functions. First, to provide access to the device’s raw functions (i.e. “talk the device language”). Second, translate the “device language” into more high-level representations (as for instance translating encoder ticks into angles in radians). This translation is not always possible, but should be done whenever applicable.
  • an oroGen component that integrates the driver into a task context, allowing to be used in the rest of the toolchain. Note that Rock happily integrates drivers that have no oroGen components, it is just recommended to provide one.

Naming conventions

From a package point of view, there should be at least two packages: one for the protocol/driver part and one for the oroGen part.

The naming convention for the library package is sensor_type_manufacturer_and_or_sensor_name. For instance, cameras of the “prosilica” brand share all the same protocols. The corresponding package is therefore called camera_prosilica. All driver packages should be in drivers/ (i.e. drivers/camera_prosilica).

There is no standardization of the sensor types. Check existing packages first, and ask around (i.e. on the mailing list) if your category does not exist.

In the library package, the following guidelines should be followed:

  • namespace should be the same than package name
  • if the package contains only one driver is to be defined, the driver class should be called Driver. Otherwise, SpecificNameDriver (if applicable, SpecificName should match between driver and protocol)

Once a package name is selected for the library, the oroGen package should be located in drivers/orogen/ and have the same base name than the library package.

Let’s now dive into writing a driver class