EStopController.cc

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#include "EStopController.h"
#include "Motion/EmergencyStopMC.h"
#include "Motion/MotionPtr.h"

REGISTER_BEHAVIOR_MENU_OPT(EStopController,"TekkotsuMon",BEH_START|BEH_NONEXCLUSIVE);

EStopController* EStopController::theOne = NULL;

void EStopController::doStart() {
  // We listen to the estop
  erouter->addListener(this, EventBase::estopEGID);
  // Turn on wireless
  cmdsock=wireless->socket(Socket::SOCK_STREAM, 300, 300);
  wireless->setDaemon(cmdsock,true);
  wireless->setReceiver(cmdsock->sock, callback);
  wireless->listen(cmdsock->sock, config->main.estopControl_port);
}

void EStopController::doStop() {
  // Close socket; turn wireless off
  wireless->setDaemon(cmdsock,false);
  wireless->close(cmdsock);
}

void EStopController::runCommand(const std::string& s) {
  if(s==std::string("start")) {
    ProjectInterface::estop->setStopped(false);
  } else if(s==std::string("stop")) {
    ProjectInterface::estop->setStopped(true);
  } else if(s==std::string("refresh")) {
    if(ProjectInterface::estop->getStopped())
      cmdsock->printf("on\n");
    else
      cmdsock->printf("off\n");
  } else {
    serr->printf("EStopController::runCommand() - bad message: '%s'",s.c_str());
  }
}

void EStopController::doEvent() {
  if(event->getTypeID()==EventBase::activateETID) {
    cmdsock->printf("on\n");
  } else if(event->getTypeID()==EventBase::deactivateETID) {
    cmdsock->printf("off\n");
  }
}

// The command packet reassembly mechanism
int EStopController::callback(char *buf, int bytes) {
  if(EStopController::theOne==NULL)
    return 0;
  static std::string cmd;
  for(int i=0; i<bytes; i++) {
    if(buf[i]=='\n') {
      EStopController::theOne->runCommand(cmd);
      cmd.clear();
    } else
      cmd+=buf[i];
  }
  return 0;
}

/*! @file
 * @brief Implements EStopController, listens to commands coming in from the command port for remotely controlling toggling the estop
 * @author tss (Creator)
 */