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MotionManager Class ReferenceThe purpose of this class is to repeatedly compute the final set of joint angles for the robot, managing a set of (possibly conflicting) MotionCommands. More...
Detailed DescriptionThe purpose of this class is to repeatedly compute the final set of joint angles for the robot, managing a set of (possibly conflicting) MotionCommands. Since Main and Motion run as separate processes, they could potentially try to access the same motion command at the same time, leading to unpredictable behavior. The MotionManager enforces a set of locks to serialize access to the MotionCommands. Although you could call checkoutMotion() and checkinMotion() directly, it is instead recommended to use MMAccessor to automatically handle casting and checkin for you. The other problem is that we are sharing the memory holding MotionCommands between processes. MotionManager will do the necessary magic behind the scenes to distribute new MotionCommands to all the involved processes (currently just Main and Motion) // type A: prunable motions are automatically removed when completed: motman->addPrunableMotion( SharedObject<YourMC>([arg1,...]) [, priority ] ); // type B: persistent motions are removed only when you explicitly request it: MC_ID id = motman->addPersistentMotion( SharedObject<YourMC>([arg1,...]) [, priority ] ); // then later: motman->removeMotion(id); The priority level can be changed later via setPriority(), and there are symbolic values defined in kIgnoredPriority through kEmergencyPriority to give some common guidelines on the magnitudes to use. The default priority level if unspecified is kStdPriority. If you want to do some more initializations not handled by the MotionCommand's constructor (the SharedObject<YourMC> yourmc([arg1,[arg2,...]]); yourmc->cmd1(); yourmc->cmd2(); //... motman->addPrunableMotion(yourmc [, ...]); //or addPersistentMotion(...) Notice that
Definition at line 85 of file MotionManager.h.
Member Typedef Documentation
type to use to refer to accessors of MotionManager (or its locks) Definition at line 222 of file MotionManager.h.
shorthand for a list of OutputState's Definition at line 259 of file MotionManager.h. use this type when referring to the ID numbers that MotionManager hands out Definition at line 95 of file MotionManager.h. Constructor & Destructor Documentation
Constructor, sets all the outputs to 0. Definition at line 39 of file MotionManager.cc.
destructor Definition at line 131 of file MotionManager.cc.
this shouldn't be called... Member Function Documentation
LOCKS MotionManager adds a new motion (wrapped in a SharedObject) and marks that it should not be deleted, until removeMotion(MC_ID mcid) is called. Definition at line 157 of file MotionManager.h. Referenced by WaypointWalkControl::activate(), TorqueCalibrate::TakeMeasurementControl::activate(), PostureEditor::activate(), BehaviorBase::addMotion(), DualCoding::Lookout::doStart(), HeadController::doStart(), Controller::doStart(), CameraBehavior::doStart(), ArmController::doStart(), MCNode< T, mcName, mcDesc, completes >::postStart(), RecordMotionNode::preStart(), RunSequenceControl< SequenceSize >::selectedFile(), LoadPostureControl::selectedFile(), DualCoding::Pilot::setup(), Grasper::setup(), and BatteryMonitorBehavior::startWarning().
LOCKS MotionManager adds a new motion (wrapped in a SharedObject) and marks that it should be automatically deleted when the MotionCommand::isAlive() returns false. Definition at line 155 of file MotionManager.h. Referenced by BehaviorBase::addMotion(), FlashIPAddrBehavior::doEvent(), FlashIPAddrBehavior::doStart(), RunSequenceControl< SequenceSize >::runFile(), LoadPostureControl::runFile(), LedActivate::stop(), and TorqueCalibrate::TakeMeasurementControl::takeInput().
returns the MC_ID of the first MotionCommand Definition at line 137 of file MotionManager.h. Referenced by getOutputs(), and motionReport().
marks a MotionCommand as unused Definition at line 916 of file MotionManager.cc. Referenced by MMAccessor< MC_t >::checkin(), MCValueEditControl< T >::doSelect(), getOutputs(), motionReport(), processMsg(), RemoveAccess(), removeMotion(), LoadWalkControl::selectedFile(), and SaveWalkControl::takeInput().
returns the number of times mcid has been checked out minus the times it's been checked in Definition at line 148 of file MotionManager.h.
locks the command and possibly performs RTTI conversion; supports recursive calls Definition at line 867 of file MotionManager.cc. Referenced by MMAccessor< MC_t >::checkout(), MCValueEditControl< T >::doSelect(), getOutputs(), motionReport(), processMsg(), RemoveAccess(), removeMotion(), LoadWalkControl::selectedFile(), and SaveWalkControl::takeInput().
sets up a motion command to be accessed by the current process Definition at line 897 of file MotionManager.cc. Referenced by checkoutMotion().
does the actual work of adding a motion We have made this function protected because it's more readable if you call addPrunableMotion() or addPersistentMotion() instead... we decided requiring people to pass a true/false arguement wouldn't make it clear what that true/false was controlling. Definition at line 793 of file MotionManager.cc. Referenced by addPersistentMotion(), and addPrunableMotion().
returns the MC_ID of the one-past-the-end MotionCommand (like the STL) Definition at line 139 of file MotionManager.h. Referenced by getOutputs().
called at the begining of many functions to lock MotionManager Definition at line 224 of file MotionManager.h. Referenced by doAddMotion(), getOutputs(), motionReport(), processMsg(), RemoveAccess(), removeMotion(), setOutput(), setPID(), and ~MotionManager().
template<class T >
same as func_end(), except passes return value through Definition at line 226 of file MotionManager.h. Referenced by func_end().
called at the end of a function which called func_begin() to release it Definition at line 225 of file MotionManager.h. Referenced by doAddMotion(), getOutputs(), motionReport(), processMsg(), RemoveAccess(), removeMotion(), setOutput(), setPID(), and ~MotionManager().
Definition at line 276 of file MotionManager.h. Referenced by checkinMotion(), checkoutMotion(), convertMotion(), doAddMotion(), func_begin(), InitAccess(), isOwner(), lock(), peekMotion(), processMsg(), receivedMsg(), RemoveAccess(), removeMotion(), skip_ahead(), trylock(), and ~MotionManager().
Returns the value of the output last sent to the OS. Note that this will differ from the sensed value in state, even when staying still. There is no corresponding getOutputPID because this value *will* duplicate the value in state. Definition at line 130 of file MotionManager.h. Referenced by EmergencyStopMC::freezeJoints(), PostureMC::setDirty(), HeadPointerMC::setDirty(), ArmMC::setDirty(), and PostureMC::setOutputCmd().
LOCKS MotionManager called by MotionObject to fill in the output values for the next NumFrames frames (only MotoObj should call this...) What's worse? A plethora of functions which are only called, and only useful at one place, or a big massive function which doesn't pollute the namespace? This is the latter, for better or worse. Definition at line 339 of file MotionManager.cc. returns priority level of a MotionCommand, symbolic values are available to give some guidelines -- see kIgnoredPriority through kEmergencyPriority Definition at line 133 of file MotionManager.h. Referenced by setOutput().
Definition at line 197 of file MotionManager.h.
LOCKS MotionManager Everyone who is planning to use the MotionManager needs to call this before they access it or suffer a horrible fate Definition at line 67 of file MotionManager.cc.
locks the command and possibly performs RTTI conversion; supports recursive calls Definition at line 149 of file MotionManager.h.
gets an exclusive lock on MotionManager - functions marked LOCKS MotionManager will cause (and require) this to happen automatically Definition at line 162 of file MotionManager.h. Referenced by checkinMotion(), and checkoutMotion().
displays a report of active motion commands on stderr Definition at line 148 of file MotionManager.cc. returns the MC_ID of MotionCommand following the one that is passed Definition at line 138 of file MotionManager.h. Referenced by getOutputs().
this shouldn't be called...
allows access to a MotionCommand without checking it out; warning never call a function based on this, only access member fields through it Definition at line 147 of file MotionManager.h. Referenced by MMAccessor< MC_t >::MMAccessor(), Controller::setEStopID(), and BatteryMonitorBehavior::startWarning().
pulls an entry from cmdlist's free section and returns its index Definition at line 254 of file MotionManager.h. Referenced by doAddMotion().
LOCKS MotionManager This gets called by receivedMsg when under Aperios, or directly if you already have an RCRegion Definition at line 695 of file MotionManager.cc. Referenced by receivedMsg().
puts an entry back into cmdlist's free section Definition at line 255 of file MotionManager.h. Referenced by processMsg(), RemoveAccess(), and ~MotionManager().
called with incoming messages, will pass non-echos to processMsg() Definition at line 675 of file MotionManager.cc. Referenced by InitAccess().
needed in order to dereference shared memory regions before shutting down Definition at line 86 of file MotionManager.cc.
LOCKS MotionManager removes the specified MotionCommand Definition at line 934 of file MotionManager.cc. Referenced by WaypointWalkControl::deactivate(), TorqueCalibrate::TakeMeasurementControl::deactivate(), PostureEditor::deactivate(), DualCoding::Lookout::doStop(), HeadController::doStop(), Grasper::doStop(), FlashIPAddrBehavior::doStop(), Controller::doStop(), CameraBehavior::doStop(), ArmController::doStop(), getOutputs(), MCNodeBase::motionFails(), RunSequenceControl< SequenceSize >::processEvent(), LoadPostureControl::processEvent(), MCNodeBase::setMC(), RecordMotionNode::stop(), MCNodeBase::stop(), BatteryMonitorBehavior::stopWarning(), LoadPostureControl::~LoadPostureControl(), BehaviorBase::MonitorMotion::~MonitorMotion(), and RunSequenceControl< SequenceSize >::~RunSequenceControl().
LOCKS MotionManager Requests a value and PID be set for the specified output Definition at line 310 of file MotionManager.cc.
LOCKS MotionManager Requests a value and PID be set for the specified output Definition at line 284 of file MotionManager.cc.
LOCKS MotionManager Requests a PID be set for the specified output, notice that this might be overruled by a higher priority motion Definition at line 263 of file MotionManager.cc.
LOCKS MotionManager Requests a value be set for the specified output across frames Definition at line 232 of file MotionManager.cc.
LOCKS MotionManager Requests a value be set for the specified output in the specified frame Definition at line 209 of file MotionManager.cc.
LOCKS MotionManager Requests a value be set for the specified output, copies cmd across frames Definition at line 185 of file MotionManager.cc. Referenced by ArmMC::clearGripperPulse(), Controller::deactivate(), Controller::doStop(), UPennWalkMC::SetLegJoints(), XWalkMC::solveIK(), GaitedFootstepMC::solveIK(), LedEngine::updateLEDs(), TailWagMC::updateOutputs(), SineMC::updateOutputs(), RemoteControllerMC::updateOutputs(), PostureMC::updateOutputs(), PIDMC::updateOutputs(), MotionSequenceMC< MAXMOVE >::updateOutputs(), LedMC::updateOutputs(), HeadPointerMC::updateOutputs(), EmergencyStopMC::updateOutputs(), ArmMC::updateOutputs(), and XWalkMC::updateOutputsWalking().
LOCKS MotionManager, called internally to do the work of setting the PID... you probably want to call setOutput with an OutputPID argument, not this... Note that we don't actually set the PIDs in the system here, we just queue them up. PID changes seem to be an expensive operation, so may only want to clear the queue at some reduced rate (although that's not actually currently being done, it just could be) Definition at line 1003 of file MotionManager.cc. Referenced by getOutputs(), and setOutput(). sets the priority level of a MotionCommand, symbolic values are available to give some guidelines -- see kIgnoredPriority through kEmergencyPriority Definition at line 132 of file MotionManager.h. Referenced by Controller::activate(), Controller::deactivate(), BatteryMonitorBehavior::doEvent(), DualCoding::Pilot::PushObjectMachine::AdjustPush::doStart(), DualCoding::Pilot::PushObjectMachine::FetchObj::doStart(), DualCoding::Pilot::PushObjectMachine::WalkForward::doStart(), DualCoding::Pilot::PushObjectMachine::WalkBackward::doStart(), DualCoding::Pilot::ExecutePlan::Turn::doStart(), DualCoding::Pilot::ExecutePlan::Walk::doStart(), MCNodeBase::motionFails(), DualCoding::Lookout::moveHeadToPoint(), MCNode< T, mcName, mcDesc, completes >::postStart(), DualCoding::Lookout::processPointAtEvent(), DualCoding::Lookout::processScanEvent(), DualCoding::Lookout::processSearchEvent(), DualCoding::Lookout::relax(), DualCoding::Lookout::scanAlongLine(), DualCoding::Lookout::scanAlongPolygon(), MCNodeBase::setPriority(), DualCoding::Lookout::setupSearch(), DualCoding::Lookout::setupTrack(), DualCoding::Lookout::triggerScanMotionSequence(), and DualCoding::Lookout::triggerSearchMotionSequence().
sets etrans, should be called before any events can be sent Definition at line 117 of file MotionManager.h.
returns the number of MotionCommands being managed Definition at line 140 of file MotionManager.h.
during iteration, skips over motioncommands which are still in transit from on OObject to another Definition at line 1041 of file MotionManager.cc.
tries to get a lock without blocking Definition at line 163 of file MotionManager.h.
releases a lock on the motion manager Definition at line 164 of file MotionManager.h.
call this when you want MotionManager to update modified PID values, returns true if changes made (only MotoObj should be calling this...), see PIDMC for general PID documentation This function handles the conversion from the Tekkotsu format (one regular IEEE float per parameter, to the OPEN-R format (which takes a specialized, reduced precision floating point number) This is all documented in PIDMC as well. In order to send Tekkotsu's PIDs to the system, they are converted to the gain/shift format. On the ERS-2xx, we could dynamically choose shift values to allow more precision in setting values. With the ERS-7, all shifts are shared, so they must be set to a common set of values, defined by WorldState::DefaultPIDShifts. This limits the range of gains which can then be set. Due to the mysterious warning which would occur with the 2xx, (AGRMSDriver::SetGain() : 0x0A IS USED FOR GAIN SHIFT VALUE.) and since this seems to be the way things are going, all models now, by default, use global shift values (which can vary from model to model, just global for each model) You can revert to the dynamic shift selection by commenting-in the noted code section below. A final note: the OPENR::SetJointGain function seems to be a rather costly function call. You should probably try to avoid setting PIDs at too high a frequency. Definition at line 646 of file MotionManager.cc. Member Data Documentation
Stores the accessor id assigned in InitAccess() for each process. Definition at line 277 of file MotionManager.h. Referenced by getAccID(), hasReference(), and InitAccess().
the list where MotionCommands are stored, remember, we're in a shared memory region with different base addresses - no pointers! Definition at line 250 of file MotionManager.h. Referenced by begin(), checkinMotion(), checkoutLevel(), checkoutMotion(), convertMotion(), doAddMotion(), end(), getOutputs(), getPriority(), hasReference(), InitAccess(), isOwner(), motionReport(), next(), peekMotion(), pop_free(), processMsg(), push_free(), RemoveAccess(), removeMotion(), setPriority(), size(), skip_ahead(), and ~MotionManager().
Holds the weighted values and total weight for the outputs of the last frame. Definition at line 263 of file MotionManager.h. Referenced by getOutputCmd(), getOutputs(), and MotionManager::OutputState::OutputState().
requested positions by each of the MC's for each of the outputs Definition at line 261 of file MotionManager.h. Referenced by getOutputs(), motionReport(), and setOutput().
Holds the final values for the outputs of the last frame generated. Definition at line 262 of file MotionManager.h. Referenced by getOutputs(), MotionManager(), and setOutput().
MC_ID of the MotionCommand currently being updated by getOutputs(), or NULL if not in getOutputs. This is used by the setOutput()'s to tell which MotionCommand is calling. Definition at line 251 of file MotionManager.h. Referenced by getOutputs(), and setOutput().
EventTranslator for sending events to Main -- each process will set the correct value for calls within that process. Definition at line 278 of file MotionManager.h. Referenced by convertMotion(), and setTranslator().
for errors and undefined stuff Definition at line 96 of file MotionManager.h. Referenced by BehaviorBase::addMotion(), MMAccessor< MC_t >::checkin(), checkinMotion(), checkoutLevel(), checkoutMotion(), doAddMotion(), FlashIPAddrBehavior::doEvent(), DualCoding::Lookout::doStop(), Grasper::doStop(), FlashIPAddrBehavior::doStop(), Controller::doStop(), MCNode< T, mcName, mcDesc, completes >::getMC(), getOutputs(), isOwner(), MMAccessor< MC_t >::MMAccessor(), BehaviorBase::MonitorMotion::monitor(), MCNodeBase::motionFails(), peekMotion(), MCNode< T, mcName, mcDesc, completes >::postStart(), BehaviorBase::MonitorMotion::processEvent(), processMsg(), removeMotion(), MCNodeBase::setMC(), setOutput(), setPriority(), MCNodeBase::setPriority(), MCNodeBase::stop(), BatteryMonitorBehavior::stopWarning(), PostureEditor::updatePose(), and BehaviorBase::MonitorMotion::~MonitorMotion().
will only be expressed if *nothing* else is using that joint Definition at line 101 of file MotionManager.h. Referenced by getOutputs(), DualCoding::Lookout::processPointAtEvent(), DualCoding::Lookout::processScanEvent(), DualCoding::Lookout::scanAlongPolygon(), and setOutput().
for really important stuff, such as the emergency stop Definition at line 105 of file MotionManager.h. Referenced by Controller::activate(), BatteryMonitorBehavior::doEvent(), FlashIPAddrBehavior::doStart(), Controller::doStart(), and BatteryMonitorBehavior::startWarning().
for stuff that should override standard stuff Definition at line 104 of file MotionManager.h. Referenced by TorqueCalibrate::TakeMeasurementControl::activate(), and ArmController::doStart().
won't be expressed, handy if you want to temporarily pause something Definition at line 100 of file MotionManager.h. Referenced by Controller::deactivate(), BatteryMonitorBehavior::doEvent(), DualCoding::Lookout::doStart(), Controller::doStart(), MCNodeBase::motionFails(), DualCoding::Lookout::moveHeadToPoint(), DualCoding::Lookout::processSearchEvent(), DualCoding::Lookout::relax(), DualCoding::Lookout::scanAlongLine(), DualCoding::Pilot::setup(), DualCoding::Lookout::setupTrack(), and DualCoding::Lookout::triggerScanMotionSequence().
for stuff that's not background but lower than standard Definition at line 102 of file MotionManager.h.
for every-day commands Definition at line 103 of file MotionManager.h. Referenced by BehaviorBase::addMotion(), DualCoding::Pilot::PushObjectMachine::AdjustPush::doStart(), DualCoding::Pilot::PushObjectMachine::FetchObj::doStart(), DualCoding::Pilot::PushObjectMachine::WalkForward::doStart(), DualCoding::Pilot::PushObjectMachine::WalkBackward::doStart(), DualCoding::Pilot::ExecutePlan::Turn::doStart(), DualCoding::Pilot::ExecutePlan::Walk::doStart(), DualCoding::Lookout::moveHeadToPoint(), DualCoding::Lookout::processSearchEvent(), DualCoding::Lookout::scanAlongLine(), DualCoding::Lookout::scanAlongPolygon(), DualCoding::Lookout::setupSearch(), DualCoding::Lookout::setupTrack(), DualCoding::Lookout::triggerScanMotionSequence(), and DualCoding::Lookout::triggerSearchMotionSequence().
This is the number of processes which will be accessing the MotionManager. Probably just MainObject and MotionObject... This isn't really a hard maximum, but should be actual expected, need to know when they're all connected Definition at line 91 of file MotionManager.h. Referenced by MotionManager::CommandEntry::CommandEntry(), doAddMotion(), and InitAccess().
This is the maximum number of Motions which can be managed, can probably be increased reasonably without trouble. Definition at line 93 of file MotionManager.h. Referenced by checkinMotion(), checkoutMotion(), and removeMotion().
message receivers which watch for incoming motion command regions, or requests to free them Definition at line 272 of file MotionManager.h. Referenced by InitAccess(), and RemoveAccess().
The main lock for the class. Definition at line 257 of file MotionManager.h. Referenced by func_begin(), func_end(), InitAccess(), lock(), trylock(), and unlock().
The number of accessors who have registered with InitAccess(). Definition at line 266 of file MotionManager.h. Referenced by doAddMotion(), InitAccess(), processMsg(), RemoveAccess(), and ~MotionManager().
stores PID updates, up to one per joint (if same is set more than once, it's just overwrites previous update) Definition at line 218 of file MotionManager.h. Referenced by setPID(), and updatePIDs().
pointers to per-process thread locks, acquired during message processing from one of mcrecvs Definition at line 273 of file MotionManager.h. Referenced by InitAccess(), and receivedMsg().
Storage of each process's attachment of the message queue, used to internally transmit sound buffers to SoundPlay. Definition at line 271 of file MotionManager.h. Referenced by doAddMotion(), InitAccess(), and removeMotion(). The documentation for this class was generated from the following files: |
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