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UPennWalkControllerBehavior Class Reference

Listens to control commands coming in from the command port for remotely controlling the walk. More...

#include <UPennWalkControllerBehavior.h>

Inheritance diagram for UPennWalkControllerBehavior:

Detailed Description

Listens to control commands coming in from the command port for remotely controlling the walk.

Definition at line 17 of file UPennWalkControllerBehavior.h.

List of all members.

Public Member Functions

 UPennWalkControllerBehavior ()
 constructor
virtual ~UPennWalkControllerBehavior ()
 destructor
virtual void doStart ()
 Delegate function for subclasses to be notified when the behavior starts up.
virtual void doStop ()
 Delegate function for subclasses to be notified when the behavior starts up.
virtual UPennWalkMCgetWalkMC ()
 returns the WalkMC which [will be|is being] used
virtual MotionManager::MC_ID getWalkID ()
 returns the current Walk's MotionCommand ID
virtual void doEvent ()
 The only event we could possibly receive is the stop-if-no-heartbeat timer.
virtual std::string getDescription () const
 Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).

Static Public Member Functions

static int mechacmd_callback (char *buf, int bytes)
 called by wireless when there's new data
static std::string getClassDescription ()
 Gives a short description of what this class of behaviors does... you should override this (but don't have to).

Static Public Attributes

static
UPennWalkControllerBehavior
theOne

Protected Attributes

SharedObject< UPennWalkMCshared_walker
 the WalkMC to use

Private Member Functions

void runCommand (unsigned char *command)
 Executes a command. Called by mechacmd_callback.
 UPennWalkControllerBehavior (const UPennWalkControllerBehavior &)
 don't call
UPennWalkControllerBehavior operator= (const UPennWalkControllerBehavior &)
 don't call

Private Attributes

float dx
 Motion parameter.
float dy
 Motion parameter.
float da
 Motion parameter.
UPennWalkControllerBehaviortheLastOne
Socketcmdsock
 The input command stream socket.

Static Private Attributes

Command Bytes

static const char CMD_fwd = 'f'
 handy symbol for matching incoming communication
static const char CMD_roto = 'r'
 handy symbol for matching incoming communication
static const char CMD_side = 's'
 handy symbol for matching incoming communication
static const char CMD_opt0 = '0'
 handy symbol for matching incoming communication
static const char CMD_opt1 = '1'
 handy symbol for matching incoming communication
static const char CMD_opt2 = '2'
 handy symbol for matching incoming communication
static const char CMD_opt3 = '3'
 handy symbol for matching incoming communication
static const char CMD_opt4 = '4'
 handy symbol for matching incoming communication
static const char CMD_opt5 = '5'
 handy symbol for matching incoming communication
static const char CMD_opt6 = '6'
 handy symbol for matching incoming communication
static const char CMD_opt7 = '7'
 handy symbol for matching incoming communication
static const char CMD_opt8 = '8'
 handy symbol for matching incoming communication
static const char CMD_opt9 = '9'
 handy symbol for matching incoming communication

Constructor & Destructor Documentation

UPennWalkControllerBehavior::UPennWalkControllerBehavior ( const UPennWalkControllerBehavior  )  [private]

don't call

UPennWalkControllerBehavior::UPennWalkControllerBehavior (  ) 

constructor

Definition at line 68 of file UPennWalkControllerBehavior.h.

virtual UPennWalkControllerBehavior::~UPennWalkControllerBehavior (  )  [virtual]

destructor

Definition at line 76 of file UPennWalkControllerBehavior.h.


Member Function Documentation

virtual void UPennWalkControllerBehavior::doEvent (  )  [virtual]

The only event we could possibly receive is the stop-if-no-heartbeat timer.

Reimplemented from BehaviorBase.

Definition at line 87 of file UPennWalkControllerBehavior.h.

virtual void UPennWalkControllerBehavior::doStart (  )  [virtual]

Delegate function for subclasses to be notified when the behavior starts up.

Should be overridden by subclasses to subscribe to events, install motion commands, etc.

doStart() is basically a hook to allow subclasses to jump in and do some customization of behavior parameters while the behavior is starting. If you are writing a behavior class and do not expect further derivation, just override doStart() yourself. However, if you do expect further derivation of your class, consider using preStart() or postStart() instead, and leave doStart() for the 'leaf' classes.

Reimplemented from BehaviorBase.

virtual void UPennWalkControllerBehavior::doStop (  )  [virtual]

Delegate function for subclasses to be notified when the behavior starts up.

May be overridden to cleanup when the behavior is shutting down. However events will automatically be unsubscribed, and by using addMotion(), motions will automatically be removed by stop(), so you may not need any cleanup.

Reimplemented from BehaviorBase.

static std::string UPennWalkControllerBehavior::getClassDescription (  )  [static]

Gives a short description of what this class of behaviors does... you should override this (but don't have to).

If you do override this, also consider overriding getDescription() to return it

Reimplemented from BehaviorBase.

Definition at line 92 of file UPennWalkControllerBehavior.h.

Referenced by getDescription().

virtual std::string UPennWalkControllerBehavior::getDescription (  )  const [virtual]

Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).

By default simply returns getName(), because any calls from a BehaviorBase function to getClassDescription() are going to call BehaviorBase::getClassDescription(), not ~YourSubClass~getClassDescription(), because static functions can't be virtual in C++ (doh!)

This means that getDescription called on a pointer to a BehaviorBase of unknown subtype would always return an empty string, which is pretty useless. So instead we return the name in this situation. If you want getDescription to return getClassDescription, you'll have to override it in your subclass to do so.

Reimplemented from BehaviorBase.

Definition at line 97 of file UPennWalkControllerBehavior.h.

virtual MotionManager::MC_ID UPennWalkControllerBehavior::getWalkID (  )  [virtual]

returns the current Walk's MotionCommand ID

Definition at line 84 of file UPennWalkControllerBehavior.h.

Referenced by doEvent().

virtual UPennWalkMC* UPennWalkControllerBehavior::getWalkMC (  )  [virtual]

returns the WalkMC which [will be|is being] used

Definition at line 82 of file UPennWalkControllerBehavior.h.

static int UPennWalkControllerBehavior::mechacmd_callback ( char *  buf,
int  bytes 
) [static]

called by wireless when there's new data

UPennWalkControllerBehavior UPennWalkControllerBehavior::operator= ( const UPennWalkControllerBehavior  )  [private]

don't call

void UPennWalkControllerBehavior::runCommand ( unsigned char *  command  )  [private]

Executes a command. Called by mechacmd_callback.


Member Data Documentation

const char UPennWalkControllerBehavior::CMD_fwd = 'f' [static, private]

handy symbol for matching incoming communication

Definition at line 31 of file UPennWalkControllerBehavior.h.

const char UPennWalkControllerBehavior::CMD_opt0 = '0' [static, private]

handy symbol for matching incoming communication

Definition at line 34 of file UPennWalkControllerBehavior.h.

const char UPennWalkControllerBehavior::CMD_opt1 = '1' [static, private]

handy symbol for matching incoming communication

Definition at line 35 of file UPennWalkControllerBehavior.h.

const char UPennWalkControllerBehavior::CMD_opt2 = '2' [static, private]

handy symbol for matching incoming communication

Definition at line 36 of file UPennWalkControllerBehavior.h.

const char UPennWalkControllerBehavior::CMD_opt3 = '3' [static, private]

handy symbol for matching incoming communication

Definition at line 37 of file UPennWalkControllerBehavior.h.

const char UPennWalkControllerBehavior::CMD_opt4 = '4' [static, private]

handy symbol for matching incoming communication

Definition at line 38 of file UPennWalkControllerBehavior.h.

const char UPennWalkControllerBehavior::CMD_opt5 = '5' [static, private]

handy symbol for matching incoming communication

Definition at line 39 of file UPennWalkControllerBehavior.h.

const char UPennWalkControllerBehavior::CMD_opt6 = '6' [static, private]

handy symbol for matching incoming communication

Definition at line 40 of file UPennWalkControllerBehavior.h.

const char UPennWalkControllerBehavior::CMD_opt7 = '7' [static, private]

handy symbol for matching incoming communication

Definition at line 41 of file UPennWalkControllerBehavior.h.

const char UPennWalkControllerBehavior::CMD_opt8 = '8' [static, private]

handy symbol for matching incoming communication

Definition at line 42 of file UPennWalkControllerBehavior.h.

const char UPennWalkControllerBehavior::CMD_opt9 = '9' [static, private]

handy symbol for matching incoming communication

Definition at line 43 of file UPennWalkControllerBehavior.h.

const char UPennWalkControllerBehavior::CMD_roto = 'r' [static, private]

handy symbol for matching incoming communication

Definition at line 32 of file UPennWalkControllerBehavior.h.

const char UPennWalkControllerBehavior::CMD_side = 's' [static, private]

handy symbol for matching incoming communication

Definition at line 33 of file UPennWalkControllerBehavior.h.

The input command stream socket.

Definition at line 58 of file UPennWalkControllerBehavior.h.

Motion parameter.

Definition at line 48 of file UPennWalkControllerBehavior.h.

Motion parameter.

Definition at line 46 of file UPennWalkControllerBehavior.h.

Motion parameter.

Definition at line 47 of file UPennWalkControllerBehavior.h.

the WalkMC to use

Definition at line 27 of file UPennWalkControllerBehavior.h.

Referenced by getWalkID().

The last WCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.

Definition at line 55 of file UPennWalkControllerBehavior.h.

Referenced by ~UPennWalkControllerBehavior().

Points to the one UPennWalkControllerBehavior object that the input command stream is talking to. A kludge. Dunno how you're gonna make sure you're not using this uninitialized.

Definition at line 23 of file UPennWalkControllerBehavior.h.

Referenced by ~UPennWalkControllerBehavior().


The documentation for this class was generated from the following file:

Tekkotsu v5.1CVS
Generated Mon May 9 04:59:17 2016 by Doxygen 1.6.3