CreateDriver Class Reference

description of CreateDriver More...

#include <CreateDriver.h>

Inheritance diagram for CreateDriver:

[legend]

Detailed Description

description of CreateDriver

Definition at line 158 of file CreateDriver.h.

List of all members.

Public Member Functions
	CreateDriver (const std::string &name)
virtual	~CreateDriver ()
virtual std::string	getClassName () const
	Returns the name of the class (aka its type).
virtual MotionHook *	getMotionSink ()
virtual void	getSensorSources (std::map< std::string, DataSource * > &sources)
virtual void	motionStarting ()
	Called when motion process is starting.
virtual bool	isConnected ()
	Should return true if the MotionHook is successfully connected to physical hardware.
virtual void	motionStopping ()
	Called when motion process is stopping.
virtual void	motionCheck (const float outputs[][NumOutputs])
	Called each time the motion process has polled active motion commands.
virtual unsigned int	nextTimestamp ()
	Returns the simulator time of the next data segment.
virtual const std::string &	nextName ()
	Returns a descriptive name of the next data segment for user feedback (e.g. a filename for logged data).
virtual bool	advance ()
	Called when the simulator is stepping while paused or advancing a frozen data source, return true if successful, or false if no more data is available.
virtual void	registerSource ()
	User hook, called when the data source should claim which outputs it provides feedback (providingOuput()).
virtual void	deregisterSource ()
	User hook, called when the data source should release its claim on outputs with feedback (ignoringOuput()).
virtual void	enteringRealtime (const plist::Primitive< double > &simTimeScale)
	User hook, called when the controller is going to be running in realtime mode, which is probably the normal mode you'd expect.
virtual void	leavingRealtime (bool isFullSpeed)
	User hook, called when leaving realtime mode, which means you have no idea when motionCheck() is going to be called in terms of wall-clock time.
virtual void	plistValueChanged (const plist::PrimitiveBase &pl)
Public Attributes
plist::Primitive< std::string >	commName
Protected Member Functions
void	doFreeze ()
	user hook for when frozen is set to true; advance() will be called by simulator at user discretion.
void	doUnfreeze ()
	user hook for when frozen is set to false; if enteringRealtime() has been called then you should resume sending data.
bool	sendCommand (std::vector< unsigned char > bytes, unsigned int timeout)
virtual void	connect ()
virtual unsigned int	readUnsignedChar (std::istream &is, unsigned char &chk)
virtual unsigned int	readUnsignedShort (std::istream &is, unsigned char &chk)
virtual int	readPacket (std::istream &is, const char &type, CreateStatus &createStatus, unsigned char &chk)
bool	attemptPacketRead (std::istream &is, CreateStatus &createStatus)
bool	attemptStreamRead (std::istream &is, CreateStatus &createStatus)
	Not used at present.
void	resetStatus (CreateStatus &status)
void	mergeStatus (CreateStatus &oldStatus, CreateStatus &newStatus)
void	provideOutput (unsigned int idx)
	forwards call to DataSource::providingOutput() if the index is valid
void	ignoreOutput (unsigned int idx)
	forwards call to DataSource::ignoringOutput() if the index is valid
virtual float	getAnalog (unsigned int inputIdx, unsigned char s)
	converts the value s from specified input's signal to voltage
virtual float	getDigital (unsigned int inputIdx, unsigned char cur, unsigned char latch)
	converts the value cur and latch to the output format (0 if low, 0.5 if high but has been low, 1 if consistent high)
bool	calcLEDValue (unsigned int i, float x)
	allows LEDs to flicker at various frequencies to emulate having linear brightness control instead of boolean control
Protected Attributes
float	ledActivation [NumLEDs]
	used to track partial LED activation (see calcLEDValue())
CallbackPollThread	poller
bool	motionActive
bool	sensorsActive
bool	firstMessage
unsigned int	frameNumber
CreateStatus	globalStatus
unsigned char	lastDesiredMode
unsigned int	packetFailures
Private Attributes
unsigned int	lastPollTime
short	prevEncoderLeft
short	prevEncoderRight
float	distOffset
float	angleOffset
Static Private Attributes
static const std::string	autoRegisterCreateDriver = DeviceDriver::getRegistry().registerType<CreateDriver>("Create")
	holds the class name, set via registration with the DeviceDriver registry
static const int	PACKET_LENGTH = 52+4
static const unsigned int	pollInterval = 100

Constructor & Destructor Documentation

CreateDriver ( const std::string & name ) [explicit]

Definition at line 160 of file CreateDriver.h.

virtual ~CreateDriver ( ) [virtual]

Definition at line 170 of file CreateDriver.h.

Member Function Documentation

bool advance ( ) [virtual]

Called when the simulator is stepping while paused or advancing a frozen data source, return true if successful, or false if no more data is available.

Implements DataSource.

Definition at line 921 of file CreateDriver.cc.

bool attemptPacketRead	(	std::istream &	is,
		CreateStatus &	createStatus
	)			`[protected]`

Definition at line 727 of file CreateDriver.cc.

Referenced by advance().

bool attemptStreamRead	(	std::istream &	is,
		CreateStatus &	createStatus
	)			`[protected]`

Not used at present.

Definition at line 746 of file CreateDriver.cc.

bool calcLEDValue	(	unsigned int	i,
		float	x
	)			`[protected]`

allows LEDs to flicker at various frequencies to emulate having linear brightness control instead of boolean control

Definition at line 225 of file CreateDriver.h.

Referenced by motionCheck().

void connect ( ) [protected, virtual]

Definition at line 136 of file CreateDriver.cc.

Referenced by advance(), motionStarting(), plistValueChanged(), and registerSource().

void deregisterSource ( ) [virtual]

User hook, called when the data source should release its claim on outputs with feedback (ignoringOuput()).

It would be wise to call this from your destructor as well.

Reimplemented from DataSource.

Definition at line 1072 of file CreateDriver.cc.

void doFreeze ( ) [protected, virtual]

user hook for when frozen is set to true; advance() will be called by simulator at user discretion.

Reimplemented from DataSource.

Definition at line 1090 of file CreateDriver.cc.

void doUnfreeze ( ) [protected, virtual]

user hook for when frozen is set to false; if enteringRealtime() has been called then you should resume sending data.

Reimplemented from DataSource.

Definition at line 1081 of file CreateDriver.cc.

virtual void enteringRealtime ( const plist::Primitive< double > & ) [virtual]

User hook, called when the controller is going to be running in realtime mode, which is probably the normal mode you'd expect.

You might be in realtime mode, but a debugger breakpoint will still pause things, or thread scheduling could hiccup, so try to be robust.
The argument is a reference to SharedGlobals::timeScale, so the data source can subscribe to changes in simulation speed if it can use that information. (We avoid direct dependency on the tekkotsu simulator so this code can be reused for other tools too.)

Reimplemented from DataSource.

Definition at line 190 of file CreateDriver.h.

float getAnalog	(	unsigned int	inputIdx,
		unsigned char	s
	)			`[protected, virtual]`

converts the value s from specified input's signal to voltage

Definition at line 1137 of file CreateDriver.cc.

virtual std::string getClassName ( ) const [virtual]

Returns the name of the class (aka its type).

Suggested implementation is to declare a static string member, set it to the result of calling the registry's registerType, and then return that member here

Implements DeviceDriver.

Definition at line 172 of file CreateDriver.h.

float getDigital	(	unsigned int	inputIdx,
		unsigned char	cur,
		unsigned char	latch
	)			`[protected, virtual]`

converts the value cur and latch to the output format (0 if low, 0.5 if high but has been low, 1 if consistent high)

Definition at line 1141 of file CreateDriver.cc.

virtual MotionHook* getMotionSink ( ) [virtual]

Reimplemented from DeviceDriver.

Definition at line 174 of file CreateDriver.h.

virtual void getSensorSources ( std::map< std::string, DataSource * > & sources ) [virtual]

Reimplemented from DeviceDriver.

Definition at line 175 of file CreateDriver.h.

void ignoreOutput ( unsigned int idx ) [protected]

forwards call to DataSource::ignoringOutput() if the index is valid

Definition at line 217 of file CreateDriver.h.

bool isConnected ( ) [virtual]

Should return true if the MotionHook is successfully connected to physical hardware.

If relevant, this will only be called after motionStarting() has been called in order to initialize a connection.

This is used mainly to cancel out of the WaitForSensors if all MotionHooks return false. If you are still in the process of connecting or unsure of status, be optimistic and return true. This function will be polled at a coarse rate while blocked on sensors in case of timeouts on the part of the MotionHook render it moot.

Implements MotionHook.

Definition at line 37 of file CreateDriver.cc.

virtual void leavingRealtime ( bool ) [virtual]

User hook, called when leaving realtime mode, which means you have no idea when motionCheck() is going to be called in terms of wall-clock time.

Argument set to true if entering full speed mode, which indicates everything should run at full native "frame rate", and may indicate more data will be processed than normal, CPU speed permitting. However, if false, almost certainly indicates updates will be sparse, trigger by user 'step' commands. May be called multiple times if changing between full-speed mode and paused

A non-realtime mode might be triggered if the user wants to pause the simulator/controller to step through something... No guarantees though! The debugger might catch a breakpoint and stop things, and this won't be called!

Reimplemented from DataSource.

Definition at line 191 of file CreateDriver.h.

void mergeStatus	(	CreateStatus &	oldStatus,
		CreateStatus &	newStatus
	)			`[protected]`

Definition at line 865 of file CreateDriver.cc.

Referenced by advance().

void motionCheck ( const float outputs[][NumOutputs] ) [virtual]

Called each time the motion process has polled active motion commands.

When in realtime mode, this should be called every FrameTime*NumFrames (defined in the RobotInfo) milliseconds if running at full speed. See enteringRealtime() and leavingRealtime().

This default implementation checks to see which outputs have changed value since the last call and passes the summary on to motionUpdated(). lastOutputs will be updated with the new values after the call to motionUpdated().

If you need to process all the outputs on every frame, you only need to override this function. Your subclass doesn't need to call the MotionHook implementation unless you want to have lastOutputs updated for you.

If you only need to process the changed outputs for each frame, override motionUpdated() instead. motionUpdated() is always called for each update, even if there aren't any changes, so you can still use that if there are some outputs which need to be updated every cycle.

Reimplemented from MotionHook.

Definition at line 52 of file CreateDriver.cc.

void motionStarting ( ) [virtual]

Called when motion process is starting.

Reimplemented from MotionHook.

Definition at line 23 of file CreateDriver.cc.

void motionStopping ( ) [virtual]

Called when motion process is stopping.

Reimplemented from MotionHook.

Definition at line 42 of file CreateDriver.cc.

virtual const std::string& nextName ( ) [virtual]

Returns a descriptive name of the next data segment for user feedback (e.g. a filename for logged data).

Just use your class name if you don't have a useful name for individual samples.

Implements DataSource.

Definition at line 186 of file CreateDriver.h.

unsigned int nextTimestamp ( ) [virtual]

Returns the simulator time of the next data segment.

Should be in the future if nothing new since last data segment, otherwise should be the timestamp of the most recent data segment (older segments are skipped), return -1U if there is no more data

Implements DataSource.

Definition at line 144 of file CreateDriver.cc.

void plistValueChanged ( const plist::PrimitiveBase & pl ) [virtual]

Implements PrimitiveListener.

Definition at line 1097 of file CreateDriver.cc.

void provideOutput ( unsigned int idx ) [protected]

forwards call to DataSource::providingOutput() if the index is valid

Definition at line 215 of file CreateDriver.h.