SSC32Driver Class Reference

description of SSC32Driver More...

#include <SSC32Driver.h>

Inheritance diagram for SSC32Driver:

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Detailed Description

description of SSC32Driver

Definition at line 15 of file SSC32Driver.h.

List of all members.

Public Member Functions
	SSC32Driver (const std::string &name)
virtual	~SSC32Driver ()
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 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 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	plistValueChanged (const plist::PrimitiveBase &pl)
Public Attributes
plist::ArrayOf < plist::OutputSelector >	servos
plist::ArrayOf < plist::Primitive< int > >	inputs
plist::ArrayOf < plist::Primitive< unsigned int > >	minPW
plist::ArrayOf < plist::Primitive< unsigned int > >	maxPW
plist::ArrayOf < plist::Primitive< bool > >	buttonMode
plist::Primitive< bool >	sparse
plist::Primitive< std::string >	commName
plist::Primitive< bool >	queryServos
plist::ArrayOf < plist::Primitive< bool > >	killSignalDelayed
Static Public Attributes
static const unsigned int	NUM_SERVO = 32
static const unsigned int	NUM_INPUT = 4
static const int	UNUSED = -1
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.
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 void	setServo (std::ostream &ss, unsigned int servoIdx, float v)
	converts the value v from radians into the specified servo's pulse width range
virtual float	getServo (unsigned int servoIdx, unsigned int pw)
	converts the value pw from specified servo's pulse width range into radians
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)
Protected Attributes
CallbackPollThread	poller
bool	motionActive
bool	sensorsActive
unsigned int	lastSensorTime
unsigned int	frameNumber
unsigned int	timeLastChanged [NUM_SERVO]
Static Private Attributes
static const std::string	autoRegisterSSC32Driver = DeviceDriver::getRegistry().registerType<SSC32Driver>("SSC32")
	holds the class name, set via registration with the DeviceDriver registry

Constructor & Destructor Documentation

SSC32Driver ( const std::string & name ) [explicit]

Definition at line 21 of file SSC32Driver.h.

virtual ~SSC32Driver ( ) [virtual]

Definition at line 45 of file SSC32Driver.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 159 of file SSC32Driver.cc.

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 127 of file SSC32Driver.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 151 of file SSC32Driver.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 143 of file SSC32Driver.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 64 of file SSC32Driver.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 397 of file SSC32Driver.cc.

Referenced by advance().

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 47 of file SSC32Driver.h.

Referenced by plistValueChanged().

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 401 of file SSC32Driver.cc.

Referenced by advance().

virtual MotionHook* getMotionSink ( ) [virtual]

Reimplemented from DeviceDriver.

Definition at line 49 of file SSC32Driver.h.

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

Reimplemented from DeviceDriver.

Definition at line 50 of file SSC32Driver.h.

float getServo	(	unsigned int	servoIdx,
		unsigned int	pw
	)			`[protected, virtual]`

converts the value pw from specified servo's pulse width range into radians

Definition at line 387 of file SSC32Driver.cc.

Referenced by advance().

void ignoreOutput ( unsigned int idx ) [protected]

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

Definition at line 87 of file SSC32Driver.h.

Referenced by deregisterSource(), and plistValueChanged().

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 31 of file SSC32Driver.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 65 of file SSC32Driver.h.

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 47 of file SSC32Driver.cc.

void motionStarting ( ) [virtual]

Called when motion process is starting.

Reimplemented from MotionHook.

Definition at line 12 of file SSC32Driver.cc.

void motionStopping ( ) [virtual]

Called when motion process is stopping.

Reimplemented from MotionHook.

Definition at line 36 of file SSC32Driver.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 61 of file SSC32Driver.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 105 of file SSC32Driver.cc.

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

Implements PrimitiveListener.

Definition at line 297 of file SSC32Driver.cc.

void provideOutput ( unsigned int idx ) [protected]

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

Definition at line 85 of file SSC32Driver.h.

Referenced by plistValueChanged(), and registerSource().

void registerSource ( ) [virtual]

User hook, called when the data source should claim which outputs it provides feedback (providingOuput()).

Does not indicate the data source should start sending updates yet — wait for enteringRealtime() or advance() to be called