SkewlZoneDriver Class Reference

description of SkewlZoneDriver More...

#include <SkewlZoneDriver.h>

Inheritance diagram for SkewlZoneDriver:

[legend]

Detailed Description

description of SkewlZoneDriver

Definition at line 64 of file SkewlZoneDriver.h.

List of all members.

Public Member Functions
	SkewlZoneDriver (const std::string &name)
virtual	~SkewlZoneDriver ()
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)
virtual void	simplePrintVec (const char *sPrefix, double fBuf[], size_t uCount)
virtual int	createSZclient ()
virtual int	connectSZserver ()
virtual int	openRCB3 ()
virtual void	attachRCB3 ()
virtual int	RCB3EStop ()
virtual int	convertIndex (int index)
virtual int	indexInverted (int index)
virtual void	setSZunits ()
virtual void	printServos ()
virtual void	initMotorVec ()
Public Attributes
BsLibClient_P	pClient
int	h
BsBotMotorPosVec_T	vecMotorPos
BsBotMotorSpeedPosVec_T	vecMotorMove
int	index
int	rc
plist::Primitive< std::string >	serialPath
plist::ArrayOf < plist::OutputSelector >	servos
	TODO this should replace commName (see where commName is used to allow runtime reconfiguration).
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
	TODO this should be replaced by serialPath.
plist::Primitive< bool >	queryServos
	TODO this might not make sense for this driver?
Static Public Attributes
static const unsigned int	NUM_SERVO = NumOutputs
static const unsigned int	NUM_INPUT = NumSensors
static const int	UNUSED = plist::OutputSelector::UNUSED
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)
float	angleCalibration (unsigned int servoIdx, int mode, float v)
Protected Attributes
CallbackPollThread	poller
bool	motionActive
bool	sensorsActive
unsigned int	lastSensorTime
unsigned int	frameNumber
Static Private Attributes
static const std::string	autoRegisterSkewlZoneDriver
	holds the class name, set via registration with the DeviceDriver registry

Constructor & Destructor Documentation

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

Definition at line 84 of file SkewlZoneDriver.h.

virtual ~SkewlZoneDriver ( ) [virtual]

Definition at line 145 of file SkewlZoneDriver.h.

Member Function Documentation

virtual 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.

float angleCalibration	(	unsigned int	servoIdx,
		int	mode,
		float	v
	)			`[protected]`

virtual void attachRCB3 ( ) [virtual]

Referenced by SkewlZoneDriver().

virtual int connectSZserver ( ) [virtual]

Referenced by SkewlZoneDriver().

virtual int convertIndex ( int index ) [virtual]

virtual int createSZclient ( ) [virtual]

Referenced by SkewlZoneDriver().

virtual 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.

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.

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.

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 164 of file SkewlZoneDriver.h.

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

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

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 147 of file SkewlZoneDriver.h.

virtual 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)

virtual MotionHook* getMotionSink ( ) [virtual]

Reimplemented from DeviceDriver.

Definition at line 149 of file SkewlZoneDriver.h.

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

Reimplemented from DeviceDriver.

Definition at line 150 of file SkewlZoneDriver.h.

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

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

void ignoreOutput ( unsigned int idx ) [protected]

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

Definition at line 217 of file SkewlZoneDriver.h.

virtual int indexInverted ( int index ) [virtual]

virtual void initMotorVec ( ) [virtual]

Referenced by SkewlZoneDriver().

virtual 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.

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 165 of file SkewlZoneDriver.h.

virtual 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.

virtual void motionStarting ( ) [virtual]

Called when motion process is starting.

Reimplemented from MotionHook.

virtual void motionStopping ( ) [virtual]

Called when motion process is stopping.

Reimplemented from MotionHook.

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 161 of file SkewlZoneDriver.h.

virtual 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.

virtual int openRCB3 ( ) [virtual]

Referenced by SkewlZoneDriver().

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

Implements PrimitiveListener.

virtual void printServos ( ) [virtual]

Referenced by SkewlZoneDriver().

void provideOutput ( unsigned int idx ) [protected]

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

Definition at line 215 of file SkewlZoneDriver.h.

virtual int RCB3EStop ( ) [virtual]

Referenced by SkewlZoneDriver().