MotionManagerMsg Struct Reference
A small header that precedes data sent by MotionManager between processes. More...
#include <MotionManagerMsg.h>
Detailed Description
A small header that precedes data sent by MotionManager between processes.
Typically this is broadcast to all processes using the MotionManager so each process has to update its own fields of MotionManager.
One tricky aspect is that with the IPC mechanisms on PLATFORM_LOCAL the originating process will get an "echo" of the message, whereas on PLATFORM_APERIOS it's set up so the sender doesn't get an echo of its own message. However, this complexity is handled by MotionManager, not here.
Definition at line 16 of file MotionManagerMsg.h.
Public Types | |
| typedef unsigned short | MC_ID |
| the type to use when referring to MotionCommand ID's | |
Public Member Functions | |
| MotionManagerMsg () | |
| constructor | |
| virtual | ~MotionManagerMsg () |
| virtual destructor | |
| MC_ID | getID () const |
| Accessor for the id number, set by MotionManager::addMotion(). | |
Static Public Attributes | |
| static const MC_ID | invalid_MC_ID = static_cast<MC_ID>(-1) |
| for errors and undefined stuff | |
Private Types | |
| enum | MsgType { addMotion, deleteMotion, unknown } |
Denotes what type of message this is (see type). More... | |
Private Member Functions | |
| void | setAdd (MC_ID id) |
| Sets up the header as an add motion message. | |
| void | setDelete (MC_ID id) |
| Sets up the header as an erase motion message. | |
| void | clearID () |
| resets the mc_id to invalid_MC_ID | |
Private Attributes | |
| enum MotionManagerMsg::MsgType | type |
| Denotes what type of message this is (see type). | |
| ProcessID::ProcessID_t | creatorPID |
| holds the process that this message was created/sent from | |
| MC_ID | mc_id |
| The id of the MotionCommand this is in reference to. | |
Friends | |
| class | MotionManager |
Member Typedef Documentation
| typedef unsigned short MotionManagerMsg::MC_ID |
the type to use when referring to MotionCommand ID's
Definition at line 18 of file MotionManagerMsg.h.
Member Enumeration Documentation
enum MotionManagerMsg::MsgType [private] |
Denotes what type of message this is (see type).
- Enumerator:
addMotion indicates the msg is actually MotionCommand to be added to the MotionManager
deleteMotion indicates the msg's mc_id references a MotionCommand to be removed from the MotionManager
unknown failsafe default until one of the others is set
Definition at line 37 of file MotionManagerMsg.h.
Constructor & Destructor Documentation
| MotionManagerMsg::MotionManagerMsg | ( | ) |
constructor
Definition at line 24 of file MotionManagerMsg.h.
| virtual MotionManagerMsg::~MotionManagerMsg | ( | ) | [virtual] |
virtual destructor
doesn't do anything, but don't remove it, otherwise this would no longer be a virtual base class
Definition at line 28 of file MotionManagerMsg.h.
Member Function Documentation
| void MotionManagerMsg::clearID | ( | ) | [private] |
resets the mc_id to invalid_MC_ID
Definition at line 62 of file MotionManagerMsg.h.
| MC_ID MotionManagerMsg::getID | ( | ) | const |
Accessor for the id number, set by MotionManager::addMotion().
Definition at line 31 of file MotionManagerMsg.h.
Referenced by EmergencyStopMC::freezeJoints(), MotionManager::getOutputs(), HeadPointerMC::isAlive(), ArmMC::isAlive(), MotionSequenceMC< MAXMOVE >::newKeyFrame(), EmergencyStopMC::releaseJoints(), LoadWalkControl::selectedFile(), MotionManager::setOutput(), XWalkMC::setTargetVelocity(), SaveWalkControl::takeInput(), XWalkMC::updateOutputs(), TailWagMC::updateOutputs(), PostureMC::updateOutputs(), PIDMC::updateOutputs(), MotionSequenceMC< MAXMOVE >::updateOutputs(), LedMC::updateOutputs(), HeadPointerMC::updateOutputs(), ArmMC::updateOutputs(), XWalkMC::updateOutputsInitial(), and XWalkMC::zeroVelocities().
| void MotionManagerMsg::setAdd | ( | MC_ID | id | ) | [private] |
Sets up the header as an add motion message.
Definition at line 50 of file MotionManagerMsg.h.
| void MotionManagerMsg::setDelete | ( | MC_ID | id | ) | [private] |
Sets up the header as an erase motion message.
Definition at line 56 of file MotionManagerMsg.h.
Referenced by MotionManager::removeMotion().
Friends And Related Function Documentation
friend class MotionManager [friend] |
Definition at line 34 of file MotionManagerMsg.h.
Member Data Documentation
holds the process that this message was created/sent from
Definition at line 44 of file MotionManagerMsg.h.
Referenced by MotionManager::processMsg().
const MC_ID MotionManagerMsg::invalid_MC_ID = static_cast<MC_ID>(-1) [static] |
for errors and undefined stuff
Definition at line 21 of file MotionManagerMsg.h.
Referenced by clearID().
MC_ID MotionManagerMsg::mc_id [private] |
The id of the MotionCommand this is in reference to.
Definition at line 47 of file MotionManagerMsg.h.
Referenced by clearID(), getID(), MotionManager::processMsg(), setAdd(), and setDelete().
enum MotionManagerMsg::MsgType MotionManagerMsg::type [private] |
Denotes what type of message this is (see type).
indicates what processing this message requires
Referenced by MotionManager::processMsg(), setAdd(), and setDelete().
The documentation for this struct was generated from the following file:
