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#include <WalkControllerBehavior.h>
Inheritance diagram for WalkControllerBehavior:
Definition at line 17 of file WalkControllerBehavior.h.
Public Member Functions | |
WalkControllerBehavior () | |
constructor | |
virtual | ~WalkControllerBehavior () |
destructor | |
virtual void | DoStart () |
By default, merely adds to the reference counter (through AddReference())
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virtual void | DoStop () |
By default, subtracts from the reference counter, and deletes if zero
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virtual void | processEvent (const EventBase &) |
The only event we could possibly receive is the stop-if-no-heartbeat timer. | |
virtual std::string | getName () const |
Identifies the behavior in menus and such. | |
Static Public Member Functions | |
int | mechacmd_callback (char *buf, int bytes) |
called by wireless when there's new data | |
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 | |
WalkControllerBehavior * | theOne = NULL |
Protected Attributes | |
MotionManager::MC_ID | walker_id |
the WalkMC to use | |
Private Member Functions | |
void | runCommand (unsigned char *command) |
Executes a command. Called by mechacmd_callback. | |
WalkControllerBehavior (const WalkControllerBehavior &) | |
don't call | |
WalkControllerBehavior | operator= (const WalkControllerBehavior &) |
don't call | |
Private Attributes | |
float | dx |
Motion parameter. | |
float | dy |
Motion parameter. | |
float | da |
Motion parameter. | |
WalkControllerBehavior * | theLastOne |
Socket * | cmdsock |
The input command stream socket. | |
Static Private Attributes | |
Command Bytes | |
const char | CMD_fwd = 'f' |
handy symbol for matching incoming communication | |
const char | CMD_roto = 'r' |
handy symbol for matching incoming communication | |
const char | CMD_side = 's' |
handy symbol for matching incoming communication | |
const char | CMD_opt0 = '0' |
handy symbol for matching incoming communication | |
const char | CMD_opt1 = '1' |
handy symbol for matching incoming communication | |
const char | CMD_opt2 = '2' |
handy symbol for matching incoming communication | |
const char | CMD_opt3 = '3' |
handy symbol for matching incoming communication | |
const char | CMD_opt4 = '4' |
handy symbol for matching incoming communication | |
const char | CMD_opt5 = '5' |
handy symbol for matching incoming communication | |
const char | CMD_opt6 = '6' |
handy symbol for matching incoming communication | |
const char | CMD_opt7 = '7' |
handy symbol for matching incoming communication | |
const char | CMD_opt8 = '8' |
handy symbol for matching incoming communication | |
const char | CMD_opt9 = '9' |
handy symbol for matching incoming communication |
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don't call
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constructor
Definition at line 68 of file WalkControllerBehavior.h. References cmdsock, da, dx, dy, SocketNS::SOCK_STREAM, theLastOne, theOne, walker_id, and wireless. |
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destructor
Definition at line 76 of file WalkControllerBehavior.h. References theLastOne, and theOne. |
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By default, merely adds to the reference counter (through AddReference())
Reimplemented from BehaviorBase. Definition at line 81 of file WalkControllerBehavior.cc. References EventRouter::addListener(), MotionManager::addMotion(), cmdsock, config, BehaviorBase::DoStart(), erouter, Wireless::listen(), Controller::loadGUI(), Config::main, mechacmd_callback(), motman, Wireless::setReceiver(), Socket::sock, EventBase::timerEGID, Config::main_config::walkControl_port, walker_id, and wireless. |
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By default, subtracts from the reference counter, and deletes if zero
Reimplemented from BehaviorBase. Definition at line 95 of file WalkControllerBehavior.cc. References Wireless::close(), Controller::closeGUI(), cmdsock, BehaviorBase::DoStop(), erouter, EventRouter::forgetListener(), motman, MotionManager::removeMotion(), walker_id, and wireless. |
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Gives a short description of what this class of behaviors does... you should override this (but don't have to).
Reimplemented from BehaviorBase. Definition at line 89 of file WalkControllerBehavior.h. References config, Config::main, and Config::main_config::walkControl_port. |
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Identifies the behavior in menus and such.
Implements BehaviorBase. Definition at line 88 of file WalkControllerBehavior.h. |
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called by wireless when there's new data
Definition at line 109 of file WalkControllerBehavior.cc. References runCommand(), and theOne. |
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don't call
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The only event we could possibly receive is the stop-if-no-heartbeat timer.
Reimplemented from BehaviorBase. Definition at line 83 of file WalkControllerBehavior.h. References walker_id. |
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Executes a command. Called by mechacmd_callback.
Definition at line 6 of file WalkControllerBehavior.cc. References EventRouter::addTimer(), CMD_fwd, CMD_opt0, CMD_opt1, CMD_opt2, CMD_opt3, CMD_opt4, CMD_opt5, CMD_opt6, CMD_opt7, CMD_opt8, CMD_opt9, CMD_roto, CMD_side, da, dx, dy, erouter, SoundManager::PlayFile(), EventRouter::removeTimer(), sndman, and walker_id. |
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handy symbol for matching incoming communication
Definition at line 31 of file WalkControllerBehavior.h. |
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handy symbol for matching incoming communication
Definition at line 34 of file WalkControllerBehavior.h. |
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handy symbol for matching incoming communication
Definition at line 35 of file WalkControllerBehavior.h. |
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handy symbol for matching incoming communication
Definition at line 36 of file WalkControllerBehavior.h. |
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handy symbol for matching incoming communication
Definition at line 37 of file WalkControllerBehavior.h. |
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handy symbol for matching incoming communication
Definition at line 38 of file WalkControllerBehavior.h. |
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handy symbol for matching incoming communication
Definition at line 39 of file WalkControllerBehavior.h. |
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handy symbol for matching incoming communication
Definition at line 40 of file WalkControllerBehavior.h. |
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handy symbol for matching incoming communication
Definition at line 41 of file WalkControllerBehavior.h. |
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handy symbol for matching incoming communication
Definition at line 42 of file WalkControllerBehavior.h. |
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handy symbol for matching incoming communication
Definition at line 43 of file WalkControllerBehavior.h. |
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handy symbol for matching incoming communication
Definition at line 32 of file WalkControllerBehavior.h. |
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handy symbol for matching incoming communication
Definition at line 33 of file WalkControllerBehavior.h. |
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The input command stream socket.
Definition at line 58 of file WalkControllerBehavior.h. |
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Motion parameter.
Definition at line 48 of file WalkControllerBehavior.h. |
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Motion parameter.
Definition at line 46 of file WalkControllerBehavior.h. |
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Motion parameter.
Definition at line 47 of file WalkControllerBehavior.h. |
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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 WalkControllerBehavior.h. |
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Points to the one WalkControllerBehavior 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 4 of file WalkControllerBehavior.cc. |
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the WalkMC to use
Definition at line 27 of file WalkControllerBehavior.h. |
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