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Controller.h

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00001 //-*-c++-*-
00002 #ifndef INCLUDED_Controller_h
00003 #define INCLUDED_Controller_h
00004 
00005 #include "Controls/ControlBase.h"
00006 #include "Behaviors/BehaviorBase.h"
00007 #include "Events/EventBase.h"
00008 #include "Events/EventRouter.h"
00009 #include "Motion/MotionManager.h"
00010 #include "Wireless/Wireless.h"
00011 #include "Wireless/Socket.h"
00012 #include <stack>
00013 
00014 //! Handles the menu/command system... when it detects the EmergencyStopMC is activated, it'll kick into high priority.
00015 /*! Keeps track of a command stack.  A Control can designate another sub-control, which will receive events until it finishes\n
00016  *  Events will then be sent to the parent again.
00017  *
00018  *  The GUI uses the same commands as the user (makes it much easier to have only one parser).
00019  *  The commands are:
00020  *  - '<tt>!refresh</tt>' - redisplays the current control (handy on first connecting, or when other output has scrolled it off the screen)
00021  *  - '<tt>!reset</tt>' - return to the root control
00022  *  - '<tt>!next</tt>' - calls ControlBase::doNextItem() of the current control
00023  *  - '<tt>!prev</tt>' - calls ControlBase::doPrevItem() of the current control
00024  *  - '<tt>!select</tt>' - calls ControlBase::doSelect() of the current control
00025  *  - '<tt>!cancel</tt>' - calls ControlBase::doCancel() of the current control
00026  *  - '<tt>!msg </tt><i>text</i>' - broadcasts <i>text</i> as a TextMsgEvent
00027  *  - '<tt>!hilight</tt> [<i>n1</i> [<i>n2</i> [...]]]' - hilights zero, one, or more items in the menu
00028  *  - '<tt>!input </tt><i>text</i>' - calls ControlBase::takeInput(<i>text</i>) on the currently hilighted control(s)
00029  *  - any text not beginning with '!' - sent to ControlBase::takeInput() of the current control
00030  *
00031  *  In return, to send the menus to the GUI, the following messages are sent: (newlines are required where shown)
00032  *  - '<tt>refresh</tt>\n
00033  *    <i>text:title</i>\n
00034  *    <i>int:numitems</i>\n
00035  *    <i>bool:hasSubmenus</i><sub>1</sub>\n
00036  *    <i>bool:hilighted</i><sub>1</sub>\n
00037  *    <i>text:item-title</i><sub>1</sub>\n
00038  *    <i>text:item-description</i><sub>1</sub>\n
00039  *    ...\n
00040  *    <i>bool:hasSubmenus<sub>numitems</sub></i>\n
00041  *    <i>bool:hilighted<sub>numitems</sub></i>\n
00042  *    <i>text:item-title<sub>numitems</sub></i>\n
00043  *    <i>text:item-description<sub>numitems</sub></i>' - refreshes the current menu\n
00044  *  - '<tt>status </tt><i>text</i>' - sets the status bar to <i>text</i> (until the next refresh)
00045  *  - '<tt>load</tt>\n
00046  *    <i>text:classname</i>\n
00047  *    <i>text:instancename</i>
00048  *    <i>int:port</i>\n
00049  *    [<i>arg1</i> [<i>arg2</i> [...]]]' - tells the GUI to load the java class named <i>classname</i>, and have it connect to <i>port</i>, passing it the argument list.
00050  *    <i>classname</i> should contain a constructor of the form <tt>Classname(String </tt><i>host</i>, <tt>int </tt><i>port</i>, <tt>String </tt><i>args</i><tt>[])</tt>
00051  *    the argument list is parsed as if it were on the console - unescaped or unquoted spaces will separate args into elements in the array
00052  *  - '<tt>close</tt>\n
00053  *    <i>text:instancename</i>' - calls <tt>close()</tt> on an object previously created by a <tt>load</tt> message.
00054  *    The Java object is expected to contain a function <tt>void close()</tt>.
00055  *  
00056  *  bool types are expected to be numerical values, 0 for false,
00057  *  non-zero for true.
00058  *
00059  *  <tt>load</tt> and <tt>close</tt> are intended to allow pop-up
00060  *  windows for custom displays.
00061  *
00062  *  The upstream is the responsibility of the individual Controls, but
00063  *  the protocol is listed here to keep it together.  When a control's
00064  *  state changes, it's that control's responsiblity to refresh the UI
00065  *  (LEDs, console, and GUI as appropriate).  Thus, future extensions
00066  *  to the upstream protocol are between the control which will use it
00067  *  and the GUI.  Future extensions to the downstream protocol would
00068  *  involve changing Controller and the GUI.
00069  *
00070  *  The Controller may connect to serr in the future to pop-up an alert
00071  *  anytime output to serr occurs.
00072  *
00073  *  Note that all state is maintained on the robot - even if the GUI
00074  *  is connected, you can still use the buttons to interact with the
00075  *  controller, and the GUI will update to reflect the changes.  In
00076  *  HCI (Human Computer Interaction) parlance, this is the MVC,
00077  *  Model-View-Controller architecture, almost by necessity. (HCI
00078  *  happens to be my double major when I was an undergrad ;)
00079  *    
00080  */
00081 class Controller : public BehaviorBase, public EventTrapper {
00082  public:
00083   Controller() : display(MotionManager::invalid_MC_ID), estop_id(MotionManager::invalid_MC_ID), root(NULL), cmdstack(), last_time(0), cur_time(0), nextEv_val(0), nextEv_dur(0), prevEv_val(0), prevEv_dur(0), alreadyGotBoth(false), gui_comm(wireless->socket(SocketNS::SOCK_STREAM, 2048, 2048))  {init();}  //!< Constructor
00084   Controller(ControlBase* r) : display(MotionManager::invalid_MC_ID), estop_id(MotionManager::invalid_MC_ID), root(r), cmdstack(), last_time(0), cur_time(0), nextEv_val(0), nextEv_dur(0), prevEv_val(0), prevEv_dur(0), alreadyGotBoth(false), gui_comm(wireless->socket(SocketNS::SOCK_STREAM, 2048, 2048)) {init();} //!< Constructor, sets a default root control
00085   virtual ~Controller() {
00086     cout << "~Controller()..." << endl;
00087     delete root;
00088     cout << "~Controller()-DONE" << endl;
00089   } //!< Destructor
00090 
00091   //@{
00092   //! event masks used by processEvent()
00093   static EventBase nextItem; 
00094   static EventBase prevItem;
00095   static EventBase nextItemFast;
00096   static EventBase prevItemFast;
00097   static EventBase selectItem;
00098   static EventBase cancel; //@}
00099 
00100   virtual void DoStart(); //!< register for events and resets the cmdstack
00101   virtual void DoStop(); //!< stop listening for events and resets the cmdstack
00102   virtual bool trapEvent(const EventBase& e); //!< passes an event to the top control
00103   virtual void processEvent(const EventBase& e); //!< just for e-stop activation/deactivation
00104   
00105   void reset();   //!< will take the command stack back down to the root
00106   void refresh(); //!< refreshes the display, for times like sub-control dying, the previous control needs to reset it's display
00107 
00108   void push(ControlBase* c); //!< puts a new control on top
00109   void pop();                //!< kills the top control, goes to previous
00110   ControlBase* top() { return cmdstack.top(); } //!< returns the current control
00111 
00112   Controller& setRoot(ControlBase* r); //!< sets the root level control
00113 
00114   Controller& setEStopID(MotionManager::MC_ID estopid); //!< Sets the emergency stop MC to monitor for pausing
00115   
00116   virtual std::string getName() const { return "Controller"; }
00117   static std::string getClassDescription() { return "Provides interface for activating/deactivating controls (and through them, behaviors)"; }
00118   
00119 
00120 
00121   static void loadGUI(const std::string& type, const std::string& name, unsigned int port) {loadGUI(type,name,port,std::vector<std::string>());} //!< attempts to open a Java object on the desktop
00122   static void loadGUI(const std::string& type, const std::string& name, unsigned int port, const std::vector<std::string>& args); //!< attempts to open a Java object on the desktop
00123   static void closeGUI(const std::string& name); //!< calls close() on a Java object loaded with loadGUI() (on the desktop)
00124 
00125   static int gui_comm_callback(char *buf, int bytes); //!< called by wireless when there's new data from the GUI
00126   static int console_callback(char *buf, int bytes);  //!< called by wireless when someone has entered new data on the tekkotsu console (NOT cin)
00127 
00128  protected:
00129   //! assigns appropriate values to the static event bases
00130   void init();
00131   
00132   //! called with each line that's entered on the tekkotsu console or from the GUI
00133   void takeLine(const std::string& s);
00134 
00135   //! maintains top Control
00136   /*! @param next one of: @li NULL: pop() ::cmdstack @li ::cmdstack.top(): nothing @li other address: ::push(@a next)
00137    *  @return true, all the time, for convenience from trapEvent() */
00138   bool setNext(ControlBase* next);
00139 
00140   //! called when the estop switches on
00141   /*!  causes the top control to activate, registers for button events */
00142   void activate();
00143 
00144   //! called when the estop switches off\n
00145   /*!  causes the top control to deactivate, stops listening for buttons */
00146   void deactivate();
00147   
00148   //! @brief returns true if a valid control is available on the stack
00149   /*!  if the stack is empty, will push root if it's non-null */
00150   bool chkCmdStack();
00151 
00152   //! invalid_MC_ID if not active, otherwise id of high priority LEDs
00153   MotionManager::MC_ID display;
00154 
00155   //! the EmergencyStopMC MC_ID that this Controller is monitoring
00156   MotionManager::MC_ID estop_id;
00157 
00158   //! the base control, if cmdstack underflows, it will be reset to this
00159   ControlBase * root;
00160 
00161   /*! @brief the stack of the current control hierarchy\n
00162    *  should never contain NULL entries */
00163   std::stack< ControlBase* > cmdstack;
00164 
00165   //! returns true when the current time and last time are in different periods
00166   static bool calcPulse(unsigned int t, unsigned int last, unsigned int period) {
00167     if(period<t-last)
00168       return true;
00169     bool nextclock=(t/period)&1;
00170     bool lastclock=(last/period)&1;
00171     return (lastclock!=nextclock);
00172   }
00173 
00174   static std::string makeLower(const std::string& s); //!< returns lower case version of @a s
00175   static std::string removePrefix(const std::string& str, const std::string& pre); //!< returns @a str with @a pre removed - if @a pre is not fully matched, @a str is returned unchanged
00176 
00177 
00178 
00179   unsigned int last_time; //!< the time of the last event
00180   unsigned int cur_time; //!< the time of the current event (do*() can check this instead of calling get_time() )
00181   float nextEv_val; //!< the magnitude of the last next event (::nextItem)
00182   unsigned int nextEv_dur; //!< the duration of the last next event (::nextItem)
00183   float prevEv_val; //!< the magnitude of the last prev event (::prevItem)
00184   unsigned int prevEv_dur; //!< the duration of the last prev event (::prevItem)
00185   bool alreadyGotBoth; //!< if doReadStdIn() was already called, but the buttons are both still down
00186 
00187   Socket * gui_comm; //!< the socket to listen on for the gui
00188   static Controller * theOneController; //!< currently can't pull connection socket off of server socket, so only one Controller
00189   
00190 private:
00191   Controller(const Controller&); //!< shouldn't be called...
00192   Controller& operator=(const Controller&); //!< shouldn't be called...
00193 };
00194 
00195 /*! @file
00196  * @brief Describes Controller class, a behavior that should be started whenever the emergency stop goes on to provide menus for robot control
00197  * @author ejt (Creator)
00198  *
00199  * $Author: ejt $
00200  * $Name: tekkotsu-1_4_1 $
00201  * $Revision: 1.16 $
00202  * $State: Exp $
00203  * $Date: 2003/07/08 18:01:21 $
00204  */
00205 
00206 #endif

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