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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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