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#include <Controller.h>
Inheritance diagram for Controller:
Keeps track of a command stack. A Control can designate another sub-control, which will receive events until it finishes
Events will then be sent to the parent again.
The GUI uses the same commands as the user (makes it much easier to have only one parser). The commands are:
!refresh
' - redisplays the current control (handy on first connecting, or when other output has scrolled it off the screen)!reset
' - return to the root control!next
' - calls ControlBase::doNextItem() of the current control!prev
' - calls ControlBase::doPrevItem() of the current control!select
' - calls ControlBase::doSelect() of the current control!cancel
' - calls ControlBase::doCancel() of the current control!msg
text' - broadcasts text as a TextMsgEvent!hilight
[n1 [n2 [...]]]' - hilights zero, one, or more items in the menu!input
text' - calls ControlBase::takeInput(text) on the currently hilighted control(s)In return, to send the menus to the GUI, the following messages are sent: (newlines are required where shown)
refresh
status
text' - sets the status bar to text (until the next refresh)load
Classname(String
host, int
port, String
args[])
the argument list is parsed as if it were on the console - unescaped or unquoted spaces will separate args into elements in the arrayclose
close()
on an object previously created by a load
message. The Java object is expected to contain a function void close()
.bool types are expected to be numerical values, 0 for false, non-zero for true.
load
and close
are intended to allow pop-up windows for custom displays.
The upstream is the responsibility of the individual Controls, but the protocol is listed here to keep it together. When a control's state changes, it's that control's responsiblity to refresh the UI (LEDs, console, and GUI as appropriate). Thus, future extensions to the upstream protocol are between the control which will use it and the GUI. Future extensions to the downstream protocol would involve changing Controller and the GUI.
The Controller may connect to serr in the future to pop-up an alert anytime output to serr occurs.
Note that all state is maintained on the robot - even if the GUI is connected, you can still use the buttons to interact with the controller, and the GUI will update to reflect the changes. In HCI (Human Computer Interaction) parlance, this is the MVC, Model-View-Controller architecture, almost by necessity. (HCI happens to be my double major when I was an undergrad ;)
Definition at line 81 of file Controller.h.
Public Member Functions | |
Controller () | |
Constructor. | |
Controller (ControlBase *r) | |
Constructor, sets a default root control. | |
virtual | ~Controller () |
Destructor. | |
virtual void | DoStart () |
register for events and resets the cmdstack | |
virtual void | DoStop () |
stop listening for events and resets the cmdstack | |
virtual bool | trapEvent (const EventBase &e) |
passes an event to the top control | |
virtual void | processEvent (const EventBase &e) |
just for e-stop activation/deactivation | |
void | reset () |
will take the command stack back down to the root | |
void | refresh () |
refreshes the display, for times like sub-control dying, the previous control needs to reset it's display | |
void | push (ControlBase *c) |
puts a new control on top | |
void | pop () |
kills the top control, goes to previous | |
ControlBase * | top () |
returns the current control | |
Controller & | setRoot (ControlBase *r) |
sets the root level control | |
Controller & | setEStopID (MotionManager::MC_ID estopid) |
Sets the emergency stop MC to monitor for pausing. | |
virtual std::string | getName () const |
Identifies the behavior in menus and such. | |
Static Public Member Functions | |
std::string | getClassDescription () |
Gives a short description of what this class of behaviors does... you should override this (but don't have to). | |
void | loadGUI (const std::string &type, const std::string &name, unsigned int port) |
attempts to open a Java object on the desktop | |
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 | |
void | closeGUI (const std::string &name) |
calls close() on a Java object loaded with loadGUI() (on the desktop) | |
int | gui_comm_callback (char *buf, int bytes) |
called by wireless when there's new data from the GUI | |
int | console_callback (char *buf, int bytes) |
called by wireless when someone has entered new data on the tekkotsu console (NOT cin) | |
Static Public Attributes | |
EventBase | nextItem |
event masks used by processEvent() | |
EventBase | prevItem |
event masks used by processEvent() | |
EventBase | nextItemFast |
event masks used by processEvent() | |
EventBase | prevItemFast |
event masks used by processEvent() | |
EventBase | selectItem |
event masks used by processEvent() | |
EventBase | cancel |
event masks used by processEvent() | |
Protected Member Functions | |
void | init () |
assigns appropriate values to the static event bases | |
void | takeLine (const std::string &s) |
called with each line that's entered on the tekkotsu console or from the GUI | |
bool | setNext (ControlBase *next) |
maintains top Control | |
void | activate () |
called when the estop switches on | |
void | deactivate () |
called when the estop switches off | |
bool | chkCmdStack () |
returns true if a valid control is available on the stack | |
Static Protected Member Functions | |
bool | calcPulse (unsigned int t, unsigned int last, unsigned int period) |
returns true when the current time and last time are in different periods | |
std::string | makeLower (const std::string &s) |
returns lower case version of s | |
std::string | removePrefix (const std::string &str, const std::string &pre) |
returns str with pre removed - if pre is not fully matched, str is returned unchanged | |
Protected Attributes | |
MotionManager::MC_ID | display |
invalid_MC_ID if not active, otherwise id of high priority LEDs | |
MotionManager::MC_ID | estop_id |
the EmergencyStopMC MC_ID that this Controller is monitoring | |
ControlBase * | root |
the base control, if cmdstack underflows, it will be reset to this | |
std::stack< ControlBase * > | cmdstack |
the stack of the current control hierarchy should never contain NULL entries | |
unsigned int | last_time |
the time of the last event | |
unsigned int | cur_time |
the time of the current event (do*() can check this instead of calling get_time() ) | |
float | nextEv_val |
the magnitude of the last next event (::nextItem) | |
unsigned int | nextEv_dur |
the duration of the last next event (::nextItem) | |
float | prevEv_val |
the magnitude of the last prev event (::prevItem) | |
unsigned int | prevEv_dur |
the duration of the last prev event (::prevItem) | |
bool | alreadyGotBoth |
if doReadStdIn() was already called, but the buttons are both still down | |
Socket * | gui_comm |
the socket to listen on for the gui | |
Static Protected Attributes | |
Controller * | theOneController = NULL |
currently can't pull connection socket off of server socket, so only one Controller | |
Private Member Functions | |
Controller (const Controller &) | |
shouldn't be called... | |
Controller & | operator= (const Controller &) |
shouldn't be called... |
|
Constructor.
Definition at line 83 of file Controller.h. References alreadyGotBoth, cmdstack, cur_time, display, estop_id, gui_comm, init(), last_time, nextEv_dur, nextEv_val, prevEv_dur, prevEv_val, root, SocketNS::SOCK_STREAM, and wireless. |
|
Constructor, sets a default root control.
Definition at line 84 of file Controller.h. References alreadyGotBoth, cmdstack, cur_time, display, estop_id, gui_comm, init(), last_time, nextEv_dur, nextEv_val, prevEv_dur, prevEv_val, root, SocketNS::SOCK_STREAM, and wireless. |
|
Destructor.
Definition at line 85 of file Controller.h. References root. |
|
shouldn't be called...
|
|
called when the estop switches on causes the top control to activate, registers for button events Definition at line 314 of file Controller.cc. References MotionManager::addMotion(), EventRouter::addTrapper(), EventBase::buttonEGID, chkCmdStack(), cmdstack, display, erouter, ERS210Info::FaceLEDMask, gui_comm, MotionManager::kEmergencyPriority, and motman. |
|
returns true when the current time and last time are in different periods
Definition at line 166 of file Controller.h. |
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returns true if a valid control is available on the stack if the stack is empty, will push root if it's non-null Definition at line 336 of file Controller.cc. |
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calls close() on a Java object loaded with loadGUI() (on the desktop)
Definition at line 175 of file Controller.cc. References gui_comm, Socket::printf(), and theOneController. |
|
called by wireless when someone has entered new data on the tekkotsu console (NOT cin)
Definition at line 203 of file Controller.cc. References erouter, gui_comm, Wireless::isConnected(), EventRouter::postEvent(), Socket::sock, takeLine(), theOneController, and wireless. |
|
called when the estop switches off causes the top control to deactivate, stops listening for buttons Definition at line 326 of file Controller.cc. References cmdstack, display, erouter, MotionManager::invalid_MC_ID, ERS210Info::LEDOffset, motman, ERS210Info::NumLEDs, MotionManager::removeMotion(), EventRouter::removeTrapper(), and MotionManager::setOutput(). |
|
register for events and resets the cmdstack
Reimplemented from BehaviorBase. Definition at line 25 of file Controller.cc. References EventRouter::addListener(), Config::controller_config::cancel_snd, config, Config::controller, BehaviorBase::DoStart(), erouter, EventBase::estopEGID, gui_comm, gui_comm_callback(), Config::controller_config::gui_port, Wireless::listen(), SoundManager::LoadFile(), Config::controller_config::next_snd, Config::controller_config::prev_snd, Config::controller_config::read_snd, reset(), Config::controller_config::select_snd, Wireless::setReceiver(), sndman, Socket::sock, theOneController, and wireless. |
|
stop listening for events and resets the cmdstack
Reimplemented from BehaviorBase. Definition at line 40 of file Controller.cc. References Config::controller_config::cancel_snd, Wireless::close(), config, Config::controller, BehaviorBase::DoStop(), erouter, EventRouter::forgetListener(), gui_comm, Config::controller_config::next_snd, Config::controller_config::prev_snd, Config::controller_config::read_snd, SoundManager::ReleaseFile(), reset(), Config::controller_config::select_snd, sndman, theOneController, and wireless. |
|
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 117 of file Controller.h. |
|
Identifies the behavior in menus and such.
Implements BehaviorBase. Definition at line 116 of file Controller.h. |
|
called by wireless when there's new data from the GUI
Definition at line 179 of file Controller.cc. References takeLine(), and theOneController. |
|
assigns appropriate values to the static event bases
Definition at line 231 of file Controller.cc. References EventBase::buttonEGID, cancel, EventBase::deactivateETID, WorldState::ERS210Mask, WorldState::ERS220Mask, nextItem, nextItemFast, prevItem, prevItemFast, WorldState::robotDesign, selectItem, state, and EventBase::statusETID. |
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attempts to open a Java object on the desktop
Definition at line 159 of file Controller.cc. References gui_comm, theOneController, and Socket::write(). |
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attempts to open a Java object on the desktop
Definition at line 121 of file Controller.h. |
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returns lower case version of s
Definition at line 350 of file Controller.cc. |
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shouldn't be called...
|
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kills the top control, goes to previous
Definition at line 134 of file Controller.cc. |
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just for e-stop activation/deactivation
Reimplemented from BehaviorBase. Definition at line 101 of file Controller.cc. References activate(), EventBase::activateETID, deactivate(), display, EventBase::getTypeID(), and MotionManager::invalid_MC_ID. |
|
puts a new control on top
Definition at line 126 of file Controller.cc. References chkCmdStack(), cmdstack, display, gui_comm, and setNext(). |
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refreshes the display, for times like sub-control dying, the previous control needs to reset it's display
Definition at line 120 of file Controller.cc. References chkCmdStack(), and cmdstack. |
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returns str with pre removed - if pre is not fully matched, str is returned unchanged
Definition at line 359 of file Controller.cc. |
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will take the command stack back down to the root
Definition at line 111 of file Controller.cc. |
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Sets the emergency stop MC to monitor for pausing.
Definition at line 147 of file Controller.cc. References activate(), deactivate(), display, estop_id, MotionManager::invalid_MC_ID, motman, and MotionManager::peekMotion(). |
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maintains top Control
Definition at line 306 of file Controller.cc. |
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sets the root level control
Definition at line 140 of file Controller.cc. |
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called with each line that's entered on the tekkotsu console or from the GUI
Definition at line 254 of file Controller.cc. References cmdstack, erouter, EventRouter::postEvent(), refresh(), reset(), and setNext(). |
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returns the current control
Definition at line 110 of file Controller.h. References cmdstack. |
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passes an event to the top control
Implements EventTrapper. Definition at line 53 of file Controller.cc. References alreadyGotBoth, calcPulse(), cancel, chkCmdStack(), cmdstack, cur_time, get_time(), EventBase::getDuration(), EventBase::getMagnitude(), EventBase::getTypeID(), last_time, nextEv_dur, nextEv_val, nextItem, nextItemFast, prevEv_dur, prevEv_val, prevItem, prevItemFast, EventBase::sameGenSource(), selectItem, and setNext(). |
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if doReadStdIn() was already called, but the buttons are both still down
Definition at line 185 of file Controller.h. |
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event masks used by processEvent()
Definition at line 22 of file Controller.cc. |
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the stack of the current control hierarchy
Definition at line 163 of file Controller.h. |
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the time of the current event (do*() can check this instead of calling get_time() )
Definition at line 180 of file Controller.h. |
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invalid_MC_ID if not active, otherwise id of high priority LEDs
Definition at line 153 of file Controller.h. |
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the EmergencyStopMC MC_ID that this Controller is monitoring
Definition at line 156 of file Controller.h. |
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the socket to listen on for the gui
Definition at line 187 of file Controller.h. |
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the time of the last event
Definition at line 179 of file Controller.h. |
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the duration of the last next event (::nextItem)
Definition at line 182 of file Controller.h. |
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the magnitude of the last next event (::nextItem)
Definition at line 181 of file Controller.h. |
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event masks used by processEvent()
Definition at line 17 of file Controller.cc. |
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event masks used by processEvent()
Definition at line 19 of file Controller.cc. |
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the duration of the last prev event (::prevItem)
Definition at line 184 of file Controller.h. |
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the magnitude of the last prev event (::prevItem)
Definition at line 183 of file Controller.h. |
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event masks used by processEvent()
Definition at line 18 of file Controller.cc. |
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event masks used by processEvent()
Definition at line 20 of file Controller.cc. |
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the base control, if cmdstack underflows, it will be reset to this
Definition at line 159 of file Controller.h. |
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event masks used by processEvent()
Definition at line 21 of file Controller.cc. |
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currently can't pull connection socket off of server socket, so only one Controller
Definition at line 14 of file Controller.cc. |
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