Homepage | Demos | Overview | Downloads | Tutorials | Reference | Credits |
00001 //-*-c++-*- 00002 #ifndef INCLUDED_MotionManager_h 00003 #define INCLUDED_MotionManager_h 00004 00005 #include "MotionCommand.h" 00006 #include "OutputCmd.h" 00007 #include "OutputPID.h" 00008 #include "Shared/RobotInfo.h" 00009 #include "Shared/ListMemBuf.h" 00010 #include "Shared/MutexLock.h" 00011 00012 #ifdef PLATFORM_APERIOS 00013 #include "Shared/SharedObject.h" 00014 #include "MotionManagerMsg.h" 00015 #endif 00016 00017 #ifdef PLATFORM_APERIOS 00018 #include <OPENR/OPENR.h> 00019 #include <OPENR/OPENRAPI.h> 00020 #include <OPENR/OSubject.h> 00021 #include <OPENR/ObjcommEvent.h> 00022 #include <OPENR/OObject.h> 00023 #endif 00024 00025 //! The purpose of this class is to serialize access to the MotionCommands and simplify their sharing between memory spaces 00026 /*! Since MotionObject and MainObject run as separate processes, they could potentially try to access the 00027 * same motion command at the same time, leading to unpredictable behavior. The MotionManager enforces 00028 * a set of locks to solve this\n 00029 * The other problem is that we are sharing between processes. MotionManager will do what's necessary to distribute new 00030 * MotionCommand's to all the processes (currently just MainObj and MotoObj)\n 00031 * You should be able to create and add a new motion in one line: 00032 * @code 00033 * motman->addMotion(SharedObject<YourMC>([arg1,[arg2,...]]) [, priority [, autoprune] ]); 00034 * @endcode 00035 * But if you want to do some more initializations not handled by the constructor (the @p arg1, @p arg2, ... 00036 * params) then you would want to do something like the following: 00037 * @code 00038 * SharedObject<YourMC> tmpvar([arg1,[arg2,...]]); 00039 * tmpvar->cmd1(); 00040 * tmpvar->cmd2(); 00041 * //... 00042 * motman->addMotion(tmpvar [, ...]); 00043 * @endcode 00044 * 00045 * Notice that tmpvar is of type SharedObject, but you're calling YourMC functions on it... 00046 * SharedObject is a "smart pointer" which will pass your function calls on to the 00047 * underlying templated type. Isn't C++ great? :) 00048 * 00049 * @warning Once the MotionCommand has been added you must check it 00050 * out to modify it or risk concurrent access problems. 00051 * 00052 * @see MotionCommand for information on creating new motion primitives. 00053 * 00054 * @see MMAccessor for information on accessing motions after you've added them to MotionManager. 00055 */ 00056 class MotionManager { 00057 public: 00058 //! This is the number of processes which will be accessing the MotionManager 00059 /*! Probably just MainObject and MotionObject 00060 * Isn't really a hard maximum, but should be actual expected, need to know when they're all connected */ 00061 static const unsigned int MAX_ACCESS=2; 00062 00063 static const unsigned int MAX_MOTIONS=64; //!< This is the maximum number of Motions which can be managed, can probably be increased reasonably without trouble 00064 00065 typedef MotionManagerMsg::MC_ID MC_ID; //!< use this type when referring to the ID numbers that MotionManager hands out 00066 static const MC_ID invalid_MC_ID=(MC_ID)-1; //!< for errors and undefined stuff 00067 00068 MotionManager(); //!< Constructor, sets all the outputs to 0 00069 00070 #ifdef PLATFORM_APERIOS 00071 void InitAccess(OSubject* subj); //!< @b LOCKS @b MotionManager Everyone who is planning to use the MotionManager needs to call this before they access it or suffer a horrible fate 00072 void receivedMsg(const ONotifyEvent& event); //!< @b LOCKS @b MotionManager This gets called by an OObject when it receives a message from one of the other OObject's MotionManagerComm Subject 00073 #endif 00074 00075 //!@name MotionCommand Safe 00076 void setOutput(const MotionCommand* caller, unsigned int output, const OutputCmd& cmd); //!< @b LOCKS @b MotionManager Requests a value be set for the specified output, copies cmd across frames 00077 void setOutput(const MotionCommand* caller, unsigned int output, const OutputCmd& cmd, unsigned int frame); //!< @b LOCKS @b MotionManager Requests a value be set for the specified output in the specified frame 00078 void setOutput(const MotionCommand* caller, unsigned int output, const OutputCmd cmd[NumFrames]); //!< @b LOCKS @b MotionManager Requests a value be set for the specified output across frames 00079 void setOutput(const MotionCommand* caller, unsigned int output, const OutputPID& pid); //!< @b LOCKS @b MotionManager Requests a PID be set for the specified output, notice that this might be overruled by a higher priority motion 00080 void setOutput(const MotionCommand* caller, unsigned int output, const OutputCmd& cmd, const OutputPID& pid); //!< @b LOCKS @b MotionManager Requests a value and PID be set for the specified output 00081 void setOutput(const MotionCommand* caller, unsigned int output, const OutputCmd cmd[NumFrames], const OutputPID& pid); //!< @b LOCKS @b MotionManager Requests a value and PID be set for the specified output 00082 const OutputCmd& getOutputCmd(unsigned int output) const { return cmds[output]; } //!< Returns the value of the output last sent to the OS. Note that this will differ from the sensed value in state, even when staying still. There is no corresponding getOutputPID because this value *will* duplicate the value in state. 00083 void setPriority(MC_ID mcid, float p) { cmdlist[mcid].priority=p; }//!< sets the priority level of a MotionCommand 00084 float getPriority(MC_ID mcid) const { return cmdlist[mcid].priority; } //!< returns priority level of a MotionCommand 00085 //@} 00086 00087 //@{ 00088 inline MC_ID begin() const { return skip_ahead(cmdlist.begin()); } //!< returns the MC_ID of the first MotionCommand 00089 inline MC_ID next(MC_ID cur) const { return skip_ahead(cmdlist.next(cur)); } //!< returns the MC_ID of MotionCommand following the one that is passed 00090 inline MC_ID end() const { return cmdlist.end(); } //!< returns the MC_ID of the one-past-the-end MotionCommand (like the STL) 00091 inline unsigned int size() const { return cmdlist.size(); } //!< returns the number of MotionCommands being managed 00092 //@} 00093 00094 //!You can have one MC check out and modify another, but make sure the other MC doesn't call setOutput() 00095 //!@name MotionCommand "Risky" 00096 MotionCommand * checkoutMotion(MC_ID mcid,bool block=true); //!< locks the command and possibly performs RTTI conversion; supports recursive calls 00097 void checkinMotion(MC_ID mcid); //!< marks a MotionCommand as unused 00098 MotionCommand * peekMotion(MC_ID mcid) { return cmdlist[mcid].baseaddrs[_MMaccID]; } //!< allows access to a MotionCommand without checking it out @warning @b never call a function based on this, only access member fields through it 00099 unsigned int checkoutLevel(MC_ID mcid) { return cmdlist[mcid].lock.get_lock_level(); } //!< returns the number of times @a mcid has been checked out minus the times it's been checked in 00100 //@} 00101 00102 //!@name MotionCommand Unsafe 00103 //@{ 00104 #ifdef PLATFORM_APERIOS 00105 MC_ID addMotion(const SharedObjectBase& sm); //!< @b LOCKS @b MotionManager Creates a new MotionCommand, automatically sharing it between processes (there is some lag time here) 00106 MC_ID addMotion(const SharedObjectBase& sm, float priority); //!< @b LOCKS @b MotionManager allows a quick way to set a priority level of a new MotionCommand 00107 MC_ID addMotion(const SharedObjectBase& sm, bool autoprune); //!< @b LOCKS @b MotionManager allows a quick was to set the autoprune flag 00108 MC_ID addMotion(const SharedObjectBase& sm, float priority, bool autoprune); //!< @b LOCKS @b MotionManager Call one of these to add a MotionCommand to the MotionManager, using the SharedObject class 00109 #endif //PLATFORM_APERIOS 00110 void removeMotion(MC_ID mcid); //!< @b LOCKS @b MotionManager removes the specified MotionCommand 00111 //@} 00112 00113 //@{ 00114 void lock() { MMlock.lock(_MMaccID); } //!< gets an exclusive lock on MotionManager - functions marked @b LOCKS @b MotionManager will cause (and require) this to happen automatically 00115 bool trylock() { return MMlock.try_lock(_MMaccID); } //!< tries to get a lock without blocking 00116 void release() { MMlock.release(); } //!< releases a lock on the motion manager 00117 //@} 00118 00119 //@{ 00120 void getOutputs(float outputs[NumFrames][NumOutputs]); //!< @b LOCKS @b MotionManager called by MotionObject to fill in the output values for the next ::NumFrames frames (only MotoObj should call this...) 00121 void updateWorldState(); //!< call this when you want MotionManager to set the WorldState to reflect what things should be for unsensed outputs (LEDs, ears) (only MotoObj should be calling this...) 00122 #ifdef PLATFORM_APERIOS 00123 bool updatePIDs(OPrimitiveID primIDs[NumOutputs]); //!< call this when you want MotionManager to update modified PID values, returns true if changes made (only MotoObj should be calling this...) 00124 #endif 00125 //@} 00126 00127 //! holds the full requested value of an output 00128 class OutputState { 00129 public: 00130 //!@name Constructors 00131 //!Constructor 00132 OutputState(); 00133 OutputState(unsigned int out, float pri, MC_ID mc, const OutputCmd cmds[NumFrames]); 00134 OutputState(unsigned int out, float pri, MC_ID mc, const OutputCmd& cmd); 00135 OutputState(unsigned int out, float pri, MC_ID mc, const OutputCmd& cmd, unsigned int frame); 00136 OutputState(unsigned int out, float pri, MC_ID mc, const OutputPID& p); 00137 OutputState(unsigned int out, float pri, MC_ID mc, const OutputCmd cmds[NumFrames], const OutputPID& p); 00138 OutputState(unsigned int out, float pri, MC_ID mc, const OutputCmd& cmd, const OutputPID& p); 00139 //@} 00140 float priority; //!< priority level 00141 MC_ID mcid; //!< MC_ID of requester 00142 OutputCmd frames[NumFrames]; //!< values of output planned ahead 00143 OutputPID pid; //!< pid of output 00144 }; 00145 00146 //!Just to give you a general idea what values to use for different priority levels 00147 //!@name Priority Level Constants 00148 static const float kIgnoredPriority; //!< won't be expressed, handy if you want to temporarily pause something 00149 static const float kBackgroundPriority; //!< will only be expressed if *nothing* else is using that joint 00150 static const float kLowPriority; //!< for stuff that's not background but lower than standard 00151 static const float kStdPriority; //!< for every-day commands 00152 static const float kHighPriority; //!< for stuff that should over ride standard stuff 00153 static const float kEmergencyPriority; //!< for really important stuff, such as the emergency stop 00154 00155 protected: 00156 //! used to request pids for a given joint 00157 struct PIDUpdate { 00158 //!constructor 00159 PIDUpdate() : joint((unsigned int)-1) {} 00160 //!constructor 00161 PIDUpdate(unsigned int j, const float p[3]) : joint(j) { 00162 for(unsigned int i=0; i<3; i++) 00163 pids[i]=p[i]; 00164 } 00165 unsigned int joint; //!< the joint ID (see RobotInfo.h for offset values) 00166 float pids[3]; //!< the PID values to use (see ::Pid ) 00167 }; 00168 ListMemBuf<PIDUpdate,NumPIDJoints> pidchanges; //!< stores PID updates, up to one per joint (if same is set more than once, it's just overwrites previous update) 00169 void setPID(unsigned int j, const float p[3]); //!< @b LOCKS @b MotionManager you can call this to set the PID values directly (instead of using a motion command) Be careful though 00170 00171 typedef unsigned short accID_t; //!< type to use to refer to accessors of MotionManager (or its locks) 00172 00173 void func_begin() { MMlock.lock(_MMaccID); } //!< called at the begining of many functions to lock MotionManager 00174 void func_end() { MMlock.release(); } //!< called at the end of a function which called func_begin() to release it 00175 template<class T> T func_end(T val) { func_end(); return val; } //!< same as func_end(), except passes return value through 00176 00177 MC_ID skip_ahead(MC_ID mcid) const; //!< during iteration, skips over motioncommands which are still in transit from on OObject to another 00178 00179 //!All the information we need to maintain about a MotionCommand 00180 struct CommandEntry { 00181 //! Constructor, sets everything to basics 00182 CommandEntry() : lastAccessor((unsigned short)-1),lock(),priority(MotionManager::kStdPriority) { 00183 for(unsigned int i=0; i<MAX_ACCESS; i++) { 00184 baseaddrs[i]=NULL; 00185 #ifdef PLATFORM_APERIOS 00186 rcr[i]=NULL; 00187 #endif 00188 } 00189 } 00190 MotionCommand * baseaddrs[MAX_ACCESS]; //!< for each accessor, the base address of the motion command 00191 #ifdef PLATFORM_APERIOS 00192 RCRegion * rcr[MAX_ACCESS]; //!< for each accessor the shared memory region that holds the motion command 00193 #endif 00194 accID_t lastAccessor; //!< the ID of the last accessor to touch the command (which implies if it wants to touch this again, we don't have to convert again) 00195 MutexLock<MAX_ACCESS> lock; //!< a lock to maintain mutual exclusion 00196 float priority; //!< MotionCommand's priority level 00197 private: 00198 CommandEntry(const CommandEntry&); //!< this shouldn't be called... 00199 CommandEntry& operator=(const CommandEntry&); //!< this shouldn't be called... 00200 }; 00201 ListMemBuf<CommandEntry,MAX_MOTIONS,MC_ID> cmdlist; //!< the list where MotionCommands are stored, remember, we're in a shared memory region with different base addresses - no pointers! 00202 MC_ID cur_cmd; //!< MC_ID of the MotionCommand currently being updated by getOutputs(), or NULL if not in getOutputs. This is used by the setOutput()'s to tell which MotionCommand is calling 00203 00204 00205 inline MC_ID pop_free() { return cmdlist.new_front(); } //!<pulls an entry from cmdlist's free section and returns its index 00206 inline void push_free(MC_ID a) { cmdlist.erase(a); } //!<puts an entry back into cmdlist's free section 00207 00208 MutexLock<MAX_ACCESS> MMlock; //!< The main lock for the class 00209 00210 typedef ListMemBuf<OutputState,MAX_MOTIONS> cmdstatelist_t; //!< shorthand for a list of OutputState's 00211 cmdstatelist_t cmdstates[NumOutputs]; //!< requested positions by each of the MC's for each of the outputs 00212 float cmdSums[NumOutputs]; //!<Holds the final values for the outputs of the last frame generated 00213 OutputCmd cmds[NumOutputs]; //!<Holds the weighted values and total weight for the outputs of the last frame 00214 00215 #ifdef PLATFORM_APERIOS 00216 accID_t numAcc; //!<The number of accessors who have registered with InitAccess() 00217 OSubject* subjs[MAX_ACCESS]; //!<The OSubject for each process (accessor) on which it should be broadcast when a command is added 00218 #endif 00219 00220 static unsigned int _MMaccID; //!<Stores the accessor for the current process 00221 00222 private: 00223 MotionManager(const MotionManager&); //!< this shouldn't be called... 00224 MotionManager& operator=(const MotionManager&); //!< this shouldn't be called... 00225 }; 00226 00227 //!anyone who #includes MotionManager.h will be wanting to use the global motman... don't want multiple of these! created by MotoObj 00228 extern MotionManager * motman; 00229 00230 /*! @file 00231 * @brief Describes MotionManager, simplifies sharing of MotionCommand's and provides mutual exclusion to their access 00232 * @author ejt (Creator) 00233 * 00234 * $Author: ejt $ 00235 * $Name: tekkotsu-1_4_1 $ 00236 * $Revision: 1.13 $ 00237 * $State: Exp $ 00238 * $Date: 2003/04/25 18:22:40 $ 00239 */ 00240 00241 #endif
Tekkotsu v1.4 |
Generated Sat Jul 19 00:06:31 2003 by Doxygen 1.3.2 |