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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>!root </tt><i>text</i>' - calls ControlBase::takeInput(<i>text</i>) on the root control 00028 * - '<tt>!hello</tt>' - responds with '<tt>hello\n</tt><i>count</i>' where <i>count</i> is the number of times '<tt>!hello</tt>' has been sent. Good for detecting first connection after boot vs. a reconnect. 00029 * - '<tt>!hilight</tt> [<i>n1</i> [<i>n2</i> [...]]]' - hilights zero, one, or more items in the menu 00030 * - '<tt>!input </tt><i>text</i>' - calls ControlBase::takeInput(<i>text</i>) on the currently hilighted control(s) 00031 * - any text not beginning with '!' - sent to ControlBase::takeInput() of the current control 00032 * 00033 * In return, to send the menus to the GUI, the following messages are sent: (newlines are required where shown) 00034 * - '<tt>push</tt>' - signals a submenu has been activated 00035 * - '<tt>pop</tt>' - signals a submenu has been closed 00036 * - '<tt>refresh</tt>\n 00037 * <i>text:title</i>\n 00038 * <i>int:numitems</i>\n 00039 * <i>bool:hasSubmenus</i><sub>1</sub>\n 00040 * <i>bool:hilighted</i><sub>1</sub>\n 00041 * <i>text:item-title</i><sub>1</sub>\n 00042 * <i>text:item-description</i><sub>1</sub>\n 00043 * ...\n 00044 * <i>bool:hasSubmenus<sub>numitems</sub></i>\n 00045 * <i>bool:hilighted<sub>numitems</sub></i>\n 00046 * <i>text:item-title<sub>numitems</sub></i>\n 00047 * <i>text:item-description<sub>numitems</sub></i>' - refreshes the current menu\n 00048 * - '<tt>status </tt><i>text</i>' - sets the status bar to <i>text</i> (until the next refresh) 00049 * - '<tt>load</tt>\n 00050 * <i>text:classname</i>\n 00051 * <i>text:instancename</i> 00052 * <i>int:port</i>\n 00053 * [<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. 00054 * <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> 00055 * the argument list is parsed as if it were on the console - unescaped or unquoted spaces will separate args into elements in the array 00056 * - '<tt>close</tt>\n 00057 * <i>text:instancename</i>' - calls <tt>close()</tt> on an object previously created by a <tt>load</tt> message. 00058 * The Java object is expected to contain a function <tt>void close()</tt>. 00059 * - '<tt>goodbye</tt>\n 00060 * Indicates the connection is about to be closed purposefully, to differentiate from an accidental cut off. 00061 * 00062 * bool types are expected to be numerical values, 0 for false, 00063 * non-zero for true. 00064 * 00065 * <tt>load</tt> and <tt>close</tt> are intended to allow pop-up 00066 * windows for custom displays. 00067 * 00068 * The upstream is the responsibility of the individual Controls, but 00069 * the protocol is listed here to keep it together. When a control's 00070 * state changes, it's that control's responsiblity to refresh the UI 00071 * (LEDs, console, and GUI as appropriate). Thus, future extensions 00072 * to the upstream protocol are between the control which will use it 00073 * and the GUI. Future extensions to the downstream protocol would 00074 * involve changing Controller and the GUI. 00075 * 00076 * The Controller may connect to serr in the future to pop-up an alert 00077 * anytime output to serr occurs. 00078 * 00079 * Note that all state is maintained on the robot - even if the GUI 00080 * is connected, you can still use the buttons to interact with the 00081 * controller, and the GUI will update to reflect the changes. In 00082 * HCI (Human Computer Interaction) parlance, this is the MVC, 00083 * Model-View-Controller architecture, almost by necessity. (HCI 00084 * happens to be my double major when I was an undergrad ;) 00085 * 00086 */ 00087 class Controller : public BehaviorBase, public EventTrapper { 00088 public: 00089 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), isControlling(false), gui_comm(NULL) {init();} //!< Constructor 00090 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), isControlling(false), gui_comm(NULL) { init(); } //!< Constructor, sets a default root control 00091 virtual ~Controller() { 00092 cout << "~Controller()..." << endl; 00093 delete root; 00094 theOneController=NULL; 00095 cout << "~Controller()-DONE" << endl; 00096 } //!< Destructor 00097 00098 //@{ 00099 //! event masks used by processEvent() 00100 static EventBase nextItem; 00101 static EventBase prevItem; 00102 static EventBase nextItemFast; 00103 static EventBase prevItemFast; 00104 static EventBase selectItem; 00105 static EventBase cancel; //@} 00106 00107 virtual void DoStart(); //!< register for events and resets the cmdstack 00108 virtual void DoStop(); //!< stop listening for events and resets the cmdstack 00109 virtual bool trapEvent(const EventBase& e); //!< passes an event to the top control 00110 virtual void processEvent(const EventBase& e); //!< just for e-stop activation/deactivation 00111 00112 void reset(); //!< will take the command stack back down to the root 00113 void refresh(); //!< refreshes the display, for times like sub-control dying, the previous control needs to reset it's display 00114 00115 void push(ControlBase* c); //!< puts a new control on top 00116 void pop(); //!< kills the top control, goes to previous 00117 ControlBase* top() { return cmdstack.top(); } //!< returns the current control 00118 00119 Controller& setRoot(ControlBase* r); //!< sets the root level control 00120 00121 Controller& setEStopID(MotionManager::MC_ID estopid); //!< Sets the emergency stop MC to monitor for pausing 00122 00123 virtual std::string getName() const { return "Controller"; } 00124 static std::string getClassDescription() { return "Provides interface for activating/deactivating controls (and through them, behaviors)"; } 00125 00126 00127 00128 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 00129 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 00130 static void closeGUI(const std::string& name); //!< calls close() on a Java object loaded with loadGUI() (on the desktop) 00131 00132 static int gui_comm_callback(char *buf, int bytes); //!< called by wireless when there's new data from the GUI 00133 static int console_callback(char *buf, int bytes); //!< called by wireless when someone has entered new data on the tekkotsu console (NOT cin) 00134 00135 protected: 00136 //! assigns appropriate values to the static event bases 00137 void init(); 00138 00139 //! called with each line that's entered on the tekkotsu console or from the GUI 00140 void takeLine(const std::string& s); 00141 00142 //! sets a config value - some values may require additional processing (done here) to have the new values take effect 00143 int setConfig(const char *str); 00144 00145 //! maintains top Control 00146 /*! @param next one of: @li NULL: pop() ::cmdstack @li ::cmdstack.top(): nothing @li other address: ::push(@a next) 00147 * @return true, all the time, for convenience from trapEvent() */ 00148 bool setNext(ControlBase* next); 00149 00150 //! called when the estop switches on 00151 /*! causes the top control to activate, registers for button events */ 00152 void activate(); 00153 00154 //! called when the estop switches off\n 00155 /*! causes the top control to deactivate, stops listening for buttons */ 00156 void deactivate(); 00157 00158 //! @brief returns true if a valid control is available on the stack 00159 /*! if the stack is empty, will push root if it's non-null */ 00160 bool chkCmdStack(); 00161 00162 //! invalid_MC_ID if not active, otherwise id of high priority LEDs 00163 MotionManager::MC_ID display; 00164 00165 //! the EmergencyStopMC MC_ID that this Controller is monitoring 00166 MotionManager::MC_ID estop_id; 00167 00168 //! the base control, if cmdstack underflows, it will be reset to this 00169 ControlBase * root; 00170 00171 /*! @brief the stack of the current control hierarchy\n 00172 * should never contain NULL entries */ 00173 std::stack< ControlBase* > cmdstack; 00174 00175 //! returns true when the current time and last time are in different periods 00176 static bool calcPulse(unsigned int t, unsigned int last, unsigned int period) { 00177 if(period<t-last) 00178 return true; 00179 bool nextclock=(t/period)&1; 00180 bool lastclock=(last/period)&1; 00181 return (lastclock!=nextclock); 00182 } 00183 00184 00185 unsigned int last_time; //!< the time of the last event 00186 unsigned int cur_time; //!< the time of the current event (do*() can check this instead of calling get_time() ) 00187 float nextEv_val; //!< the magnitude of the last next event (::nextItem) 00188 unsigned int nextEv_dur; //!< the duration of the last next event (::nextItem) 00189 float prevEv_val; //!< the magnitude of the last prev event (::prevItem) 00190 unsigned int prevEv_dur; //!< the duration of the last prev event (::prevItem) 00191 bool alreadyGotBoth; //!< if doReadStdIn() was already called, but the buttons are both still down 00192 bool isControlling; //!< true if the Controller is currently active (in the activate()/deactivate() sense, not DoStart()/DoStop() sense - use isActive() for that...) 00193 00194 Socket * gui_comm; //!< the socket to listen on for the gui 00195 static Controller * theOneController; //!< currently can't pull connection socket off of server socket, so only one Controller 00196 00197 private: 00198 Controller(const Controller&); //!< shouldn't be called... 00199 Controller& operator=(const Controller&); //!< shouldn't be called... 00200 }; 00201 00202 /*! @file 00203 * @brief Describes Controller class, a behavior that should be started whenever the emergency stop goes on to provide menus for robot control 00204 * @author ejt (Creator) 00205 * 00206 * $Author: ejt $ 00207 * $Name: tekkotsu-2_0 $ 00208 * $Revision: 1.26 $ 00209 * $State: Exp $ 00210 * $Date: 2004/01/21 03:52:39 $ 00211 */ 00212 00213 #endif
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