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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=MotionManagerMsg::invalid_MC_ID; //!< for errors and undefined stuff 00067 00068 //!Just to give you a general idea what values to use for different priority levels 00069 //!@name Priority Level Constants 00070 static const float kIgnoredPriority; //!< won't be expressed, handy if you want to temporarily pause something 00071 static const float kBackgroundPriority; //!< will only be expressed if *nothing* else is using that joint 00072 static const float kLowPriority; //!< for stuff that's not background but lower than standard 00073 static const float kStdPriority; //!< for every-day commands 00074 static const float kHighPriority; //!< for stuff that should over ride standard stuff 00075 static const float kEmergencyPriority; //!< for really important stuff, such as the emergency stop 00076 //@} 00077 00078 MotionManager(); //!< Constructor, sets all the outputs to 0 00079 00080 #ifdef PLATFORM_APERIOS 00081 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 00082 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 00083 #endif 00084 00085 //!@name MotionCommand Safe 00086 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 00087 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 00088 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 00089 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 00090 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 00091 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 00092 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. 00093 void setPriority(MC_ID mcid, float p) { cmdlist[mcid].priority=p; }//!< sets the priority level of a MotionCommand 00094 float getPriority(MC_ID mcid) const { return cmdlist[mcid].priority; } //!< returns priority level of a MotionCommand 00095 //@} 00096 00097 //@{ 00098 inline MC_ID begin() const { return skip_ahead(cmdlist.begin()); } //!< returns the MC_ID of the first MotionCommand 00099 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 00100 inline MC_ID end() const { return cmdlist.end(); } //!< returns the MC_ID of the one-past-the-end MotionCommand (like the STL) 00101 inline unsigned int size() const { return cmdlist.size(); } //!< returns the number of MotionCommands being managed 00102 //@} 00103 00104 //!You can have one MC check out and modify another, but make sure the other MC doesn't call setOutput() 00105 //!@name MotionCommand "Risky" 00106 MotionCommand * checkoutMotion(MC_ID mcid,bool block=true); //!< locks the command and possibly performs RTTI conversion; supports recursive calls 00107 void checkinMotion(MC_ID mcid); //!< marks a MotionCommand as unused 00108 MotionCommand * peekMotion(MC_ID mcid) { return mcid==invalid_MC_ID?NULL: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 00109 unsigned int checkoutLevel(MC_ID mcid) { return mcid==invalid_MC_ID?0: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 00110 bool isOwner(MC_ID mcid) { return mcid==invalid_MC_ID?false:(cmdlist[mcid].lock.owner()==_MMaccID); } 00111 //@} 00112 00113 //!@name MotionCommand Unsafe 00114 //@{ 00115 #ifdef PLATFORM_APERIOS 00116 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) 00117 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 00118 MC_ID addMotion(const SharedObjectBase& sm, bool autoprune); //!< @b LOCKS @b MotionManager allows a quick was to set the autoprune flag 00119 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 00120 #endif //PLATFORM_APERIOS 00121 void removeMotion(MC_ID mcid); //!< @b LOCKS @b MotionManager removes the specified MotionCommand 00122 //@} 00123 00124 //@{ 00125 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 00126 bool trylock() { return MMlock.try_lock(_MMaccID); } //!< tries to get a lock without blocking 00127 void release() { MMlock.release(); } //!< releases a lock on the motion manager 00128 //@} 00129 00130 //@{ 00131 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...) 00132 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...) 00133 #ifdef PLATFORM_APERIOS 00134 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...), see PIDMC for general PID documentation 00135 #endif 00136 //@} 00137 00138 //! holds the full requested value of an output 00139 class OutputState { 00140 public: 00141 //!@name Constructors 00142 //!Constructor 00143 OutputState(); 00144 OutputState(unsigned int out, float pri, MC_ID mc, const OutputCmd cmds[NumFrames]); 00145 OutputState(unsigned int out, float pri, MC_ID mc, const OutputCmd& cmd); 00146 OutputState(unsigned int out, float pri, MC_ID mc, const OutputCmd& cmd, unsigned int frame); 00147 OutputState(unsigned int out, float pri, MC_ID mc, const OutputPID& p); 00148 OutputState(unsigned int out, float pri, MC_ID mc, const OutputCmd cmds[NumFrames], const OutputPID& p); 00149 OutputState(unsigned int out, float pri, MC_ID mc, const OutputCmd& cmd, const OutputPID& p); 00150 //@} 00151 float priority; //!< priority level 00152 MC_ID mcid; //!< MC_ID of requester 00153 OutputCmd frames[NumFrames]; //!< values of output planned ahead 00154 OutputPID pid; //!< pid of output 00155 }; 00156 00157 protected: 00158 //! used to request pids for a given joint 00159 struct PIDUpdate { 00160 //!constructor 00161 PIDUpdate() : joint((unsigned int)-1) {} 00162 //!constructor 00163 PIDUpdate(unsigned int j, const float p[3]) : joint(j) { 00164 for(unsigned int i=0; i<3; i++) 00165 pids[i]=p[i]; 00166 } 00167 unsigned int joint; //!< the joint ID (see RobotInfo.h for offset values) 00168 float pids[3]; //!< the PID values to use (see ::Pid ) 00169 }; 00170 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) 00171 void setPID(unsigned int j, const float p[3]); //!< @b LOCKS @b MotionManager, called internally to do the work of setting the PID... you probably want to call setOutput with an OutputPID argument, not this... 00172 00173 typedef unsigned short accID_t; //!< type to use to refer to accessors of MotionManager (or its locks) 00174 00175 void func_begin() { MMlock.lock(_MMaccID); } //!< called at the begining of many functions to lock MotionManager 00176 void func_end() { MMlock.release(); } //!< called at the end of a function which called func_begin() to release it 00177 template<class T> T func_end(T val) { func_end(); return val; } //!< same as func_end(), except passes return value through 00178 00179 MC_ID skip_ahead(MC_ID mcid) const; //!< during iteration, skips over motioncommands which are still in transit from on OObject to another 00180 00181 //!All the information we need to maintain about a MotionCommand 00182 struct CommandEntry { 00183 //! Constructor, sets everything to basics 00184 CommandEntry() : lastAccessor((unsigned short)-1),lock(),priority(MotionManager::kStdPriority) { 00185 for(unsigned int i=0; i<MAX_ACCESS; i++) { 00186 baseaddrs[i]=NULL; 00187 #ifdef PLATFORM_APERIOS 00188 rcr[i]=NULL; 00189 #endif 00190 } 00191 } 00192 MotionCommand * baseaddrs[MAX_ACCESS]; //!< for each accessor, the base address of the motion command 00193 #ifdef PLATFORM_APERIOS 00194 RCRegion * rcr[MAX_ACCESS]; //!< for each accessor the shared memory region that holds the motion command 00195 #endif 00196 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) 00197 MutexLock<MAX_ACCESS> lock; //!< a lock to maintain mutual exclusion 00198 float priority; //!< MotionCommand's priority level 00199 private: 00200 CommandEntry(const CommandEntry&); //!< this shouldn't be called... 00201 CommandEntry& operator=(const CommandEntry&); //!< this shouldn't be called... 00202 }; 00203 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! 00204 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 00205 00206 00207 inline MC_ID pop_free() { return cmdlist.new_front(); } //!<pulls an entry from cmdlist's free section and returns its index 00208 inline void push_free(MC_ID a) { cmdlist.erase(a); } //!<puts an entry back into cmdlist's free section 00209 00210 MutexLock<MAX_ACCESS> MMlock; //!< The main lock for the class 00211 00212 typedef ListMemBuf<OutputState,MAX_MOTIONS> cmdstatelist_t; //!< shorthand for a list of OutputState's 00213 cmdstatelist_t cmdstates[NumOutputs]; //!< requested positions by each of the MC's for each of the outputs 00214 float cmdSums[NumOutputs]; //!<Holds the final values for the outputs of the last frame generated 00215 OutputCmd cmds[NumOutputs]; //!<Holds the weighted values and total weight for the outputs of the last frame 00216 00217 #ifdef PLATFORM_APERIOS 00218 accID_t numAcc; //!<The number of accessors who have registered with InitAccess() 00219 OSubject* subjs[MAX_ACCESS]; //!<The OSubject for each process (accessor) on which it should be broadcast when a command is added 00220 #endif 00221 00222 static int _MMaccID; //!<Stores the accessor for the current process 00223 00224 private: 00225 MotionManager(const MotionManager&); //!< this shouldn't be called... 00226 MotionManager& operator=(const MotionManager&); //!< this shouldn't be called... 00227 }; 00228 00229 //!anyone who #includes MotionManager.h will be wanting to use the global motman... don't want multiple of these! created by MotoObj 00230 extern MotionManager * motman; 00231 00232 /*! @file 00233 * @brief Describes MotionManager, simplifies sharing of MotionCommand's and provides mutual exclusion to their access 00234 * @author ejt (Creator) 00235 * 00236 * $Author: ejt $ 00237 * $Name: tekkotsu-2_0 $ 00238 * $Revision: 1.19 $ 00239 * $State: Exp $ 00240 * $Date: 2004/01/18 10:16:57 $ 00241 */ 00242 00243 #endif
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