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MotionManager.h

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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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