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Controller.hGo to the documentation of this file.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>' - sends <i>text</i> out as a TextMsgEvent; also note that any text entered on the console port while a GUI is also connected will also be sent as a TextMsgEvent, without needing the !input. 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>\\n' 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(text) on the currently hilighted control(s) 00031 * - '<tt>!set </tt><i>section</i><tt>.</tt><i>key</i><tt>=</tt><i>value</i>' - will be sent to Config::setValue(<i>section</i>,<i>key</i>,<i>value</i>) 00032 * - any text not beginning with '<tt>!</tt>' - sent to ControlBase::takeInput() of the current control 00033 * 00034 * In return, to send the menus to the GUI, the following messages are sent: (newlines are required where shown) 00035 * - '<tt>push</tt>' - signals a submenu has been activated 00036 * - '<tt>pop</tt>' - signals a submenu has been closed 00037 * - '<tt>refresh</tt>\n 00038 * <i>text:title</i>\n 00039 * <i>int:numitems</i>\n 00040 * <i>bool:hasSubmenus</i><sub>1</sub>\n 00041 * <i>bool:hilighted</i><sub>1</sub>\n 00042 * <i>text:item-title</i><sub>1</sub>\n 00043 * <i>text:item-description</i><sub>1</sub>\n 00044 * ...\n 00045 * <i>bool:hasSubmenus<sub>numitems</sub></i>\n 00046 * <i>bool:hilighted<sub>numitems</sub></i>\n 00047 * <i>text:item-title<sub>numitems</sub></i>\n 00048 * <i>text:item-description<sub>numitems</sub></i>' - refreshes the current menu\n 00049 * - '<tt>status</tt>\n 00050 * <i>text</i>' - sets the status bar to <i>text</i> (until the next refresh) 00051 * - '<tt>load</tt>\n 00052 * <i>text:classname</i>\n 00053 * <i>text:instancename</i>\n 00054 * <i>int:port</i>\n 00055 * [<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. 00056 * <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> 00057 * the argument list is parsed as if it were on the console - unescaped or unquoted spaces will separate args into elements in the array 00058 * - '<tt>close</tt>\n 00059 * <i>text:instancename</i>' - calls <tt>close()</tt> on an object previously created by a <tt>load</tt> message. 00060 * The Java object is expected to contain a function <tt>void close()</tt>. 00061 * - '<tt>goodbye</tt>' - Indicates the connection is about to be closed purposefully, to differentiate from an accidental cut off. 00062 * 00063 * bool types are expected to be numerical values, 0 for false, 00064 * non-zero for true. 00065 * 00066 * <tt>load</tt> and <tt>close</tt> are intended to allow pop-up 00067 * windows for custom displays. 00068 * 00069 * The upstream is the responsibility of the individual Controls, but 00070 * the protocol is listed here to keep it together. When a control's 00071 * state changes, it's that control's responsiblity to refresh the UI 00072 * (LEDs, console, and GUI as appropriate). Thus, future extensions 00073 * to the upstream protocol are between the control which will use it 00074 * and the GUI. Future extensions to the downstream protocol would 00075 * involve changing Controller and the GUI. 00076 * 00077 * The Controller may connect to serr in the future to pop-up an alert 00078 * anytime output to serr occurs. 00079 * 00080 * Note that all state is maintained on the robot - even if the GUI 00081 * is connected, you can still use the buttons to interact with the 00082 * controller, and the GUI will update to reflect the changes. In 00083 * HCI (Human Computer Interaction) parlance, this is the MVC, 00084 * Model-View-Controller architecture, almost by necessity. (HCI 00085 * happens to be my double major when I was an undergrad ;) 00086 * 00087 * Also, the Controller is responsible for sending out TextMsgEvents 00088 * from user input it receives - either a !msg command from the 00089 * console or GUI, or <i>any text at all</i> which is received on the 00090 * console if there is already a GUI connected. 00091 * 00092 * These TextMsgEvents are always status events, and the duration 00093 * field is always 0. 00094 */ 00095 class Controller : public BehaviorBase, public EventTrapper { 00096 public: 00097 Controller() : BehaviorBase("Controller"), EventTrapper(), 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 00098 Controller(ControlBase* r) : BehaviorBase("Controller"), EventTrapper(), 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 00099 virtual ~Controller() { 00100 cout << "~Controller()..." << endl; 00101 delete root; 00102 theOneController=NULL; 00103 cout << "~Controller()-DONE" << endl; 00104 } //!< Destructor 00105 00106 //@{ 00107 //! event masks used by processEvent() 00108 static EventBase nextItem; 00109 static EventBase prevItem; 00110 static EventBase nextItemFast; 00111 static EventBase prevItemFast; 00112 static EventBase selectItem; 00113 static EventBase cancel; //@} 00114 00115 virtual void DoStart(); //!< register for events and resets the cmdstack 00116 virtual void DoStop(); //!< stop listening for events and resets the cmdstack 00117 virtual bool trapEvent(const EventBase& e); //!< passes an event to the top control 00118 virtual void processEvent(const EventBase& e); //!< just for e-stop activation/deactivation 00119 00120 void reset(); //!< will take the command stack back down to the root 00121 void refresh(); //!< refreshes the display, for times like sub-control dying, the previous control needs to reset it's display 00122 00123 void push(ControlBase* c); //!< puts a new control on top 00124 void pop(); //!< kills the top control, goes to previous 00125 ControlBase* top() { return cmdstack.top(); } //!< returns the current control 00126 00127 Controller& setRoot(ControlBase* r); //!< sets the root level control 00128 00129 Controller& setEStopID(MotionManager::MC_ID estopid); //!< Sets the emergency stop MC to monitor for pausing 00130 00131 static std::string getClassDescription() { return "Provides interface for activating/deactivating controls (and through them, behaviors)"; } 00132 virtual std::string getDescription() const { return getClassDescription(); } 00133 00134 00135 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 00136 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 00137 static void closeGUI(const std::string& name); //!< calls close() on a Java object loaded with loadGUI() (on the desktop) 00138 00139 static int gui_comm_callback(char *buf, int bytes); //!< called by wireless when there's new data from the GUI 00140 static int console_callback(char *buf, int bytes); //!< called by wireless when someone has entered new data on the tekkotsu console (NOT cin) 00141 00142 protected: 00143 //! assigns appropriate values to the static event bases 00144 void init(); 00145 00146 //! called with each line that's entered on the tekkotsu console or from the GUI 00147 void takeLine(const std::string& s); 00148 00149 //! sets a config value - some values may require additional processing (done here) to have the new values take effect 00150 int setConfig(const char *str); 00151 00152 //! maintains top Control 00153 /*! @param next one of: @li NULL: pop() ::cmdstack @li ::cmdstack.top(): nothing @li other address: ::push(@a next) 00154 * @return true, all the time, for convenience from trapEvent() */ 00155 bool setNext(ControlBase* next); 00156 00157 //! called when the estop switches on 00158 /*! causes the top control to activate, registers for button events */ 00159 void activate(); 00160 00161 //! called when the estop switches off\n 00162 /*! causes the top control to deactivate, stops listening for buttons */ 00163 void deactivate(); 00164 00165 //! @brief returns true if a valid control is available on the stack 00166 /*! if the stack is empty, will push root if it's non-null */ 00167 bool chkCmdStack(); 00168 00169 //! invalid_MC_ID if not active, otherwise id of high priority LEDs 00170 MotionManager::MC_ID display; 00171 00172 //! the EmergencyStopMC MC_ID that this Controller is monitoring 00173 MotionManager::MC_ID estop_id; 00174 00175 //! the base control, if cmdstack underflows, it will be reset to this 00176 ControlBase * root; 00177 00178 /*! @brief the stack of the current control hierarchy\n 00179 * should never contain NULL entries */ 00180 std::stack< ControlBase* > cmdstack; 00181 00182 //! returns true when the current time and last time are in different periods 00183 static bool calcPulse(unsigned int t, unsigned int last, unsigned int period) { 00184 if(period<t-last) 00185 return true; 00186 bool nextclock=(t/period)&1; 00187 bool lastclock=(last/period)&1; 00188 return (lastclock!=nextclock); 00189 } 00190 00191 00192 unsigned int last_time; //!< the time of the last event 00193 unsigned int cur_time; //!< the time of the current event (do*() can check this instead of calling get_time() ) 00194 float nextEv_val; //!< the magnitude of the last next event (::nextItem) 00195 unsigned int nextEv_dur; //!< the duration of the last next event (::nextItem) 00196 float prevEv_val; //!< the magnitude of the last prev event (::prevItem) 00197 unsigned int prevEv_dur; //!< the duration of the last prev event (::prevItem) 00198 bool alreadyGotBoth; //!< if doReadStdIn() was already called, but the buttons are both still down 00199 bool isControlling; //!< true if the Controller is currently active (in the activate()/deactivate() sense, not DoStart()/DoStop() sense - use isActive() for that...) 00200 00201 Socket * gui_comm; //!< the socket to listen on for the gui 00202 static Controller * theOneController; //!< currently can't pull connection socket off of server socket, so only one Controller 00203 00204 private: 00205 Controller(const Controller&); //!< shouldn't be called... 00206 Controller& operator=(const Controller&); //!< shouldn't be called... 00207 }; 00208 00209 /*! @file 00210 * @brief Describes Controller class, a behavior that should be started whenever the emergency stop goes on to provide menus for robot control 00211 * @author ejt (Creator) 00212 * 00213 * $Author: ejt $ 00214 * $Name: tekkotsu-2_2_2 $ 00215 * $Revision: 1.31 $ 00216 * $State: Exp $ 00217 * $Date: 2004/11/11 01:45:31 $ 00218 */ 00219 00220 #endif |
Tekkotsu v2.2.2 |
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