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CreateDriver Class Reference

#include <CreateDriver.h>

Inheritance diagram for CreateDriver:

List of all members.


Detailed Description

description of CreateDriver

Definition at line 101 of file CreateDriver.h.


Public Member Functions

 CreateDriver (const std::string &name)
virtual ~CreateDriver ()
virtual std::string getClassName () const
 Returns the name of the class (aka its type).
virtual MotionHookgetMotionSink ()
virtual void getSensorSources (std::map< std::string, DataSource * > &sources)
virtual void motionStarting ()
 Called when motion process is starting.
virtual void motionStopping ()
 Called when motion process is stopping.
virtual void motionCheck (const float outputs[][NumOutputs])
 Called each time the motion process has polled active motion commands.
virtual unsigned int nextTimestamp ()
 returns the simulator time of the next data segment
virtual const std::string & nextName ()
 returns a descriptive name of the next data segment for user feedback
virtual unsigned int getData (const char *&payload, unsigned int &payloadSize, unsigned int &timestamp, std::string &name)
 called to retrieve the most recent data segment, or blocking until new data is available
virtual void setDataSourceThread (LoadDataThread *th)
 called by the LoadDataThread subclass, allows you to register for properties which your subclass may care about
virtual void plistValueChanged (const plist::PrimitiveBase &pl)

Public Attributes

plist::Primitive< std::string > commName

Protected Member Functions

virtual void connect ()
virtual unsigned char readChar (std::istream &is)
virtual short readShort (std::istream &is)
virtual int readPacket (std::istream &is, const char &type)
void provideOutput (unsigned int idx)
 forwards call to DataSource::providingOutput() if the index is valid
void ignoreOutput (unsigned int idx)
 forwards call to DataSource::ignoringOutput() if the index is valid
virtual float getAnalog (unsigned int inputIdx, unsigned char s)
 converts the value s from specified input's signal to voltage
virtual float getDigital (unsigned int inputIdx, unsigned char cur, unsigned char latch)
 converts the value cur and latch to the output format (0 if low, 0.5 if high but has been low, 1 if consistent high)

Protected Attributes

bool motionActive
bool sensorsActive
std::string lastSensor
unsigned int frameNumber

Private Attributes

CreateStatus createStatus

Static Private Attributes

static const std::string autoRegisterCreateDriver = DeviceDriver::getRegistry().registerType<CreateDriver>("Create")
 holds the class name, set via registration with the DeviceDriver registry

Constructor & Destructor Documentation

CreateDriver ( const std::string &  name  )  [inline, explicit]

Definition at line 103 of file CreateDriver.h.

virtual ~CreateDriver (  )  [inline, virtual]

Definition at line 109 of file CreateDriver.h.


Member Function Documentation

virtual std::string getClassName (  )  const [inline, virtual]

Returns the name of the class (aka its type).

Suggested implementation is to declare a static string member, set it to the result of calling the registry's registerType, and then return that member here

Implements DeviceDriver.

Definition at line 111 of file CreateDriver.h.

virtual MotionHook* getMotionSink (  )  [inline, virtual]

Reimplemented from DeviceDriver.

Definition at line 113 of file CreateDriver.h.

virtual void getSensorSources ( std::map< std::string, DataSource * > &  sources  )  [inline, virtual]

Reimplemented from DeviceDriver.

Definition at line 114 of file CreateDriver.h.

void motionStarting (  )  [virtual]

Called when motion process is starting.

Reimplemented from MotionHook.

Definition at line 14 of file CreateDriver.cc.

void motionStopping (  )  [virtual]

Called when motion process is stopping.

Reimplemented from MotionHook.

Definition at line 29 of file CreateDriver.cc.

void motionCheck ( const float  outputs[][NumOutputs]  )  [virtual]

Called each time the motion process has polled active motion commands.

When in realtime mode, this should be called every FrameTime*NumFrames (defined in the RobotInfo) milliseconds if running at full speed. See enteringRealtime() and leavingRealtime().

This default implementation checks to see which outputs have changed value since the last call and passes the summary on to motionUpdated(). lastOutputs will be updated with the new values after the call to motionUpdated().

If you need to process all the outputs on every frame, you only need to override this function. Your subclass doesn't need to call the MotionHook implementation unless you want to have lastOutputs updated for you.

If you only need to process the changed outputs for each frame, override motionUpdated() instead. motionUpdated() is always called for each update, even if there aren't any changes, so you can still use that if there are some outputs which need to be updated every cycle.

Reimplemented from MotionHook.

Definition at line 39 of file CreateDriver.cc.

unsigned int nextTimestamp (  )  [virtual]

returns the simulator time of the next data segment

should be in the future if nothing new since last data segment, otherwise should be the timestamp of the most recent data segment (older segments are skipped), return -1U if there is no more data

See also:
timestamp argument of getData()

Implements DataSource.

Definition at line 117 of file CreateDriver.cc.

virtual const std::string& nextName (  )  [inline, virtual]

returns a descriptive name of the next data segment for user feedback

See also:
name argument of getData()

Implements DataSource.

Definition at line 124 of file CreateDriver.h.

Referenced by getData().

unsigned int getData ( const char *&  payload,
unsigned int &  payloadSize,
unsigned int &  timestamp,
std::string &  name 
) [virtual]

called to retrieve the most recent data segment, or blocking until new data is available

Parameters:
[out] payload on return, should point to beginning of data segment, or NULL if none available
[out] payloadSize on return, should indicate size in bytes of data segment as payload
[in] timestamp the suggested return time; if multiple samples may be taken in the interval, they should be skipped until this time
[out] timestamp on return, should contain the time at which the data arrived (real time stream) or was scheduled to be sent (log on disk)
[out] name on return, a human-readable name for the frame -- e.g. filename for a data file loaded from disk
Returns:
frame serial number, used to tell when frames from the data source have been dropped (indicated by the return value incrementing by more than one)
If no more data is available, set payload to NULL, and return the current frame (i.e. don't increment serial number).

This call should block until data is available. Other functions may be called asynchronously from other threads while in this function, see ThreadNS::Lock to implement mutual exclusion locks if needed.

The input value of timestamp is a suggestion from the user's requested framerate -- try to return the frame closest to it. If it is already past (e.g. 0 on 'advance'), return the current data! If you return a timestamp in the future, the LoadDataThread will sleep until the appropriate time.

Note that this can be called when the source is frozen, which means you should unfreeze, get the current (unread) data or block until the next data, freeze again, and return the data.

Implements DataSource.

Definition at line 390 of file CreateDriver.cc.

void setDataSourceThread ( LoadDataThread th  )  [virtual]

called by the LoadDataThread subclass, allows you to register for properties which your subclass may care about

a pointer to the LoadDataThread is passed when this is becoming the current data source; NULL will be passed when the data source is no longer being used

Reimplemented from DataSource.

Definition at line 474 of file CreateDriver.cc.

void plistValueChanged ( const plist::PrimitiveBase pl  )  [virtual]

Implements PrimitiveListener.

Definition at line 500 of file CreateDriver.cc.

void connect (  )  [protected, virtual]

Definition at line 93 of file CreateDriver.cc.

Referenced by motionStarting(), plistValueChanged(), and setDataSourceThread().

unsigned char readChar ( std::istream &  is  )  [protected, virtual]

Definition at line 124 of file CreateDriver.cc.

Referenced by getData(), and readPacket().

short readShort ( std::istream &  is  )  [protected, virtual]

Definition at line 128 of file CreateDriver.cc.

Referenced by readPacket().

int readPacket ( std::istream &  is,
const char &  type 
) [protected, virtual]

Definition at line 132 of file CreateDriver.cc.

Referenced by getData().

void provideOutput ( unsigned int  idx  )  [inline, protected]

forwards call to DataSource::providingOutput() if the index is valid

Definition at line 140 of file CreateDriver.h.

void ignoreOutput ( unsigned int  idx  )  [inline, protected]

forwards call to DataSource::ignoringOutput() if the index is valid

Definition at line 142 of file CreateDriver.h.

float getAnalog ( unsigned int  inputIdx,
unsigned char  s 
) [protected, virtual]

converts the value s from specified input's signal to voltage

Definition at line 527 of file CreateDriver.cc.

float getDigital ( unsigned int  inputIdx,
unsigned char  cur,
unsigned char  latch 
) [protected, virtual]

converts the value cur and latch to the output format (0 if low, 0.5 if high but has been low, 1 if consistent high)

Definition at line 531 of file CreateDriver.cc.


Member Data Documentation

bool motionActive [protected]

bool sensorsActive [protected]

Definition at line 150 of file CreateDriver.h.

Referenced by motionStopping(), plistValueChanged(), and setDataSourceThread().

std::string lastSensor [protected]

Definition at line 151 of file CreateDriver.h.

Referenced by getData().

unsigned int frameNumber [protected]

Definition at line 152 of file CreateDriver.h.

Referenced by getData().

const std::string autoRegisterCreateDriver = DeviceDriver::getRegistry().registerType<CreateDriver>("Create") [static, private]

holds the class name, set via registration with the DeviceDriver registry

Definition at line 156 of file CreateDriver.h.

Referenced by getClassName().

Definition at line 158 of file CreateDriver.h.

Referenced by getData(), and readPacket().


The documentation for this class was generated from the following files:

Tekkotsu Hardware Abstraction Layer 4.0
Generated Thu Nov 22 01:01:19 2007 by Doxygen 1.5.4