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LedMC.hGo to the documentation of this file.00001 //-*-c++-*- 00002 #ifndef INCLUDED_LedMC_h 00003 #define INCLUDED_LedMC_h 00004 00005 #include "Events/EventBase.h" 00006 #include "Events/EventRouter.h" 00007 #include "MotionCommand.h" 00008 #include "LedEngine.h" 00009 #include "OutputCmd.h" 00010 #include "MotionManager.h" 00011 00012 //! This is just a simple wrapper - you probably want to be looking at LedEngine 00013 /*! This is handy if all you want to do is control the LED's, but since other 00014 * MotionCommands will probably also want to make use of the LEDs, they can 00015 * just use the engine component to do all the work. */ 00016 class LedMC : public MotionCommand, public LedEngine { 00017 public: 00018 //! constructor 00019 LedMC() : MotionCommand(), LedEngine(), notified(true) { setWeights(AllLEDMask,1); } 00020 //! destructor 00021 virtual ~LedMC() {} 00022 00023 virtual void DoStart() { 00024 MotionCommand::DoStart(); 00025 dirty=true; 00026 } 00027 00028 //! updates the cmds from LedEngine::updateLEDs() 00029 virtual int updateOutputs() { 00030 updateLEDFrames(cmds); 00031 #ifdef TGT_HAS_LEDS 00032 for(unsigned int i=0; i<NumLEDs; i++) 00033 if(cmds[i][0].weight!=0) 00034 motman->setOutput(this,i+LEDOffset,cmds[i]); 00035 #endif 00036 if (nextFlashEnd < (unsigned int)-1) // do we have a flash in progress? 00037 notified=false; 00038 else if (notified == false) { // flash has ended (nextFlashEnd == -1), but notice not yet sent 00039 postEvent(EventBase(EventBase::motmanEGID,getID(),EventBase::statusETID)); 00040 notified=true; 00041 }; 00042 return NumLEDs; 00043 } 00044 00045 virtual int isDirty() { return LedEngine::isDirty(); } 00046 00047 virtual int isAlive() { return LedEngine::isDirty() || nextFlashEnd < (unsigned int)-1; } 00048 00049 //! Sets the JointCmd::weight of the LEDs specified by @a leds to @a weight 00050 void setWeights(LEDBitMask_t leds, float weight) { 00051 #ifndef TGT_HAS_LEDS 00052 (void)leds; (void)weight; // avoid unused argument warnings 00053 #else 00054 for(unsigned int i=0; i<NumLEDs; i++) 00055 if((leds>>i)&1) 00056 for(unsigned int f=0; f<NumFrames; f++) 00057 cmds[i][f].weight=weight; 00058 #endif 00059 } 00060 00061 protected: 00062 OutputCmd cmds[NumLEDs][NumFrames]; //!< needed to store weight values of LEDs (useful to mark LEDs as unused) 00063 bool notified; //!< set to true when we've posted a status event for completion of a flash/cflash 00064 }; 00065 00066 /*!@file 00067 * @brief Defines LedMC, which provides a basic MotionCommand wrapper to LedEngine 00068 * @author ejt (Creator) 00069 * 00070 * $Author: ejt $ 00071 * $Name: tekkotsu-4_0 $ 00072 * $Revision: 1.10 $ 00073 * $State: Exp $ 00074 * $Date: 2007/11/18 06:47:03 $ 00075 */ 00076 00077 #endif 00078 00079 // Another way of doing things (this style for everyone else, look at EmergencyStopMC for instance 00080 // But for the main LedMC, this gets out of sync when i change the engine, so i just use inheritance 00081 /* 00082 class LedMC : public MotionCommand, public LedEngine { 00083 public: 00084 LedMC() : MotionCommand() {MCInit(); setPriority(kLowPriority); setWeight(~0,1); } 00085 virtual int updateJointCmds() { return engine.updateLEDs(cmds); } 00086 virtual inline const JointCmd& getJointCmd(unsigned int i) { return (i>=LEDOffset && i<LEDOffset+NumLEDs)?cmds[i-LEDOffset]:unusedJoint; } 00087 virtual int isDirty() { return engine.isDirty(); } 00088 virtual int isAlive() { return true; } 00089 00090 void invert(LEDBitMask_t leds) { engine.invert(leds); } 00091 void cset(LEDBitMask_t leds, float value) { engine.cset(leds,value); } 00092 void set(LEDBitMask_t leds, float value) { engine.set(leds,value); } 00093 void cflash(LEDBitMask_t leds, unsigned int ms=500) { engine.cflash(leds,ms); } 00094 void flash(LEDBitMask_t leds, unsigned int ms=500) { engine.flash(leds,ms); } 00095 void ccycle(LEDBitMask_t leds, unsigned int period, float amp, int offset=0) { engine.ccycle(leds,period,amp,offset); } 00096 void cycle(LEDBitMask_t leds, unsigned int period, float amp, int offset=0) { engine.cycle(leds,period,amp,offset); } 00097 void clear() { engine.clear(); } 00098 void setWeight(LEDBitMask_t leds, float weight) { 00099 for(unsigned int i=0; i<NumLEDs; i++) 00100 if((leds>>i)&1) 00101 cmds[i].weight=weight; 00102 } 00103 00104 float getSetting(LEDOffset_t led_id) { return engine.getSetting(led_id); } 00105 float getValue(LEDOffset_t led_id) { return engine.getValue(led_id); } 00106 00107 protected: 00108 static unsigned int crID; 00109 virtual void setClassRegistrationID(unsigned int id) { crID=id; } 00110 virtual unsigned int getClassRegistrationID() const { return crID; } 00111 00112 LedEngine engine; 00113 00114 JointCmd cmds[NumLEDs]; 00115 }; 00116 */ |
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