EStopController.h

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//-*-c++-*-
#ifndef INCLUDED_EStopController_h_
#define INCLUDED_EStopController_h_

#include <iostream>
#include "Wireless/Wireless.h"
#include "Behaviors/BehaviorBase.h"
#include "Motion/MotionManager.h"
#include "Events/EventRouter.h"
#include "Events/EventBase.h"
#include "Shared/Config.h"
#include "Shared/ProjectInterface.h"

//! Listens to control commands coming in from the command port for remotely controlling the head
class EStopController : public BehaviorBase {

public: 
  //! Points to the one EStopController object that the input command stream is talking to.
  /*! A kludge. Dunno how you're gonna make sure you're not using this uninitialized. */
  static EStopController * theOne;
  static int callback(char *buf, int bytes); //!< called by wireless when there's new data

public:
  //! constructor
  EStopController()
    : BehaviorBase("EStopController"),
      cmdsock(NULL)
  {
    theOne=this;
  }
  //! destructor
  virtual ~EStopController() {
    theOne=NULL;
  }

  virtual void doStart();

  virtual void doStop();

  virtual void doEvent();

  static std::string getClassDescription() {
    char tmp[20];
    sprintf(tmp,"%d",*config->main.estopControl_port);
    return std::string("Listens to estop commands coming in from port ")+tmp;
  }
  virtual std::string getDescription() const { return getClassDescription(); }

  virtual void runCommand(const std::string& s); //!< processes a string received from wireless

protected:
  //! The input command stream socket
  Socket *cmdsock;

private:
  EStopController(const EStopController&); //!< don't call
  EStopController operator=(const EStopController&); //!< don't call

};

/*! @file
 * @brief Describes EStopController, listens to control commands coming in from the command port for remotely toggling the estop
 * @author tss (Creator)
 */

#endif