HeadController Class Reference
Listens to control commands coming in from the command port for remotely controlling the head. More...
#include <HeadController.h>
Detailed Description
Listens to control commands coming in from the command port for remotely controlling the head.
The communication protocol is a very simple binary format, shared with WalkControllerBehavior. Each command is sent as a 5-byte group. The first byte is a command selector, and the following 4 bytes are a floating point argument:
- <
char:command indicator> - <
float:value>
The valid values for command indicator are given by CMD_tilt, CMD_pan, or CMD_roll ('t', 'p', or 'r' respectively).
Definition at line 25 of file HeadController.h.
Public Member Functions | |
| HeadController () | |
| constructor | |
| virtual | ~HeadController () |
| destructor | |
| virtual void | doStart () |
| Delegate function for subclasses to be notified when the behavior starts up. | |
| virtual void | doStop () |
| Delegate function for subclasses to be notified when the behavior starts up. | |
| virtual std::string | getDescription () const |
| Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis). | |
Static Public Member Functions | |
| static int | mechacmd_callback (char *buf, int bytes) |
| called by wireless when there's new data | |
| static std::string | getClassDescription () |
| Gives a short description of what this class of behaviors does... you should override this (but don't have to). | |
Static Public Attributes | |
| static HeadController * | theOne = NULL |
Protected Attributes | |
| MotionManager::MC_ID | head_id |
| the HeadPointerMC to use | |
Private Member Functions | |
| void | runCommand (unsigned char *command) |
| Executes a command. Called by mechacmd_callback. | |
| HeadController (const HeadController &) | |
| don't call | |
| HeadController | operator= (const HeadController &) |
| don't call | |
Private Attributes | |
| float | t |
| head parameter | |
| float | p |
| head parameter | |
| float | r |
| head parameter | |
| HeadController * | theLastOne |
| Socket * | cmdsock |
| The input command stream socket. | |
Static Private Attributes | |
Command Bytes | |
| static const char | CMD_tilt = 't' |
| handy symbol for matching incoming communication | |
| static const char | CMD_pan = 'p' |
| handy symbol for matching incoming communication | |
| static const char | CMD_roll = 'r' |
| handy symbol for matching incoming communication | |
Constructor & Destructor Documentation
| HeadController::HeadController | ( | const HeadController & | ) | [private] |
don't call
| HeadController::HeadController | ( | ) |
constructor
Definition at line 66 of file HeadController.h.
| virtual HeadController::~HeadController | ( | ) | [virtual] |
destructor
Definition at line 74 of file HeadController.h.
Member Function Documentation
| void HeadController::doStart | ( | ) | [virtual] |
Delegate function for subclasses to be notified when the behavior starts up.
Should be overridden by subclasses to subscribe to events, install motion commands, etc.
doStart() is basically a hook to allow subclasses to jump in and do some customization of behavior parameters while the behavior is starting. If you are writing a behavior class and do not expect further derivation, just override doStart() yourself. However, if you do expect further derivation of your class, consider using preStart() or postStart() instead, and leave doStart() for the 'leaf' classes.
Reimplemented from BehaviorBase.
Definition at line 96 of file HeadController.cc.
| void HeadController::doStop | ( | ) | [virtual] |
Delegate function for subclasses to be notified when the behavior starts up.
May be overridden to cleanup when the behavior is shutting down. However events will automatically be unsubscribed, and by using addMotion(), motions will automatically be removed by stop(), so you may not need any cleanup.
Reimplemented from BehaviorBase.
Definition at line 114 of file HeadController.cc.
| static std::string HeadController::getClassDescription | ( | ) | [static] |
Gives a short description of what this class of behaviors does... you should override this (but don't have to).
If you do override this, also consider overriding getDescription() to return it
Reimplemented from BehaviorBase.
Definition at line 80 of file HeadController.h.
Referenced by getDescription().
| virtual std::string HeadController::getDescription | ( | ) | const [virtual] |
Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).
By default simply returns getName(), because any calls from a BehaviorBase function to getClassDescription() are going to call BehaviorBase::getClassDescription(), not ~YourSubClass~getClassDescription(), because static functions can't be virtual in C++ (doh!)
This means that getDescription called on a pointer to a BehaviorBase of unknown subtype would always return an empty string, which is pretty useless. So instead we return the name in this situation. If you want getDescription to return getClassDescription, you'll have to override it in your subclass to do so.
Reimplemented from BehaviorBase.
Definition at line 85 of file HeadController.h.
| int HeadController::mechacmd_callback | ( | char * | buf, | |
| int | bytes | |||
| ) | [static] |
called by wireless when there's new data
Definition at line 130 of file HeadController.cc.
Referenced by doStart().
| HeadController HeadController::operator= | ( | const HeadController & | ) | [private] |
don't call
| void HeadController::runCommand | ( | unsigned char * | command | ) | [private] |
Executes a command. Called by mechacmd_callback.
Definition at line 16 of file HeadController.cc.
Referenced by mechacmd_callback().
Member Data Documentation
const char HeadController::CMD_pan = 'p' [static, private] |
handy symbol for matching incoming communication
Definition at line 40 of file HeadController.h.
Referenced by runCommand().
const char HeadController::CMD_roll = 'r' [static, private] |
handy symbol for matching incoming communication
Definition at line 41 of file HeadController.h.
Referenced by runCommand().
const char HeadController::CMD_tilt = 't' [static, private] |
handy symbol for matching incoming communication
Definition at line 39 of file HeadController.h.
Referenced by runCommand().
Socket* HeadController::cmdsock [private] |
The input command stream socket.
Definition at line 56 of file HeadController.h.
MotionManager::MC_ID HeadController::head_id [protected] |
the HeadPointerMC to use
Definition at line 35 of file HeadController.h.
Referenced by doStart(), doStop(), and runCommand().
float HeadController::p [private] |
float HeadController::r [private] |
float HeadController::t [private] |
HeadController* HeadController::theLastOne [private] |
The last HPCB object that was theOne, so we can restore it to prominence when we die. This is a nice gesture, but it doesn't really make sense since we're all using the same port. But just in case something changes and we don't do that, this mechanism is in place.
Definition at line 53 of file HeadController.h.
Referenced by doStart(), doStop(), and ~HeadController().
HeadController * HeadController::theOne = NULL [static] |
Points to the one HeadController object that the input command stream is talking to. A kludge. Dunno how you're gonna make sure you're not using this uninitialized.
Definition at line 31 of file HeadController.h.
Referenced by doStart(), doStop(), and ~HeadController().
The documentation for this class was generated from the following files:
