WalkController Class Reference

Listens to control commands coming in from the command port for remotely controlling the walk. More...

#include <WalkController.h>

Inheritance diagram for WalkController:

Detailed Description

Listens to control commands coming in from the command port for remotely controlling the walk.

The communication protocol is a very simple binary format, shared with HeadPointControllerBehavior. 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_fwd, CMD_roto, or CMD_side ('f', 'r', or 's' respectively). Others are listed below, but are not currently used.

Definition at line 30 of file WalkController.h.

List of all members.

Public Member Functions
	WalkController ()
	constructor
virtual	~WalkController ()
	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.
void	setKeepGUI (bool b=true)
virtual WalkMC *	getWalkMC ()
	returns the WalkMC which [will be\|is being] used
virtual MotionManager::MC_ID	getWalkID ()
	returns the current Walk's MotionCommand ID
virtual void	doEvent ()
	The only event we could possibly receive is the stop-if-no-heartbeat timer.
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 WalkController *	theOne
Protected Types
enum	{ TIMER_COMM_CHECK, TIMER_COMM_TIMEOUT }
Protected Attributes
SharedObject< WalkMC >	shared_walker
	the WalkMC to use
Private Member Functions
void	runCommand (unsigned char *command)
	Executes a command. Called by mechacmd_callback.
void	shutdown ()
	closes server socket, but skips sending close GUI command
	WalkController (const WalkController &)
	don't call
WalkController	operator= (const WalkController &)
	don't call
Private Attributes
float	dx
	Motion parameter.
float	dy
	Motion parameter.
float	da
	Motion parameter.
bool	keepGUI
	if set to true (default false) then the closeGUI call will be skipped on doStop()
WalkController *	theLastOne
Socket *	cmdsock
	The input command stream socket.
int	sock
	So we can test for remote closure.
Static Private Attributes
Command Bytes

static const char	CMD_fwd = 'f'
	handy symbol for matching incoming communication
static const char	CMD_roto = 'r'
	handy symbol for matching incoming communication
static const char	CMD_side = 's'
	handy symbol for matching incoming communication
static const char	CMD_opt0 = '0'
	handy symbol for matching incoming communication
static const char	CMD_opt1 = '1'
	handy symbol for matching incoming communication
static const char	CMD_opt2 = '2'
	handy symbol for matching incoming communication
static const char	CMD_opt3 = '3'
	handy symbol for matching incoming communication
static const char	CMD_opt4 = '4'
	handy symbol for matching incoming communication
static const char	CMD_opt5 = '5'
	handy symbol for matching incoming communication
static const char	CMD_opt6 = '6'
	handy symbol for matching incoming communication
static const char	CMD_opt7 = '7'
	handy symbol for matching incoming communication
static const char	CMD_opt8 = '8'
	handy symbol for matching incoming communication
static const char	CMD_opt9 = '9'
	handy symbol for matching incoming communication

Member Enumeration Documentation

anonymous enum [protected]

Enumerator:

TIMER_COMM_CHECK
TIMER_COMM_TIMEOUT

Definition at line 40 of file WalkController.h.

Constructor & Destructor Documentation

WalkController::WalkController ( const WalkController & ) [private]

don't call

WalkController::WalkController ( )

constructor

Definition at line 89 of file WalkController.h.

virtual WalkController::~WalkController ( ) [virtual]

destructor

Definition at line 97 of file WalkController.h.

Member Function Documentation

virtual void WalkController::doEvent ( ) [virtual]

The only event we could possibly receive is the stop-if-no-heartbeat timer.

Reimplemented from BehaviorBase.

Definition at line 110 of file WalkController.h.

virtual void WalkController::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.

virtual void WalkController::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.

Referenced by doEvent().

static std::string WalkController::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 124 of file WalkController.h.

Referenced by getDescription().

virtual std::string WalkController::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 129 of file WalkController.h.

virtual MotionManager::MC_ID WalkController::getWalkID ( ) [virtual]

returns the current Walk's MotionCommand ID

Definition at line 107 of file WalkController.h.

Referenced by doEvent().

virtual WalkMC* WalkController::getWalkMC ( ) [virtual]

returns the WalkMC which [will be|is being] used

Definition at line 105 of file WalkController.h.

Referenced by XWalkEdit::XWalkEdit().

static int WalkController::mechacmd_callback	(	char *	buf,
		int	bytes
	)			`[static]`

called by wireless when there's new data

WalkController WalkController::operator= ( const WalkController & ) [private]

don't call

void WalkController::runCommand ( unsigned char * command ) [private]

Executes a command. Called by mechacmd_callback.

void WalkController::setKeepGUI ( bool b = true )

Definition at line 103 of file WalkController.h.

Referenced by XWalkEdit::~XWalkEdit().

void WalkController::shutdown ( ) [private]

closes server socket, but skips sending close GUI command

Referenced by doEvent().