KobukiDriver Class Reference
#include <KobukiDriver.h>
Detailed Description
Definition at line 157 of file KobukiDriver.h.
Public Member Functions | |
| KobukiDriver (const std::string &name) | |
| virtual | ~KobukiDriver () |
| virtual std::string | getClassName () const |
| Returns the name of the class (aka its type). | |
| virtual MotionHook * | getMotionSink () |
| virtual void | getSensorSources (std::map< std::string, DataSource * > &sources) |
| virtual void | motionStarting () |
| Called when motion process is starting. | |
| virtual bool | isConnected () |
| Should return true if the MotionHook is successfully connected to physical hardware. | |
| 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 (e.g. a filename for logged data). | |
| virtual bool | advance () |
| Called when the simulator is stepping while paused or advancing a frozen data source, return true if successful, or false if no more data is available. | |
| virtual void | registerSource () |
| User hook, called when the data source should claim which outputs it provides feedback (providingOuput()). | |
| virtual void | deregisterSource () |
| User hook, called when the data source should release its claim on outputs with feedback (ignoringOuput()). | |
| virtual bool | readPacket (std::istream &is) |
| virtual void | packetParser (unsigned char packet[], const unsigned int packetLenght) |
| virtual void | enteringRealtime (const plist::Primitive< double > &simTimeScale) |
| User hook, called when the controller is going to be running in realtime mode, which is probably the normal mode you'd expect. | |
| virtual void | leavingRealtime (bool isFullSpeed) |
| User hook, called when leaving realtime mode, which means you have no idea when motionCheck() is going to be called in terms of wall-clock time. | |
| virtual void | plistValueChanged (const plist::PrimitiveBase &pl) |
Public Attributes | |
| plist::Primitive< std::string > | commName |
Protected Member Functions | |
| void | doFreeze () |
| user hook for when frozen is set to true; advance() will be called by simulator at user discretion. | |
| void | doUnfreeze () |
| user hook for when frozen is set to false; if enteringRealtime() has been called then you should resume sending data. | |
| virtual bool | sendCommand (std::vector< unsigned char > bytes, unsigned int timeout) |
| virtual void | connect () |
Protected Attributes | |
| float | ledActivation [NumLEDs] |
| used to track partial LED activation (see calcLEDValue()) | |
| CallbackPollThread | poller |
| bool | motionActive |
| bool | sensorsActive |
| unsigned int | frameNumber |
| unsigned char | lastDesiredMode |
Private Attributes | |
| unsigned int | lastPollTime |
Static Private Attributes | |
| static const std::string | autoRegisterKobukiDriver |
| holds the class name, set via registration with the DeviceDriver registry | |
| static const int | PACKET_LENGTH = 52+4 |
| static const unsigned int | pollInterval = 250 |
Constructor & Destructor Documentation
| KobukiDriver | ( | const std::string & | name | ) | [explicit] |
Definition at line 159 of file KobukiDriver.h.
| virtual ~KobukiDriver | ( | ) | [virtual] |
Definition at line 167 of file KobukiDriver.h.
Member Function Documentation
| virtual bool advance | ( | ) | [virtual] |
Called when the simulator is stepping while paused or advancing a frozen data source, return true if successful, or false if no more data is available.
Implements DataSource.
| virtual void connect | ( | ) | [protected, virtual] |
| virtual void deregisterSource | ( | ) | [virtual] |
User hook, called when the data source should release its claim on outputs with feedback (ignoringOuput()).
It would be wise to call this from your destructor as well.
Reimplemented from DataSource.
| void doFreeze | ( | ) | [protected, virtual] |
user hook for when frozen is set to true; advance() will be called by simulator at user discretion.
Reimplemented from DataSource.
| void doUnfreeze | ( | ) | [protected, virtual] |
user hook for when frozen is set to false; if enteringRealtime() has been called then you should resume sending data.
Reimplemented from DataSource.
| virtual void enteringRealtime | ( | const plist::Primitive< double > & | ) | [virtual] |
User hook, called when the controller is going to be running in realtime mode, which is probably the normal mode you'd expect.
You might be in realtime mode, but a debugger breakpoint will still pause things, or thread scheduling could hiccup, so try to be robust.
The argument is a reference to SharedGlobals::timeScale, so the data source can subscribe to changes in simulation speed if it can use that information. (We avoid direct dependency on the tekkotsu simulator so this code can be reused for other tools too.)
Reimplemented from DataSource.
Definition at line 192 of file KobukiDriver.h.
| virtual std::string getClassName | ( | ) | const [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 169 of file KobukiDriver.h.
| virtual MotionHook* getMotionSink | ( | ) | [virtual] |
Reimplemented from DeviceDriver.
Definition at line 171 of file KobukiDriver.h.
| virtual void getSensorSources | ( | std::map< std::string, DataSource * > & | sources | ) | [virtual] |
Reimplemented from DeviceDriver.
Definition at line 173 of file KobukiDriver.h.
| virtual bool isConnected | ( | ) | [virtual] |
Should return true if the MotionHook is successfully connected to physical hardware.
If relevant, this will only be called after motionStarting() has been called in order to initialize a connection.
This is used mainly to cancel out of the WaitForSensors if all MotionHooks return false. If you are still in the process of connecting or unsure of status, be optimistic and return true. This function will be polled at a coarse rate while blocked on sensors in case of timeouts on the part of the MotionHook render it moot.
Implements MotionHook.
| virtual void leavingRealtime | ( | bool | ) | [virtual] |
User hook, called when leaving realtime mode, which means you have no idea when motionCheck() is going to be called in terms of wall-clock time.
Argument set to true if entering full speed mode, which indicates everything should run at full native "frame rate", and may indicate more data will be processed than normal, CPU speed permitting. However, if false, almost certainly indicates updates will be sparse, trigger by user 'step' commands. May be called multiple times if changing between full-speed mode and paused
A non-realtime mode might be triggered if the user wants to pause the simulator/controller to step through something... No guarantees though! The debugger might catch a breakpoint and stop things, and this won't be called!
Reimplemented from DataSource.
Definition at line 193 of file KobukiDriver.h.
| virtual 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.
| virtual void motionStarting | ( | ) | [virtual] |
Called when motion process is starting.
Reimplemented from MotionHook.
| virtual void motionStopping | ( | ) | [virtual] |
Called when motion process is stopping.
Reimplemented from MotionHook.
| virtual const std::string& nextName | ( | ) | [virtual] |
Returns a descriptive name of the next data segment for user feedback (e.g. a filename for logged data).
Just use your class name if you don't have a useful name for individual samples.
Implements DataSource.
Definition at line 184 of file KobukiDriver.h.
| virtual 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
Implements DataSource.
| virtual void packetParser | ( | unsigned char | packet[], | |
| const unsigned int | packetLenght | |||
| ) | [virtual] |
| virtual void plistValueChanged | ( | const plist::PrimitiveBase & | pl | ) | [virtual] |
Implements PrimitiveListener.
| virtual bool readPacket | ( | std::istream & | is | ) | [virtual] |
| virtual void registerSource | ( | ) | [virtual] |
User hook, called when the data source should claim which outputs it provides feedback (providingOuput()).
Does not indicate the data source should start sending updates yet — wait for enteringRealtime() or advance() to be called
Reimplemented from DataSource.
| virtual bool sendCommand | ( | std::vector< unsigned char > | bytes, | |
| unsigned int | timeout | |||
| ) | [protected, virtual] |
Member Data Documentation
const std::string autoRegisterKobukiDriver [static, private] |
holds the class name, set via registration with the DeviceDriver registry
Definition at line 219 of file KobukiDriver.h.
Referenced by getClassName().
| plist::Primitive<std::string> commName |
Definition at line 197 of file KobukiDriver.h.
Referenced by KobukiDriver().
unsigned int frameNumber [protected] |
Definition at line 214 of file KobukiDriver.h.
unsigned char lastDesiredMode [protected] |
Definition at line 216 of file KobukiDriver.h.
unsigned int lastPollTime [private] |
Definition at line 223 of file KobukiDriver.h.
float ledActivation[NumLEDs] [protected] |
used to track partial LED activation (see calcLEDValue())
Definition at line 208 of file KobukiDriver.h.
bool motionActive [protected] |
Definition at line 212 of file KobukiDriver.h.
const int PACKET_LENGTH = 52+4 [static, private] |
Definition at line 221 of file KobukiDriver.h.
CallbackPollThread poller [protected] |
Definition at line 210 of file KobukiDriver.h.
const unsigned int pollInterval = 250 [static, private] |
Definition at line 224 of file KobukiDriver.h.
bool sensorsActive [protected] |
Definition at line 213 of file KobukiDriver.h.
The documentation for this class was generated from the following file:
