Simulator Class Reference

#include <Simulator.h>

Inheritance diagram for Simulator:

Detailed Description

Definition at line 22 of file Simulator.h.

Classes
class	CommandThread
class	FrameCounter
	subscribed by Simulator to message queue's send; ensures that SharedGlobals::MotionSimConfig::frameNumber stays in sync with the message serial number More...
class	MotionMonitorThread
class	SyncDataThread
Public Member Functions
	Simulator ()
	constructor
	~Simulator ()
virtual void	doStart ()
virtual void	doStop ()
virtual void	run ()
virtual void	plistValueChanged (const plist::PrimitiveBase &pl)
virtual void	plistCollectionEntryAdded (plist::Collection &col, plist::ObjectBase &primitive)
virtual void	plistCollectionEntryRemoved (plist::Collection &col, plist::ObjectBase &primitive)
virtual void	plistCollectionEntriesChanged (plist::Collection &col)
virtual void	messagesRead (MessageQueueBase &mq, unsigned int n)
Static Public Member Functions
static const char *	getClassName ()
static ProcessID::ProcessID_t	getID ()
static const char *	getCameraQueueID ()
static const char *	getSensorQueueID ()
static const char *	getTimerWakeupID ()
static const char *	getMotionWakeupID ()
static const char *	getStatusRequestID ()
static const char *	getCommandQueueID ()
static void	sendCommand (const std::string &cmd)
static void	registerMotionHook (MotionHook &h)
	Registers the MotionHook to have its motionCheck() called following each motion update.
static void	deregisterMotionHook (MotionHook &h)
	Removes the MotionHook from the list, no longer receives any notifications.
static void	clearMotionHooks ()
static void	setMotionStarting ()
static void	setMotionStopping ()
static void	updateMotion (const float outputs[][NumOutputs])
static void	updatePIDs (const std::vector< MotionHook::PIDUpdate > &pids)
static void	setMotionLeavingRealtime (bool isFullSpeed)
static void	setMotionEnteringRealtime ()
Static Public Attributes
static MotionMonitorThread *	motionHookMonitor = NULL
Protected Types
enum	step_t { STEP_NONE, STEP_CAMERA, STEP_SENSOR, STEP_TIMER, STEP_MOTION }
typedef void(DeviceDriver::*	getDataSources_t )(std::map< std::string, DataSource * > &)
typedef MessageQueue< 10 >	CommandQueue_t
Protected Member Functions
template<typename T >
void	abortable (const T &fn)
	blocks until the thread is either aborted by the user via cmdThread (i.e. shutdown) or completes successfully
template<typename T , typename C >
void	abortable (const T &fn, C &userdata)
	blocks until the thread is either aborted by the user via cmdThread (i.e. shutdown) or completes successfully
template<typename T , typename C >
void	abortable (const T &fn, const C &userdata)
	blocks until the thread is either aborted by the user via cmdThread (i.e. shutdown) or completes successfully
bool	sendSensor (bool syncCall)
unsigned int	nextVisionTime ()
unsigned int	nextSensorTime ()
void	incrementTime ()
void	sendTimerWakeup ()
unsigned int	getNextFrame ()
void	resetSpeedMode ()
void	processRunlevel (SharedGlobals::runlevel_t curRunLevel)
bool	processCommand (const std::string &line, bool addToHistory)
	process an individual command
void	updateDataSources (std::set< std::string > &active, std::set< DataSource * > &activeSrcs, const plist::ArrayOf< plist::Primitive< std::string > > &requested, getDataSources_t getDataSources)
void	lookupDataSource (const std::string &name, getDataSources_t getDataSources, std::set< DataSource * > &dataSrcs, std::string &errStr)
std::string	lookupDataSourceName (const DataSource *src) const
void	cmdQuit (const std::vector< std::string > &args)
void	cmdLoad (const std::vector< std::string > &args)
void	cmdSave (const std::vector< std::string > &args)
void	cmdRunlevel (const std::vector< std::string > &args)
bool	cmdPrint (const std::vector< std::string > &args)
bool	cmdSet (const std::vector< std::string > &args)
void	cmdRun (const std::vector< std::string > &args, bool isRelative)
void	cmdRun (const std::vector< std::string > &args)
void	cmdPause (const std::vector< std::string > &args)
void	cmdHelp (const std::vector< std::string > &args)
void	cmdStep (const std::vector< std::string > &args)
void	cmdStatus (const std::vector< std::string > &args)
void	cmdAdvance (const std::vector< std::string > &args)
void	cmdFreeze (bool v, const std::vector< std::string > &args)
void	cmdReset (const std::vector< std::string > &args)
void	cmdNew (const std::vector< std::string > &args)
void	cmdDelete (const std::vector< std::string > &args)
void	cmdPost (const std::vector< std::string > &args)
void	cmdMsg (const std::vector< std::string > &args)
Static Protected Member Functions
static void	replaceEntry (const std::string &name, plist::Dictionary &d, const std::string &comment)
static void	syncSensors ()
	this is registered as a callback with DataSource::resourceSync so we send notifications immediately following updates, cutting latency
static bool	gotCommand (RCRegion *msg)
	for commands coming from other processes via commandQueue and commandrecv
static bool	gotMotion (RCRegion *msg)
	when running in multi-process mode, receives output value updates from motion process
static bool	gotMotionPIDs (RCRegion *msg)
	when running in multi-process mode, receives output PID updates from motion process
Protected Attributes
Simulator::FrameCounter	frameCounter
	subscribed by Simulator to message queue's send; ensures that SharedGlobals::MotionSimConfig::frameNumber stays in sync with the message serial number
Simulator::CommandThread	cmdThread
SyncDataThread	sensorThread
bool	sendSensorSent
SharedObject< sim::CameraQueue_t >	cameraQueue
SharedObject< sim::SensorQueue_t >	sensorQueue
SharedObject< sim::TimerWakeup_t >	timerWakeup
SharedObject< sim::MotionWakeup_t >	motionWakeup
SharedObject < sim::StatusRequest_t >	statusRequest
SharedObject< SoundManager >	soundmanager
SharedObject < sim::SoundPlayQueue_t >	sounds
SharedObject< sim::EventQueue_t >	events
SharedObject< sim::MotionOutput_t >	motionout
SharedObject < sim::MotionOutputPIDs_t >	motionoutpids
SharedObject< CommandQueue_t >	commandQueue
MessageQueueStatusThread	cameraStatus
MessageQueueStatusThread	sensorStatus
MessageQueueStatusThread	timerStatus
MessageQueueStatusThread	motionStatus
MessageQueueStatusThread	eventsStatus
IPCEventTranslator *	etrans
MessageReceiver *	commandrecv
MessageReceiver *	motionrecv
MessageReceiver *	motionpidsrecv
std::set< unsigned int >	frameTimes
double	runSpeed
double	lastTimeScale
step_t	step
unsigned int	waitingSteps
SharedGlobals::runlevel_t	curLevel
std::set< std::string >	activeSensors
std::set< DataSource * >	activeSensorSrcs
std::set< std::string >	activeCameras
std::set< DataSource * >	activeCameraSrcs
TimeET	fullspeedWallStart
	"real" wall-clock time that full-speed mode was entered
unsigned int	fullspeedSimStart
	simulator time at which full-speed mode was entered
TimeET	lastFrameWallStart
	"real" wall-clock time that processing started on last frame (only valid in full-speed mode)
float	avgWallTime
	running average of frame processing time
float	avgSimTime
	running average of frame increments
Thread::Lock	simLock
Static Protected Attributes
static Simulator *	theSim = NULL
static std::set< MotionHook * >	motionHooks
static const float	avgSpeedupGamma = .99f
	gamma parameter for calculating running average in avgWallTime and avgSimTime
Private Member Functions
	Simulator (const Simulator &)
	don't call (copy constructor)
Simulator &	operator= (const Simulator &)
	don't call (assignment operator)

Member Typedef Documentation

typedef MessageQueue<10> CommandQueue_t [protected]

Definition at line 227 of file Simulator.h.

typedef void(DeviceDriver::* getDataSources_t)(std::map< std::string, DataSource * > &) [protected]

Definition at line 192 of file Simulator.h.

Member Enumeration Documentation

enum step_t [protected]

Enumerator:

STEP_NONE
STEP_CAMERA
STEP_SENSOR
STEP_TIMER
STEP_MOTION

Definition at line 173 of file Simulator.h.

Constructor & Destructor Documentation

Simulator ( )

constructor

Definition at line 41 of file Simulator.cc.

~Simulator ( )

Definition at line 149 of file Simulator.cc.

Simulator ( const Simulator & ) [private]

don't call (copy constructor)

Member Function Documentation

void abortable	(	const T &	fn,
		const C &	userdata
	)			`[protected]`

blocks until the thread is either aborted by the user via cmdThread (i.e. shutdown) or completes successfully

Definition at line 134 of file Simulator.h.

void abortable	(	const T &	fn,
		C &	userdata
	)			`[protected]`

blocks until the thread is either aborted by the user via cmdThread (i.e. shutdown) or completes successfully

Definition at line 128 of file Simulator.h.

void abortable ( const T & fn ) [protected]

blocks until the thread is either aborted by the user via cmdThread (i.e. shutdown) or completes successfully

Definition at line 122 of file Simulator.h.

Referenced by doStart(), and run().

static void clearMotionHooks ( ) [static]

Definition at line 66 of file Simulator.h.

void cmdAdvance ( const std::vector< std::string > & args ) [protected]

Definition at line 1521 of file Simulator.cc.

Referenced by processCommand().

void cmdDelete ( const std::vector< std::string > & args ) [protected]

Definition at line 1692 of file Simulator.cc.

Referenced by processCommand().

void cmdFreeze	(	bool	v,
		const std::vector< std::string > &	args
	)			`[protected]`

Definition at line 1593 of file Simulator.cc.

Referenced by processCommand().

void cmdHelp ( const std::vector< std::string > & args ) [protected]

Definition at line 1255 of file Simulator.cc.

Referenced by processCommand().

void cmdLoad ( const std::vector< std::string > & args ) [protected]

Definition at line 1115 of file Simulator.cc.

Referenced by processCommand().

void cmdMsg ( const std::vector< std::string > & args ) [protected]

Definition at line 1797 of file Simulator.cc.

Referenced by processCommand().

void cmdNew ( const std::vector< std::string > & args ) [protected]

Definition at line 1642 of file Simulator.cc.

Referenced by processCommand().

void cmdPause ( const std::vector< std::string > & args ) [protected]

Definition at line 1246 of file Simulator.cc.

Referenced by processCommand().

void cmdPost ( const std::vector< std::string > & args ) [protected]

Definition at line 1742 of file Simulator.cc.

Referenced by processCommand().

bool cmdPrint ( const std::vector< std::string > & args ) [protected]

Definition at line 1170 of file Simulator.cc.

Referenced by processCommand().

void cmdQuit ( const std::vector< std::string > & args ) [protected]

Definition at line 1110 of file Simulator.cc.

Referenced by processCommand(), and CommandThread::run().

void cmdReset ( const std::vector< std::string > & args ) [protected]

Definition at line 1619 of file Simulator.cc.

Referenced by processCommand().

void cmdRun ( const std::vector< std::string > & args ) [protected]

Definition at line 1232 of file Simulator.cc.

void cmdRun	(	const std::vector< std::string > &	args,
		bool	isRelative
	)			`[protected]`

Definition at line 1220 of file Simulator.cc.

Referenced by processCommand().

void cmdRunlevel ( const std::vector< std::string > & args ) [protected]

Definition at line 1138 of file Simulator.cc.

Referenced by processCommand().

void cmdSave ( const std::vector< std::string > & args ) [protected]

Definition at line 1128 of file Simulator.cc.

Referenced by processCommand().

bool cmdSet ( const std::vector< std::string > & args ) [protected]

Definition at line 1193 of file Simulator.cc.

Referenced by processCommand(), and Simulator().

void cmdStatus ( const std::vector< std::string > & args ) [protected]

Definition at line 1426 of file Simulator.cc.

Referenced by processCommand().

void cmdStep ( const std::vector< std::string > & args ) [protected]

Definition at line 1383 of file Simulator.cc.

Referenced by processCommand().

static void deregisterMotionHook ( MotionHook & h ) [static]

Removes the MotionHook from the list, no longer receives any notifications.

Responsibility for memory (de)allocation is NOT assumed by registration, so this doesn't affect h directly.

Definition at line 61 of file Simulator.h.

Referenced by Motion::doStop().

void doStart ( ) [virtual]

Reimplemented from Process.

Definition at line 168 of file Simulator.cc.

void doStop ( ) [virtual]

Reimplemented from Process.

Definition at line 568 of file Simulator.cc.

static const char* getCameraQueueID ( ) [static]

Definition at line 36 of file Simulator.h.

static const char* getClassName ( ) [static]

Definition at line 33 of file Simulator.h.

static const char* getCommandQueueID ( ) [static]

Definition at line 41 of file Simulator.h.

Referenced by sendCommand().

static ProcessID::ProcessID_t getID ( ) [static]

Definition at line 34 of file Simulator.h.

Referenced by doStart(), and doStop().

static const char* getMotionWakeupID ( ) [static]

Definition at line 39 of file Simulator.h.

unsigned int getNextFrame ( ) [protected]

Definition at line 829 of file Simulator.cc.

Referenced by cmdStep(), and incrementTime().

static const char* getSensorQueueID ( ) [static]

Definition at line 37 of file Simulator.h.

static const char* getStatusRequestID ( ) [static]

Definition at line 40 of file Simulator.h.

static const char* getTimerWakeupID ( ) [static]

Definition at line 38 of file Simulator.h.

bool gotCommand ( RCRegion * msg ) [static, protected]

for commands coming from other processes via commandQueue and commandrecv

Definition at line 964 of file Simulator.cc.

Referenced by doStart().

bool gotMotion ( RCRegion * msg ) [static, protected]

when running in multi-process mode, receives output value updates from motion process

Definition at line 971 of file Simulator.cc.

Referenced by run().

bool gotMotionPIDs ( RCRegion * msg ) [static, protected]

when running in multi-process mode, receives output PID updates from motion process

Definition at line 980 of file Simulator.cc.

Referenced by run().

void incrementTime ( ) [protected]

Definition at line 788 of file Simulator.cc.

Referenced by cmdStep(), messagesRead(), plistValueChanged(), and run().

void lookupDataSource	(	const std::string &	name,
		getDataSources_t	getDataSources,
		std::set< DataSource * > &	dataSrcs,
		std::string &	errStr
	)			`[protected]`

Definition at line 1056 of file Simulator.cc.

Referenced by cmdAdvance(), cmdFreeze(), cmdReset(), and updateDataSources().

std::string lookupDataSourceName ( const DataSource * src ) const [protected]

Definition at line 1082 of file Simulator.cc.

Referenced by cmdAdvance(), and cmdStatus().

void messagesRead	(	MessageQueueBase &	mq,
		unsigned int	n
	)			`[virtual]`

Implements StatusListener.

Definition at line 421 of file Simulator.cc.

unsigned int nextSensorTime ( ) [protected]

Definition at line 783 of file Simulator.cc.

Referenced by cmdStatus(), and getNextFrame().

unsigned int nextVisionTime ( ) [protected]

Definition at line 774 of file Simulator.cc.

Referenced by cmdStatus(), and getNextFrame().

Simulator& operator= ( const Simulator & ) [private]

don't call (assignment operator)

void plistCollectionEntriesChanged ( plist::Collection & col ) [virtual]

Reimplemented from CollectionListener.

Definition at line 379 of file Simulator.cc.

Referenced by driversChangedFunctor().

void plistCollectionEntryAdded	(	plist::Collection &	col,
		plist::ObjectBase &	primitive
	)			`[virtual]`

Reimplemented from CollectionListener.

Definition at line 308 of file Simulator.cc.

void plistCollectionEntryRemoved	(	plist::Collection &	col,
		plist::ObjectBase &	primitive
	)			`[virtual]`

Reimplemented from CollectionListener.

Definition at line 346 of file Simulator.cc.

void plistValueChanged ( const plist::PrimitiveBase & pl ) [virtual]

Implements PrimitiveListener.

Definition at line 284 of file Simulator.cc.

bool processCommand	(	const std::string &	line,
		bool	addToHistory
	)			`[protected]`

process an individual command

Definition at line 868 of file Simulator.cc.

Referenced by gotCommand(), CommandThread::run(), and Simulator().

void processRunlevel ( SharedGlobals::runlevel_t curRunLevel ) [protected]

Definition at line 859 of file Simulator.cc.

Referenced by doStart(), doStop(), Simulator(), and ~Simulator().

static void registerMotionHook ( MotionHook & h ) [static]

Registers the MotionHook to have its motionCheck() called following each motion update.

Responsibility for memory (de)allocation is NOT assumed by registration.

Definition at line 54 of file Simulator.h.

Referenced by Motion::doStart().

void replaceEntry	(	const std::string &	name,
		plist::Dictionary &	d,
		const std::string &	comment
	)			`[static, protected]`

Definition at line 731 of file Simulator.cc.

Referenced by Simulator().

void resetSpeedMode ( ) [protected]

Definition at line 676 of file Simulator.cc.

Referenced by plistValueChanged(), and run().

void run ( ) [virtual]

Reimplemented from Process.

Definition at line 203 of file Simulator.cc.

void sendCommand ( const std::string & cmd ) [static]

Definition at line 450 of file Simulator.cc.

Referenced by SharedGlobals::get_time(), and sim::sim().

bool sendSensor ( bool syncCall ) [protected]

Definition at line 742 of file Simulator.cc.

Referenced by cmdAdvance(), incrementTime(), and run().

void sendTimerWakeup ( ) [protected]

void setMotionEnteringRealtime ( ) [static]

Definition at line 519 of file Simulator.cc.

Referenced by Motion::doStart(), Motion::gotWakeup(), and resetSpeedMode().

void setMotionLeavingRealtime ( bool isFullSpeed ) [static]

Definition at line 502 of file Simulator.cc.

Referenced by Motion::doStop(), Motion::gotWakeup(), resetSpeedMode(), and run().

void setMotionStarting ( ) [static]

Definition at line 460 of file Simulator.cc.

Referenced by Motion::doStart().

void setMotionStopping ( ) [static]

Definition at line 471 of file Simulator.cc.

Referenced by doStop(), and Motion::doStop().

static void syncSensors ( ) [static, protected]

this is registered as a callback with DataSource::resourceSync so we send notifications immediately following updates, cutting latency

Definition at line 171 of file Simulator.h.

Referenced by setMotionEnteringRealtime().

void updateDataSources	(	std::set< std::string > &	active,
		std::set< DataSource * > &	activeSrcs,
		const plist::ArrayOf< plist::Primitive< std::string > > &	requested,
		getDataSources_t	getDataSources
	)			`[protected]`

Definition at line 994 of file Simulator.cc.

Referenced by plistCollectionEntriesChanged(), plistCollectionEntryAdded(), plistCollectionEntryRemoved(), and plistValueChanged().

void updateMotion ( const float outputs[][NumOutputs] ) [static]

Definition at line 482 of file Simulator.cc.

Referenced by gotMotion(), and MotionExecThread::poll().

void updatePIDs ( const std::vector< MotionHook::PIDUpdate > & pids ) [static]

Definition at line 492 of file Simulator.cc.

Referenced by gotMotionPIDs().

Member Data Documentation

std::set<std::string> activeCameras [protected]

Definition at line 252 of file Simulator.h.

Referenced by plistCollectionEntriesChanged(), plistCollectionEntryAdded(), plistCollectionEntryRemoved(), and plistValueChanged().

std::set<DataSource*> activeCameraSrcs [protected]

Definition at line 253 of file Simulator.h.

Referenced by cmdAdvance(), cmdFreeze(), cmdReset(), cmdStatus(), incrementTime(), nextVisionTime(), plistCollectionEntriesChanged(), plistCollectionEntryAdded(), plistCollectionEntryRemoved(), plistValueChanged(), setMotionEnteringRealtime(), and setMotionLeavingRealtime().

std::set<std::string> activeSensors [protected]

Definition at line 250 of file Simulator.h.

Referenced by plistCollectionEntriesChanged(), plistCollectionEntryAdded(), plistCollectionEntryRemoved(), and plistValueChanged().

std::set<DataSource*> activeSensorSrcs [protected]

Definition at line 251 of file Simulator.h.

Referenced by cmdAdvance(), cmdFreeze(), cmdReset(), incrementTime(), plistCollectionEntriesChanged(), plistCollectionEntryAdded(), plistCollectionEntryRemoved(), plistValueChanged(), run(), setMotionEnteringRealtime(), and setMotionLeavingRealtime().

float avgSimTime [protected]

running average of frame increments

Definition at line 259 of file Simulator.h.

Referenced by cmdStatus(), incrementTime(), and resetSpeedMode().

const float avgSpeedupGamma = .99f [static, protected]

gamma parameter for calculating running average in avgWallTime and avgSimTime

Definition at line 260 of file Simulator.h.

Referenced by incrementTime().

float avgWallTime [protected]

running average of frame processing time

Definition at line 258 of file Simulator.h.

Referenced by cmdStatus(), incrementTime(), and resetSpeedMode().

SharedObject<sim::CameraQueue_t> cameraQueue [protected]

Definition at line 217 of file Simulator.h.

Referenced by cmdAdvance(), messagesRead(), resetSpeedMode(), Simulator(), and updateDataSources().

MessageQueueStatusThread cameraStatus [protected]

Definition at line 230 of file Simulator.h.

Referenced by resetSpeedMode(), and run().

Simulator::CommandThread cmdThread [protected]

Referenced by abortable(), cmdQuit(), and Simulator().

SharedObject<CommandQueue_t> commandQueue [protected]

Definition at line 228 of file Simulator.h.

Referenced by doStart(), and Simulator().

MessageReceiver* commandrecv [protected]

Definition at line 237 of file Simulator.h.

Referenced by doStart(), and doStop().

SharedGlobals::runlevel_t curLevel [protected]

Definition at line 247 of file Simulator.h.

Referenced by cmdAdvance(), cmdRunlevel(), doStart(), doStop(), plistCollectionEntriesChanged(), plistCollectionEntryAdded(), plistCollectionEntryRemoved(), processRunlevel(), resetSpeedMode(), run(), updateDataSources(), and ~Simulator().

IPCEventTranslator* etrans [protected]

Definition at line 236 of file Simulator.h.

Referenced by doStart(), and doStop().

SharedObject<sim::EventQueue_t> events [protected]

Definition at line 224 of file Simulator.h.

Referenced by cmdMsg(), cmdPost(), doStart(), and messagesRead().

MessageQueueStatusThread eventsStatus [protected]

Definition at line 234 of file Simulator.h.

Referenced by doStart(), and resetSpeedMode().

Simulator::FrameCounter frameCounter [protected]

subscribed by Simulator to message queue's send; ensures that SharedGlobals::MotionSimConfig::frameNumber stays in sync with the message serial number

Referenced by Simulator().

std::set<unsigned int> frameTimes [protected]

Definition at line 242 of file Simulator.h.

Referenced by getNextFrame(), and incrementTime().

unsigned int fullspeedSimStart [protected]

simulator time at which full-speed mode was entered

Definition at line 256 of file Simulator.h.

Referenced by cmdStatus(), and resetSpeedMode().

TimeET fullspeedWallStart [protected]

"real" wall-clock time that full-speed mode was entered

Definition at line 255 of file Simulator.h.

Referenced by cmdStatus(), and resetSpeedMode().