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Controller.cc

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#include "Controller.h"
#include "Motion/EmergencyStopMC.h"
#include "Motion/LedMC.h"
#include "Motion/MMAccessor.h"
#include "Shared/SharedObject.h"
#include "Shared/WorldState.h"
#include "Shared/get_time.h"
#include "SoundPlay/SoundManager.h"
#include "Events/TextMsgEvent.h"
#include "Shared/ERS210Info.h"
#include "Shared/ERS220Info.h"
#include "Shared/DynamicConfig.h"
#include "Shared/string_util.h"
#include <sstream>

Controller * Controller::theOneController=NULL;

//these are given appropriate values in init once we know which model we're running on
EventBase Controller::nextItem;
EventBase Controller::prevItem;
EventBase Controller::nextItemFast;
EventBase Controller::prevItemFast;
EventBase Controller::selectItem;
EventBase Controller::cancel;

using namespace string_util;


void Controller::DoStart() {
  BehaviorBase::DoStart();
  sndman->LoadFile(config->controller.select_snd);
  sndman->LoadFile(config->controller.next_snd);
  sndman->LoadFile(config->controller.prev_snd);
  sndman->LoadFile(config->controller.read_snd);
  sndman->LoadFile(config->controller.cancel_snd);
  erouter->addListener(this,EventBase::estopEGID);
  // Turn on wireless
  wireless->setReceiver(gui_comm->sock, gui_comm_callback);
  wireless->listen(gui_comm->sock, config->controller.gui_port);
  theOneController=this;
  reset();
}

void Controller::DoStop() {
  sndman->ReleaseFile(config->controller.select_snd);
  sndman->ReleaseFile(config->controller.next_snd);
  sndman->ReleaseFile(config->controller.prev_snd);
  sndman->ReleaseFile(config->controller.read_snd);
  sndman->ReleaseFile(config->controller.cancel_snd);
  erouter->forgetListener(this);
  reset();
  wireless->close(gui_comm);
  theOneController=NULL;
  BehaviorBase::DoStop();
}

bool Controller::trapEvent(const EventBase& e) {
  if(!chkCmdStack())
    return false;
  last_time=cur_time;
  cur_time=get_time();
  if(nextItem.sameGenSource(e)) {
    nextEv_val=e.getMagnitude();
    nextEv_dur=e.getDuration();
    if(nextEv_val==0 && prevEv_val==0)
      alreadyGotBoth=false;
    if(nextEv_val>.75 && prevEv_val>.75 && nextEv_dur<666 && prevEv_dur<666)
      if(alreadyGotBoth)
        return true;
      else {
        alreadyGotBoth=true;
        return setNext(cmdstack.top()->doReadStdIn());
      }
    if(e.getTypeID()==nextItem.getTypeID() && e.getDuration()<666)
      return setNext(cmdstack.top()->doNextItem());
    if(e.getTypeID()==nextItemFast.getTypeID() && e.getDuration()>666 && calcPulse(cur_time,last_time,static_cast<unsigned int>(50/e.getMagnitude())))
      return setNext(cmdstack.top()->doNextItem());
  }
  if(prevItem.sameGenSource(e)) {
    prevEv_val=e.getMagnitude();
    prevEv_dur=e.getDuration();
    if(nextEv_val==0 && prevEv_val==0)
      alreadyGotBoth=false;
    if(nextEv_val>.75 && prevEv_val>.75 && nextEv_dur<666 && prevEv_dur<666)
      if(alreadyGotBoth)
        return true;
      else {
        alreadyGotBoth=true;
        return setNext(cmdstack.top()->doReadStdIn());
      }
    if(e.getTypeID()==prevItem.getTypeID() && e.getDuration()<666)
      return setNext(cmdstack.top()->doPrevItem());
    if(e.getTypeID()==prevItemFast.getTypeID() && e.getDuration()>666 && calcPulse(cur_time,last_time,static_cast<unsigned int>(50/e.getMagnitude())))
      return setNext(cmdstack.top()->doPrevItem());
  }
  if(e.getDuration()>250) {
    if(e==selectItem)
      return setNext(cmdstack.top()->doSelect());
    if(e==cancel)
      return setNext(cmdstack.top()->doCancel());
  }
  return true;
}

void Controller::processEvent(const EventBase& event) {
  if(event.getTypeID()==EventBase::activateETID) { //estop just turned on
    if(display==MotionManager::invalid_MC_ID)
      activate();
  } else { //estop just turned off
    if(display!=MotionManager::invalid_MC_ID)
      deactivate();
  }
}

void Controller::reset() {
  while(cmdstack.size()>1)
    pop();
  if(!cmdstack.empty()) {
    cmdstack.top()->deactivate();
    cmdstack.pop();
  }
  refresh();
}

void Controller::refresh() {
  if(!chkCmdStack())
    return;
  cmdstack.top()->refresh();
}

void Controller::push(ControlBase* c) {
  if(!chkCmdStack())
    return;
  cmdstack.top()->pause();
  cmdstack.push(c);
  theOneController->gui_comm->printf("push\n");
  setNext(cmdstack.top()->activate(display,gui_comm));
}

void Controller::pop() {
  cmdstack.top()->deactivate();
  cmdstack.pop();
  theOneController->gui_comm->printf("pop\n");
  refresh();
}

Controller& Controller::setRoot(ControlBase* r) {
  reset();
  root=r;
  refresh();
  return *this;
}

Controller& Controller::setEStopID(MotionManager::MC_ID estopid) {
  estop_id=estopid;
  if(static_cast<EmergencyStopMC*>(motman->peekMotion(estopid))->getStopped()) {
    if(display==MotionManager::invalid_MC_ID)
      activate();
  } else {
    if(display!=MotionManager::invalid_MC_ID)
      deactivate();
  }   
  return *this;
}

void Controller::loadGUI(const std::string& type, const std::string& name, unsigned int port, const std::vector<std::string>& args) {
  std::stringstream ss;
  ss << "load\n" << type << '\n' << name << '\n' << port << '\n';
  for(unsigned int i=0; i<args.size(); i++) {
    ss << '"';
    for(unsigned int j=0; j<args[i].size(); j++) {
      if(args[i][j]=='\\' || args[i][j]=='"' || args[i][j]=='\n')
        ss << '\\';
      ss << args[i][j];
    }
    ss << "\" ";
  }
  ss << '\n';
  theOneController->gui_comm->write((const byte*)ss.str().c_str(),ss.str().size());
}

void Controller::closeGUI(const std::string& name) {
  ASSERTRET(theOneController!=NULL,"null controller");
  ASSERTRET(theOneController->gui_comm!=NULL,"null gui_comm");

  theOneController->gui_comm->printf("close\n%s\n",name.c_str());
}

int Controller::gui_comm_callback(char *buf, int bytes) {
  std::string s(buf,bytes);
  //  cout << "Controller Received: " << s << endl;
  if(theOneController==NULL)
    return 0;

  static std::string incomplete;

  //pass a line at a time to the controller
  while(s.size()>0) {
    unsigned int endline=s.find('\n');
    if(endline==std::string::npos) {
      incomplete+=s;
      return 0;
    }
    incomplete+=s.substr(0,endline);
    theOneController->takeLine(incomplete); //is now complete
    incomplete.erase();
    s=s.substr(endline+1);
  }
  
  return 0;
}

int Controller::console_callback(char *buf, int bytes) {
  std::string s(buf,bytes);
  //  cout << "Console Received: " << s << endl;
  if(theOneController==NULL)
    return 0;

  static std::string incomplete;

  //pass a line at a time to the controller
  while(s.size()>0) {
    unsigned int endline=s.find('\n');
    if(endline==std::string::npos) {
      incomplete+=s;
      return 0;
    }
    incomplete+=s.substr(0,endline);
    //is now complete:
    if(wireless->isConnected(theOneController->gui_comm->sock))
      erouter->postEvent(new TextMsgEvent(incomplete));
    else
      theOneController->takeLine(incomplete); 
    incomplete.erase();
    s=s.substr(endline+1);
  }
  
  return 0;
}

void Controller::init() {
  wireless->setDaemon(gui_comm);
  if(state->robotDesign & WorldState::ERS210Mask) {
    nextItem=EventBase(EventBase::buttonEGID,ERS210Info::HeadFrButOffset,EventBase::deactivateETID,0);
    prevItem=EventBase(EventBase::buttonEGID,ERS210Info::HeadBkButOffset,EventBase::deactivateETID,0);
    nextItemFast=EventBase(EventBase::buttonEGID,ERS210Info::HeadFrButOffset,EventBase::statusETID,666);
    prevItemFast=EventBase(EventBase::buttonEGID,ERS210Info::HeadBkButOffset,EventBase::statusETID,666);
    selectItem=EventBase(EventBase::buttonEGID,ERS210Info::ChinButOffset,EventBase::deactivateETID,250);
    cancel=EventBase(EventBase::buttonEGID,ERS210Info::BackButOffset,EventBase::deactivateETID,250);
  } else if(state->robotDesign & WorldState::ERS220Mask) {
    nextItem=EventBase(EventBase::buttonEGID,ERS220Info::TailLeftButOffset,EventBase::deactivateETID,0);
    prevItem=EventBase(EventBase::buttonEGID,ERS220Info::TailRightButOffset,EventBase::deactivateETID,0);
    //the 220 doesn't really support the next two because it's using boolean buttons
    //i'm using a "hack" on the 210 because the pressure sensitivity causes status
    //events to continually be sent but since this is just on/off, it only gets the
    //activate/deactivate.  To fix this, make these timers and do timer management
    //in processEvents()
    nextItemFast=EventBase(EventBase::buttonEGID,ERS220Info::TailLeftButOffset,EventBase::statusETID,666);
    prevItemFast=EventBase(EventBase::buttonEGID,ERS220Info::TailRightButOffset,EventBase::statusETID,666);
    selectItem=EventBase(EventBase::buttonEGID,ERS220Info::TailCenterButOffset,EventBase::deactivateETID,50);
    cancel=EventBase(EventBase::buttonEGID,ERS220Info::BackButOffset,EventBase::deactivateETID,50);
  }
}

void Controller::takeLine(const std::string& s) {
  //  cout << "RECEIVED: " << s << endl;
  if(s.size()==0)
    return;
  // break s into a vector of arguments
  std::vector<std::string> args;
  std::vector<unsigned int> offsets;
  if(!string_util::parseArgs(s,args,offsets)) {
    serr->printf("Controller::takeLine(\"%s\") was malformed.\n",s.c_str());
    return;
  }
  // now look through for a ';' (separates multiple commands)
  unsigned int last=offsets[0];
  for(unsigned int i=0; i<args.size(); i++) {
    if(args[i]==";") { // if we found a ';', recurse with substring
      takeLine(s.substr(last,offsets[i]-last));
      if(i+1==args.size()) // last arg is a ';'
        return;
      last=offsets[i+1];
    }
    if(args[i]=="\\;") // if we found a '\;', replace it with base ';'
      args[i]=";";
  }
  if(!chkCmdStack())
    return;
  if(args[0][0]!='!') {
    setNext(cmdstack.top()->takeInput(s));
  } else {
    if(last!=offsets[0]) { // only changes if we found a ';' - in that case, need to do last segment
      takeLine(s.substr(last));
    } else if(args[0]=="!refresh") {
      refresh();
    } else if(args[0]=="!reset") {
      reset();
    } else if(args[0]=="!cancel") {
      setNext(cmdstack.top()->doCancel());
    } else if(args[0]=="!select") {
      setNext(cmdstack.top()->doSelect());
    } else if(args[0]=="!next") {
      setNext(cmdstack.top()->doNextItem());
    } else if(args[0]=="!prev") {
      setNext(cmdstack.top()->doPrevItem());
    } else if(args[0]=="!msg") {
      erouter->postEvent(new TextMsgEvent(s.substr(offsets[1])));
    } else if(args[0]=="!hello") {
      static unsigned int count=0;
      count++;
      theOneController->gui_comm->printf("hello\n%d\n",count);
    } else if(args[0]=="!root") {
      ControlBase * ret=root->takeInput(s.substr(offsets[1]));
      if(ret!=NULL)
        setNext(ret);
    } else if(args[0]=="!hilight") {
      std::vector<unsigned int> hilights;
      for(unsigned int i=1; i<args.size(); i++)
        hilights.push_back(atoi(args[i].c_str()));
      cmdstack.top()->setHilights(hilights);
    } else if(args[0]=="!input") {
      const std::vector<unsigned int>& hilights=cmdstack.top()->getHilights();
      const std::vector<ControlBase*>& slots=cmdstack.top()->getSlots();
      std::string in=s.substr(offsets[1]);
      for(unsigned int i=0; i<hilights.size(); i++)
        if(hilights[i]<slots.size() && slots[hilights[i]]!=NULL) {
          ControlBase * ret=slots[hilights[i]]->takeInput(in);
          if(ret!=NULL)
            setNext(ret);
        }
      refresh();
    } else if(args[0]=="!set") {
      DynamicConfig::assignVarFromController(s.substr(offsets[1]).c_str());
    } else
      setNext(cmdstack.top()->takeInput(s));
  }
}

bool Controller::setNext(ControlBase* next) {
  if(next==NULL)
    pop();
  else if(next!=cmdstack.top())
    push(next);
  return true;
}

void Controller::activate() {
  SharedObject<LedMC> leds;
  leds->setWeights(~FaceLEDMask,0);
  leds->setWeights(FaceLEDMask,.75);
  display=motman->addMotion(leds,MotionManager::kEmergencyPriority);
  erouter->addTrapper(this,EventBase::buttonEGID);
  if(!cmdstack.empty())
    cmdstack.top()->activate(display,gui_comm);
  else
    chkCmdStack();
}

void Controller::deactivate() {
  motman->removeMotion(display);
  //these two lines help prevent residual display in case that was the only MotionCommand using LEDs
  for(unsigned int i=LEDOffset; i<LEDOffset+NumLEDs; i++)
    motman->setOutput(NULL,i,0.f);
  display=MotionManager::invalid_MC_ID;
  erouter->removeTrapper(this);
  cmdstack.top()->pause();
}

bool Controller::chkCmdStack() {
  if(cmdstack.empty()) {
    if(root==NULL)
      return false;
    cmdstack.push(root);
    ControlBase * next = cmdstack.top()->activate(display,gui_comm);
    if(next==NULL)
      cout << "*** WARNING Controller root returned NULL on activate!" << endl;
    else if(next!=root)
      push(next);
  }
  return true;
}


/*! @file
 * @brief Implements Controller class, a behavior that should be started whenever the emergency stop goes on to provide menus for robot control
 * @author ejt (Creator)
 *
 * $Author: ejt $
 * $Name: tekkotsu-1_5 $
 * $Revision: 1.28 $
 * $State: Rel $
 * $Date: 2003/10/10 00:44:50 $
 */

Tekkotsu v1.5

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