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00001 //-*-c++-*- 00002 #ifndef INCLUDED_EStopControllerBehavior_h_ 00003 #define INCLUDED_EStopControllerBehavior_h_ 00004 00005 #include <iostream> 00006 #include "Wireless/Wireless.h" 00007 #include "Behaviors/BehaviorBase.h" 00008 #include "Motion/MotionManager.h" 00009 #include "Events/EventRouter.h" 00010 #include "Events/EventBase.h" 00011 #include "Shared/Config.h" 00012 00013 //! Listens to control commands coming in from the command port for remotely controlling the head 00014 class EStopControllerBehavior : public BehaviorBase { 00015 00016 public: 00017 //! Points to the one EStopControllerBehavior object that the input 00018 //! command stream is talking to. A kludge. Dunno how you're gonna 00019 //! make sure you're not using this uninitialized. 00020 static EStopControllerBehavior * theOne; 00021 static int callback(char *buf, int bytes); //!< called by wireless when there's new data 00022 00023 public: 00024 //! constructor 00025 EStopControllerBehavior(MotionManager::MC_ID estop) 00026 : BehaviorBase(), 00027 cmdsock(wireless->socket(SocketNS::SOCK_STREAM, 256, 256)), 00028 estop_id(estop) 00029 { 00030 wireless->setDaemon(cmdsock); 00031 theOne=this; 00032 } 00033 //! destructor 00034 virtual ~EStopControllerBehavior() { } 00035 00036 virtual void DoStart(); 00037 00038 virtual void DoStop(); 00039 00040 virtual void processEvent(const EventBase &); 00041 00042 virtual std::string getName() const { return "EStop Remote Control"; } 00043 static std::string getClassDescription() { 00044 char tmp[20]; 00045 sprintf(tmp,"%d",config->main.estopControl_port); 00046 return std::string("Listens to estop commands coming in from port ")+tmp; 00047 } 00048 00049 virtual void runCommand(std::string s); //!< processes a string received from wireless 00050 00051 protected: 00052 //! The input command stream socket 00053 Socket *cmdsock; 00054 00055 //! The estop to control 00056 MotionManager::MC_ID estop_id; 00057 00058 private: 00059 EStopControllerBehavior(const EStopControllerBehavior&); //!< don't call 00060 EStopControllerBehavior operator=(const EStopControllerBehavior&); //!< don't call 00061 00062 }; 00063 00064 /*! @file 00065 * @brief Describes EStopControllerBehavior, listens to control commands coming in from the command port for remotely toggling the estop 00066 * @author tss (Creator) 00067 * 00068 * $Author: ejt $ 00069 * $Name: tekkotsu-1_5 $ 00070 * $Revision: 1.1 $ 00071 * $State: Rel $ 00072 * $Date: 2003/10/10 00:45:01 $ 00073 */ 00074 00075 #endif
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