Reference

Controller Class Reference

#include <Controller.h>

Inheritance diagram for Controller:

Detailed Description

Handles the menu/command system... when it detects the EmergencyStopMC is activated, it'll kick into high priority.

Keeps track of a command stack. A Control can designate another sub-control, which will receive events until it finishes
Events will then be sent to the parent again.

The GUI uses the same commands as the user (makes it much easier to have only one parser). The commands are:

'!refresh' - redisplays the current control (handy on first connecting, or when other output has scrolled it off the screen)
'!reset' - return to the root control
'!next' - calls ControlBase::doNextItem() of the current control
'!prev' - calls ControlBase::doPrevItem() of the current control
'!select' - calls ControlBase::doSelect() of the current control
'!cancel' - calls ControlBase::doCancel() of the current control
'!msg text' - broadcasts text as a TextMsgEvent
'!root text' - calls ControlBase::takeInput(text) on the root control
'!hello' - responds with 'hellocount' where count is the number of times '!hello' has been sent. Good for detecting first connection after boot vs. a reconnect.
'!hilight [n1 [n2 [...]]]' - hilights zero, one, or more items in the menu
'!input text' - calls ControlBase::takeInput(text) on the currently hilighted control(s)
any text not beginning with '!' - sent to ControlBase::takeInput() of the current control

In return, to send the menus to the GUI, the following messages are sent: (newlines are required where shown)

'push' - signals a submenu has been activated
'pop' - signals a submenu has been closed
'refresh
text:title
int:numitems
bool:hasSubmenus₁
bool:hilighted₁
text:item-title₁
text:item-description₁
...
bool:hasSubmenus_numitems
bool:hilighted_numitems
text:item-title_numitems
text:item-description_numitems' - refreshes the current menu
'status text' - sets the status bar to text (until the next refresh)
'load
text:classname
text:instancename int:port
[arg1 [arg2 [...]]]' - tells the GUI to load the java class named classname, and have it connect to port, passing it the argument list. classname should contain a constructor of the form Classname(String host, int port, String args[]) the argument list is parsed as if it were on the console - unescaped or unquoted spaces will separate args into elements in the array
'close
text:instancename' - calls close() on an object previously created by a load message. The Java object is expected to contain a function void close().

bool types are expected to be numerical values, 0 for false, non-zero for true.

load and close are intended to allow pop-up windows for custom displays.

The upstream is the responsibility of the individual Controls, but the protocol is listed here to keep it together. When a control's state changes, it's that control's responsiblity to refresh the UI (LEDs, console, and GUI as appropriate). Thus, future extensions to the upstream protocol are between the control which will use it and the GUI. Future extensions to the downstream protocol would involve changing Controller and the GUI.

The Controller may connect to serr in the future to pop-up an alert anytime output to serr occurs.

Note that all state is maintained on the robot - even if the GUI is connected, you can still use the buttons to interact with the controller, and the GUI will update to reflect the changes. In HCI (Human Computer Interaction) parlance, this is the MVC, Model-View-Controller architecture, almost by necessity. (HCI happens to be my double major when I was an undergrad ;)

Definition at line 85 of file Controller.h.

Public Member Functions

Controller ()

Constructor.

Controller (ControlBase *r)

Constructor, sets a default root control.

virtual ~Controller ()

Destructor.

virtual void DoStart ()

register for events and resets the cmdstack

virtual void DoStop ()

stop listening for events and resets the cmdstack

virtual bool trapEvent (const EventBase &e)

passes an event to the top control

virtual void processEvent (const EventBase &e)

just for e-stop activation/deactivation

void reset ()

will take the command stack back down to the root

void refresh ()

refreshes the display, for times like sub-control dying, the previous control needs to reset it's display

void push (ControlBase *c)

puts a new control on top

void pop ()

kills the top control, goes to previous

ControlBase * top ()

returns the current control

Controller & setRoot (ControlBase *r)

sets the root level control

Controller & setEStopID (MotionManager::MC_ID estopid)

Sets the emergency stop MC to monitor for pausing.

virtual std::string getName () const

Identifies the behavior in menus and such.

Static Public Member Functions

std::string getClassDescription ()

Gives a short description of what this class of behaviors does... you should override this (but don't have to).

void loadGUI (const std::string &type, const std::string &name, unsigned int port)

attempts to open a Java object on the desktop

void loadGUI (const std::string &type, const std::string &name, unsigned int port, const std::vector< std::string > &args)

attempts to open a Java object on the desktop

void closeGUI (const std::string &name)

calls close() on a Java object loaded with loadGUI() (on the desktop)

int gui_comm_callback (char *buf, int bytes)

called by wireless when there's new data from the GUI

int console_callback (char *buf, int bytes)

called by wireless when someone has entered new data on the tekkotsu console (NOT cin)

Static Public Attributes

EventBase nextItem

event masks used by processEvent()

EventBase prevItem

event masks used by processEvent()

EventBase nextItemFast

event masks used by processEvent()

EventBase prevItemFast

event masks used by processEvent()

EventBase selectItem

event masks used by processEvent()

EventBase cancel

event masks used by processEvent()

Protected Member Functions

void init ()

assigns appropriate values to the static event bases

void takeLine (const std::string &s)

called with each line that's entered on the tekkotsu console or from the GUI

bool setNext (ControlBase *next)

maintains top Control

void activate ()

called when the estop switches on

void deactivate ()

called when the estop switches off

bool chkCmdStack ()

returns true if a valid control is available on the stack

Static Protected Member Functions

bool calcPulse (unsigned int t, unsigned int last, unsigned int period)

returns true when the current time and last time are in different periods

Protected Attributes

MotionManager::MC_ID display

invalid_MC_ID if not active, otherwise id of high priority LEDs

MotionManager::MC_ID estop_id

the EmergencyStopMC MC_ID that this Controller is monitoring

ControlBase * root

the base control, if cmdstack underflows, it will be reset to this

std::stack< ControlBase * > cmdstack

the stack of the current control hierarchy
should never contain NULL entries

unsigned int last_time

the time of the last event

unsigned int cur_time

the time of the current event (do*() can check this instead of calling get_time() )

float nextEv_val

the magnitude of the last next event (::nextItem)

unsigned int nextEv_dur

the duration of the last next event (::nextItem)

float prevEv_val

the magnitude of the last prev event (::prevItem)

unsigned int prevEv_dur

the duration of the last prev event (::prevItem)

bool alreadyGotBoth

if doReadStdIn() was already called, but the buttons are both still down

Socket * gui_comm

the socket to listen on for the gui

Static Protected Attributes

Controller * theOneController = NULL

currently can't pull connection socket off of server socket, so only one Controller

Private Member Functions

Controller (const Controller &)

shouldn't be called...

Controller & operator= (const Controller &)

shouldn't be called...