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Controller.hGo to the documentation of this file.00001 //-*-c++-*- 00002 #ifndef INCLUDED_Controller_h 00003 #define INCLUDED_Controller_h 00004 00005 #include "Controls/ControlBase.h" 00006 #include "Behaviors/BehaviorBase.h" 00007 #include "Events/EventBase.h" 00008 #include "Events/EventRouter.h" 00009 #include "Motion/MotionManager.h" 00010 #include "Wireless/Wireless.h" 00011 #include "Wireless/Socket.h" 00012 #include <stack> 00013 00014 //! Handles the menu/command system... when it detects the EmergencyStopMC is activated, it'll kick into high priority. 00015 /*! Keeps track of a command stack. A Control can designate another sub-control, which will receive events until it finishes\n 00016 * Events will then be sent to the parent again. 00017 * 00018 * The GUI uses the same commands as the user (makes it much easier to have only one parser). 00019 * The commands are: 00020 * - '<tt>!refresh</tt>' - redisplays the current control (handy on first connecting, or when other output has scrolled it off the screen) 00021 * - '<tt>!reset</tt>' - return to the root control 00022 * - '<tt>!next</tt>' - calls ControlBase::doNextItem() of the current control 00023 * - '<tt>!prev</tt>' - calls ControlBase::doPrevItem() of the current control 00024 * - '<tt>!select</tt>' - calls ControlBase::doSelect() of the current control 00025 * - '<tt>!cancel</tt>' - calls ControlBase::doCancel() of the current control 00026 * - '<tt>!msg </tt><i>text</i>' - sends <i>text</i> out as a TextMsgEvent; also note that any text entered on the console port while a GUI is also connected will also be sent as a TextMsgEvent, without needing the !input. 00027 * - '<tt>!root </tt><i>text</i>' - calls ControlBase::takeInput(<i>text</i>) on the root control 00028 * - '<tt>!hello</tt>' - responds with '<tt>hello\n</tt><i>count</i>' where <i>count</i> is the number of times '<tt>!hello</tt>' has been sent. Good for detecting first connection after boot vs. a reconnect. 00029 * - '<tt>!hilight</tt> [<i>n1</i> [<i>n2</i> [...]]]' - hilights zero, one, or more items in the menu 00030 * - '<tt>!input </tt><i>text</i>' - calls ControlBase::takeInput(text) on the currently hilighted control(s) 00031 * - any text not beginning with '!' - sent to ControlBase::takeInput() of the current control 00032 * 00033 * In return, to send the menus to the GUI, the following messages are sent: (newlines are required where shown) 00034 * - '<tt>push</tt>' - signals a submenu has been activated 00035 * - '<tt>pop</tt>' - signals a submenu has been closed 00036 * - '<tt>refresh</tt>\n 00037 * <i>text:title</i>\n 00038 * <i>int:numitems</i>\n 00039 * <i>bool:hasSubmenus</i><sub>1</sub>\n 00040 * <i>bool:hilighted</i><sub>1</sub>\n 00041 * <i>text:item-title</i><sub>1</sub>\n 00042 * <i>text:item-description</i><sub>1</sub>\n 00043 * ...\n 00044 * <i>bool:hasSubmenus<sub>numitems</sub></i>\n 00045 * <i>bool:hilighted<sub>numitems</sub></i>\n 00046 * <i>text:item-title<sub>numitems</sub></i>\n 00047 * <i>text:item-description<sub>numitems</sub></i>' - refreshes the current menu\n 00048 * - '<tt>status </tt><i>text</i>' - sets the status bar to <i>text</i> (until the next refresh) 00049 * - '<tt>load</tt>\n 00050 * <i>text:classname</i>\n 00051 * <i>text:instancename</i> 00052 * <i>int:port</i>\n 00053 * [<i>arg1</i> [<i>arg2</i> [...]]]' - tells the GUI to load the java class named <i>classname</i>, and have it connect to <i>port</i>, passing it the argument list. 00054 * <i>classname</i> should contain a constructor of the form <tt>Classname(String </tt><i>host</i>, <tt>int </tt><i>port</i>, <tt>String </tt><i>args</i><tt>[])</tt> 00055 * the argument list is parsed as if it were on the console - unescaped or unquoted spaces will separate args into elements in the array 00056 * - '<tt>close</tt>\n 00057 * <i>text:instancename</i>' - calls <tt>close()</tt> on an object previously created by a <tt>load</tt> message. 00058 * The Java object is expected to contain a function <tt>void close()</tt>. 00059 * - '<tt>goodbye</tt>' - Indicates the connection is about to be closed purposefully, to differentiate from an accidental cut off. 00060 * 00061 * bool types are expected to be numerical values, 0 for false, 00062 * non-zero for true. 00063 * 00064 * <tt>load</tt> and <tt>close</tt> are intended to allow pop-up 00065 * windows for custom displays. 00066 * 00067 * The upstream is the responsibility of the individual Controls, but 00068 * the protocol is listed here to keep it together. When a control's 00069 * state changes, it's that control's responsiblity to refresh the UI 00070 * (LEDs, console, and GUI as appropriate). Thus, future extensions 00071 * to the upstream protocol are between the control which will use it 00072 * and the GUI. Future extensions to the downstream protocol would 00073 * involve changing Controller and the GUI. 00074 * 00075 * The Controller may connect to serr in the future to pop-up an alert 00076 * anytime output to serr occurs. 00077 * 00078 * Note that all state is maintained on the robot - even if the GUI 00079 * is connected, you can still use the buttons to interact with the 00080 * controller, and the GUI will update to reflect the changes. In 00081 * HCI (Human Computer Interaction) parlance, this is the MVC, 00082 * Model-View-Controller architecture, almost by necessity. (HCI 00083 * happens to be my double major when I was an undergrad ;) 00084 * 00085 * Also, the Controller is responsible for sending out TextMsgEvents 00086 * from user input it receives - either a !msg command from the 00087 * console or GUI, or <i>any text at all</i> which is received on the 00088 * console if there is already a GUI connected. 00089 * 00090 * These TextMsgEvents are always status events, and the duration 00091 * field is always 0. 00092 */ 00093 class Controller : public BehaviorBase, public EventTrapper { 00094 public: 00095 Controller() : display(MotionManager::invalid_MC_ID), estop_id(MotionManager::invalid_MC_ID), root(NULL), cmdstack(), last_time(0), cur_time(0), nextEv_val(0), nextEv_dur(0), prevEv_val(0), prevEv_dur(0), alreadyGotBoth(false), isControlling(false), gui_comm(NULL) {init();} //!< Constructor 00096 Controller(ControlBase* r) : display(MotionManager::invalid_MC_ID), estop_id(MotionManager::invalid_MC_ID), root(r), cmdstack(), last_time(0), cur_time(0), nextEv_val(0), nextEv_dur(0), prevEv_val(0), prevEv_dur(0), alreadyGotBoth(false), isControlling(false), gui_comm(NULL) { init(); } //!< Constructor, sets a default root control 00097 virtual ~Controller() { 00098 cout << "~Controller()..." << endl; 00099 delete root; 00100 theOneController=NULL; 00101 cout << "~Controller()-DONE" << endl; 00102 } //!< Destructor 00103 00104 //@{ 00105 //! event masks used by processEvent() 00106 static EventBase nextItem; 00107 static EventBase prevItem; 00108 static EventBase nextItemFast; 00109 static EventBase prevItemFast; 00110 static EventBase selectItem; 00111 static EventBase cancel; //@} 00112 00113 virtual void DoStart(); //!< register for events and resets the cmdstack 00114 virtual void DoStop(); //!< stop listening for events and resets the cmdstack 00115 virtual bool trapEvent(const EventBase& e); //!< passes an event to the top control 00116 virtual void processEvent(const EventBase& e); //!< just for e-stop activation/deactivation 00117 00118 void reset(); //!< will take the command stack back down to the root 00119 void refresh(); //!< refreshes the display, for times like sub-control dying, the previous control needs to reset it's display 00120 00121 void push(ControlBase* c); //!< puts a new control on top 00122 void pop(); //!< kills the top control, goes to previous 00123 ControlBase* top() { return cmdstack.top(); } //!< returns the current control 00124 00125 Controller& setRoot(ControlBase* r); //!< sets the root level control 00126 00127 Controller& setEStopID(MotionManager::MC_ID estopid); //!< Sets the emergency stop MC to monitor for pausing 00128 00129 virtual std::string getName() const { return "Controller"; } 00130 static std::string getClassDescription() { return "Provides interface for activating/deactivating controls (and through them, behaviors)"; } 00131 00132 00133 00134 static void loadGUI(const std::string& type, const std::string& name, unsigned int port) {loadGUI(type,name,port,std::vector<std::string>());} //!< attempts to open a Java object on the desktop 00135 static 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 00136 static void closeGUI(const std::string& name); //!< calls close() on a Java object loaded with loadGUI() (on the desktop) 00137 00138 static int gui_comm_callback(char *buf, int bytes); //!< called by wireless when there's new data from the GUI 00139 static int console_callback(char *buf, int bytes); //!< called by wireless when someone has entered new data on the tekkotsu console (NOT cin) 00140 00141 protected: 00142 //! assigns appropriate values to the static event bases 00143 void init(); 00144 00145 //! called with each line that's entered on the tekkotsu console or from the GUI 00146 void takeLine(const std::string& s); 00147 00148 //! sets a config value - some values may require additional processing (done here) to have the new values take effect 00149 int setConfig(const char *str); 00150 00151 //! maintains top Control 00152 /*! @param next one of: @li NULL: pop() ::cmdstack @li ::cmdstack.top(): nothing @li other address: ::push(@a next) 00153 * @return true, all the time, for convenience from trapEvent() */ 00154 bool setNext(ControlBase* next); 00155 00156 //! called when the estop switches on 00157 /*! causes the top control to activate, registers for button events */ 00158 void activate(); 00159 00160 //! called when the estop switches off\n 00161 /*! causes the top control to deactivate, stops listening for buttons */ 00162 void deactivate(); 00163 00164 //! @brief returns true if a valid control is available on the stack 00165 /*! if the stack is empty, will push root if it's non-null */ 00166 bool chkCmdStack(); 00167 00168 //! invalid_MC_ID if not active, otherwise id of high priority LEDs 00169 MotionManager::MC_ID display; 00170 00171 //! the EmergencyStopMC MC_ID that this Controller is monitoring 00172 MotionManager::MC_ID estop_id; 00173 00174 //! the base control, if cmdstack underflows, it will be reset to this 00175 ControlBase * root; 00176 00177 /*! @brief the stack of the current control hierarchy\n 00178 * should never contain NULL entries */ 00179 std::stack< ControlBase* > cmdstack; 00180 00181 //! returns true when the current time and last time are in different periods 00182 static bool calcPulse(unsigned int t, unsigned int last, unsigned int period) { 00183 if(period<t-last) 00184 return true; 00185 bool nextclock=(t/period)&1; 00186 bool lastclock=(last/period)&1; 00187 return (lastclock!=nextclock); 00188 } 00189 00190 00191 unsigned int last_time; //!< the time of the last event 00192 unsigned int cur_time; //!< the time of the current event (do*() can check this instead of calling get_time() ) 00193 float nextEv_val; //!< the magnitude of the last next event (::nextItem) 00194 unsigned int nextEv_dur; //!< the duration of the last next event (::nextItem) 00195 float prevEv_val; //!< the magnitude of the last prev event (::prevItem) 00196 unsigned int prevEv_dur; //!< the duration of the last prev event (::prevItem) 00197 bool alreadyGotBoth; //!< if doReadStdIn() was already called, but the buttons are both still down 00198 bool isControlling; //!< true if the Controller is currently active (in the activate()/deactivate() sense, not DoStart()/DoStop() sense - use isActive() for that...) 00199 00200 Socket * gui_comm; //!< the socket to listen on for the gui 00201 static Controller * theOneController; //!< currently can't pull connection socket off of server socket, so only one Controller 00202 00203 private: 00204 Controller(const Controller&); //!< shouldn't be called... 00205 Controller& operator=(const Controller&); //!< shouldn't be called... 00206 }; 00207 00208 /*! @file 00209 * @brief Describes Controller class, a behavior that should be started whenever the emergency stop goes on to provide menus for robot control 00210 * @author ejt (Creator) 00211 * 00212 * $Author: ejt $ 00213 * $Name: tekkotsu-2_1 $ 00214 * $Revision: 1.28 $ 00215 * $State: Exp $ 00216 * $Date: 2004/02/09 22:45:28 $ 00217 */ 00218 00219 #endif |
Tekkotsu v2.1 |
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