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EventBase.hGo to the documentation of this file.00001 //-*-c++-*- 00002 #ifndef INCLUDED_EventBase_h 00003 #define INCLUDED_EventBase_h 00004 00005 #include "Shared/get_time.h" 00006 #include "Shared/LoadSave.h" 00007 #include <string> 00008 00009 //! The basis of events passed around the high level system 00010 /*! Contains the list of 'known' event generators in #EventGeneratorID_t 00011 * and #EventGeneratorNames[]. If you want to make a new generator, all 00012 * you have to do is add a new entry to the ID list (#EventGeneratorID_t) 00013 * and then put its name in the #EventGeneratorNames[] array. 00014 * 00015 * Alternatively, there is an 'unlicensed spectrum' available under 00016 * the #unknownEGID. You can send out events from that generator just 00017 * like any other, but it should only be used for quick tests and hacking 00018 * around... 00019 * 00020 * The #sourceID (just an unsigned int) is generator specific. A SID 00021 * of @a i from the button generator (#buttonEGID) will refer to a 00022 * particular button, whereas a SID from a vision detector (say 00023 * #visObjEGID) refers to seeing a particular object. These SIDs are 00024 * usually defined in the generators themselves. 00025 * 00026 * The #duration field is also generator specific - some may refer to 00027 * the time since the last activation event (e.g. button events) 00028 * where as others refer to time since last status (e.g. sensors 00029 * updates) 00030 * 00031 * The #EventGeneratorID_t list should contain links to the 00032 * generators' documentation, or will directly give information about 00033 * what to expect in events from that generator. 00034 */ 00035 class EventBase : public LoadSave { 00036 public: 00037 //! Lists all possible event generator ids 00038 /*! An event generator is a abstract source of events, used for listening to and parsing certain classes of events 00039 * 00040 * IF YOU ADD AN EVENT GENERATOR, DON'T FORGET TO NAME IT (EventBase::EventGeneratorNames, actual names are in EventBase.cc)*/ 00041 enum EventGeneratorID_t { 00042 unknownEGID=0, //!< default EGID, used if you forget to set it, probably not a good idea to use this for anything except errors or testing quick hacks 00043 aiEGID, //!< not being used, yet (might use this when AI makes decisions?) 00044 audioEGID, //!< Sends an event when a sound starts/ends playback, status events as chained sounds end; SID is SoundManager::Play_ID; duration is playtime 00045 buttonEGID, //!< Sends activate event for button down, deactivate for button up. Status events only for when pressure sensitive buttons' reading changes. (on sensorEGID updates); SIDs are from ButtonOffset_t in the namespace of the target model (e.g. ERS210Info::ButtonOffset_t); duration is button down time 00046 erouterEGID, //!< Sends activate event on first listener, deactivate on last listener, and status on other listener changes.; SID is the generator ID affected (NOT IMPLEMENTED YET) 00047 estopEGID, //!< Sends an event when the estop is turned on or off; SID is the MotionManager::MC_ID of the EmergencyStopMC; duration is length of estop activation 00048 locomotionEGID, //!< Sends events regarding transportation in the world; you can/should assume these will all be LocomotionEvent classes; SID is MotionManager::MC_ID of posting MotionCommand; duration is the time since last velocity change of that MC. (You could generate these for things other than walking...) 00049 motmanEGID, //!< Sends events when a MotionCommand is added or removed, SID is is the MotionManager::MC_ID, duration is always 0 00050 powerEGID, //!< Sends events for low power warnings, temperature, etc. see PowerSourceID::PowerSourceID_t 00051 sensorEGID, //!< Sends a status event when new sensor readings are available. see SensorSourceID::SensorSourceID_t 00052 stateMachineEGID, //!< Sends an event upon entering and leaving a StateNode; SID is pointer to the StateNode; duration is always 0 00053 textmsgEGID, //!< Sends status events when a text msg is received on console; generated by the Controller, SID is always -1; durations is always 0 (see Controller for more information) 00054 timerEGID, //!< Sends timer events; you set timers explicitly, you don't have to listen as well. (See EventRouter::addTimer()) There's no cross-talk, only the listener which requested the timer will receive it; SID is whatever you requested it to be; duration is the time (since boot, in ms) that the timer was supposed to go off; these are always status 00055 visOFbkEGID, //!< Sends a DataEvent <OFbkImageVectorData> for every camera image received from the system; SID and duration are always 0 (This is generated by the MainObj instantiation of MMCombo) 00056 visRawCameraEGID, //!< Sends a FilterBankEvent when new raw camera images are available; SID is whatever value you gave during setup (typically in StartupBehavior_SetupVision.cc), duration is always 0 00057 visInterleaveEGID,//!< Sends a FilterBankEvent when new interleaved images are available; SID is whatever value you gave during setup (typically in StartupBehavior_SetupVision.cc), duration is always 0 00058 visJPEGEGID, //!< Sends a FilterBankEvent when JPEG compressed images are available; SID is whatever value you gave during setup (typically in StartupBehavior_SetupVision.cc), duration is always 0 00059 visSegmentEGID, //!< Sends a SegmentedColorFilterBankEvent when color segmentated images are available; SID is whatever value you gave during setup (typically in StartupBehavior_SetupVision.cc), duration is always 0 00060 visRLEEGID, //!< Sends a SegmentedColorFilterBankEvent when RLE encoded color segmentated images are available; SID is whatever value you gave during setup (typically in StartupBehavior_SetupVision.cc), duration is always 0 00061 visRegionEGID, //!< Sends a SegmentedColorFilterBankEvent when color regions are available; SID is whatever value you gave during setup (typically in StartupBehavior_SetupVision.cc), duration is always 0 00062 visObjEGID, //!< Sends VisionObjectEvents for objects detected in camera images; SID is whatever value you gave during setup (typically in StartupBehavior_SetupVision.cc), duration is always 0 00063 wmVarEGID, //!< Sends an event when a watched memory is changed; source id is pointer to WMEntry 00064 worldModelEGID, //!< not being used, yet (for when objects are detected/lost?) 00065 numEGIDs //!< the number of generators available 00066 }; 00067 00068 //! Holds string versions of each of the generator's names, handy for debugging so you can output the events as readable strings (you'll find this in EventBase.cc since it can't go in the header or we get multiply-defined errors during linking) 00069 static const char* const EventGeneratorNames[numEGIDs]; 00070 00071 //! an event type id is used to denote whether it's the first in a sequence (button down), in a sequence (button still down), or last (button up) 00072 enum EventTypeID_t { 00073 activateETID, //!< Start of an event sequence, e.g. button down 00074 statusETID, //!< Indicates a value has changed, e.g. new sensor readings 00075 deactivateETID, //!< Last of a series of events, e.g. button up 00076 numETIDs //!< the number of different event types 00077 }; 00078 00079 /*! @name Constructors/Destructors */ 00080 //! constructor 00081 /*! @see EventRouter::postEvent() */ 00082 EventBase(); 00083 EventBase(EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur=0); 00084 EventBase(EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur, const std::string& n, float mag); 00085 virtual ~EventBase() {} //!< destructor 00086 //@} 00087 00088 /*! @name Methods */ 00089 virtual const std::string& getName() const { return stim_id; } //!< gets the name of the event - useful for debugging, outputs 00090 virtual EventBase& setName(const std::string& n) { nameisgen=false; stim_id=n; return *this; } //!< sets name to a given string, prevents overwriting by generated names 00091 00092 virtual float getMagnitude() const { return magnitude; } //!< gets "strength" of event - by default 1 for activate and status events, 0 for deactivate events 00093 virtual EventBase& setMagnitude(float m) { magnitude=m; return *this; }//!< sets "strength" of event - you may want to override the default values (see getMagnitude()) 00094 00095 virtual unsigned int getTimeStamp() const { return timestamp; } //!< time event was created 00096 00097 virtual EventGeneratorID_t getGeneratorID() const { return genID; } /*!< @brief gets the generator ID for this event @see EventGeneratorID_t */ 00098 virtual EventBase& setGeneratorID(EventGeneratorID_t gid) { genID=gid; genName(); return *this; } /*!< @brief sets the generator ID for this event @see EventGeneratorID_t */ 00099 00100 virtual unsigned int getSourceID() const { return sourceID; } /*!< @brief gets the source ID for this event @see sourceID */ 00101 virtual EventBase& setSourceID(unsigned int sid) { sourceID=sid; genName(); return *this; } /*!< @brief sets the source ID for this event @see sourceID */ 00102 00103 virtual EventTypeID_t getTypeID() const { return typeID; } /*!< @brief gets the type ID @see EventTypeID_t */ 00104 virtual EventBase& setTypeID(EventTypeID_t tid) { typeID=tid; genName(); return *this; } /*!< @brief sets the type ID @see EventTypeID_t */ 00105 00106 virtual unsigned int getDuration() const { return duration; } /*!< @brief gets the time since the beginning of this sequence (the timestamp of the activate event) @see duration */ 00107 virtual EventBase& setDuration(unsigned int d) { duration = d; return *this; }/*!< @brief sets the time since the beginning of this sequence (the timestamp of the activate event) @see duration */ 00108 00109 virtual const std::string& resetName() { nameisgen=true; genName(); return stim_id; } //!< resets name to generated form, overwriting any previous name 00110 virtual bool isCustomName() const { return !nameisgen; } //!< returns true if not using the generated name 00111 00112 inline bool operator<(const EventBase& e) const { return timestamp<e.timestamp; } 00113 00114 //! is true if the genID, typeID, and sourceID's all match 00115 virtual bool operator==(const EventBase& eb) const { 00116 return (sourceID==eb.sourceID && genID==eb.genID && typeID==eb.typeID); 00117 } 00118 //!tests to see if events have the same generator and source IDs 00119 bool sameGenSource(const EventBase& eb) const { return genID==eb.genID && sourceID==eb.sourceID; } 00120 00121 bool longerThan(const EventBase& eb) const { return duration>eb.duration && *this==eb; } //!< compares event duration and ensures same event generator, source, and type - useful for event masks 00122 bool shorterThan(const EventBase& eb) const { return duration<eb.duration && *this==eb; }//!< compares event duration and ensures same event generator, source, and type - useful for event masks 00123 bool equalOrLongerThan(const EventBase& eb) const { return duration>=eb.duration && *this==eb; }//!< compares event duration and ensures same event generator, source, and type - useful for event masks 00124 bool equalOrShorterThan(const EventBase& eb) const { return duration<=eb.duration && *this==eb; }//!< compares event duration and ensures same event generator, source, and type - useful for event masks 00125 //@} 00126 00127 //! Useful for serializing events to send between processes 00128 /*! @name LoadSave interface */ 00129 virtual unsigned int getBinSize() const; 00130 virtual unsigned int LoadBuffer(const char buf[], unsigned int len); 00131 virtual unsigned int SaveBuffer(char buf[], unsigned int len) const; 00132 //@} 00133 protected: 00134 std::string stim_id; //!< the name of the event, use the same name consistently or else will be seen as different stimuli 00135 float magnitude; //!< the current "strength" of the event/stimuli... MAKE SURE this gets set to ZERO IF event is DEACTIVATE 00136 unsigned int timestamp; //!< the time the event was created - set automatically by constructor 00137 00138 bool nameisgen; //!< tracks whether the current name (stim_id) is generated or set 00139 virtual void genName(); //!< This does the actual generation of names based on genID, sourceID, and typeID 00140 00141 EventGeneratorID_t genID; //!< generator ID, see EventGeneratorID_t 00142 EventTypeID_t typeID; //!< type ID, see EventTypeID_t 00143 unsigned int sourceID; /*!< @brief the source ID for this event 00144 * Source IDs are defined by the generator that made it. This should 00145 * give authors flexibility to design their modules without having to 00146 * worry about ID space collision */ 00147 unsigned int duration; /*!< @brief the time since this sequence started (like, how long the 00148 * button has been pressed); not all generators will set this; 00149 * Typically, this would be 0 for activate, 00150 * (activate.timestamp-::get_time()) for status and deactivate */ 00151 }; 00152 00153 /*! @file 00154 * @brief Describes EventBase, the basic class for sending events around the system 00155 * @author ejt (Creator) 00156 * 00157 * $Author: ejt $ 00158 * $Name: tekkotsu-2_1 $ 00159 * $Revision: 1.21 $ 00160 * $State: Exp $ 00161 * $Date: 2004/02/09 22:45:28 $ 00162 */ 00163 00164 #endif |
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