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Controller.h

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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>\\n' 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  *  - '<tt>!set </tt><i>section</i><tt>.</tt><i>key</i><tt>=</tt><i>value</i>' - will be sent to Config::setValue(<i>section</i>,<i>key</i>,<i>value</i>)
00032  *  - any text not beginning with '<tt>!</tt>' - sent to ControlBase::takeInput() of the current control
00033  *
00034  *  In return, to send the menus to the GUI, the following messages are sent: (newlines are required where shown)
00035  *  - '<tt>push</tt>' - signals a submenu has been activated
00036  *  - '<tt>pop</tt>' - signals a submenu has been closed
00037  *  - '<tt>refresh</tt>\n
00038  *    <i>text:title</i>\n
00039  *    <i>int:numitems</i>\n
00040  *    <i>bool:hasSubmenus</i><sub>1</sub>\n
00041  *    <i>bool:hilighted</i><sub>1</sub>\n
00042  *    <i>text:item-title</i><sub>1</sub>\n
00043  *    <i>text:item-description</i><sub>1</sub>\n
00044  *    ...\n
00045  *    <i>bool:hasSubmenus<sub>numitems</sub></i>\n
00046  *    <i>bool:hilighted<sub>numitems</sub></i>\n
00047  *    <i>text:item-title<sub>numitems</sub></i>\n
00048  *    <i>text:item-description<sub>numitems</sub></i>' - refreshes the current menu\n
00049  *  - '<tt>status</tt>\n
00050  *    <i>text</i>' - sets the status bar to <i>text</i> (until the next refresh)
00051  *  - '<tt>load</tt>\n
00052  *    <i>text:classname</i>\n
00053  *    <i>text:instancename</i>\n
00054  *    <i>int:port</i>\n
00055  *    [<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.
00056  *    <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>
00057  *    the argument list is parsed as if it were on the console - unescaped or unquoted spaces will separate args into elements in the array
00058  *  - '<tt>close</tt>\n
00059  *    <i>text:instancename</i>' - calls <tt>close()</tt> on an object previously created by a <tt>load</tt> message.
00060  *    The Java object is expected to contain a function <tt>void close()</tt>.
00061  *  - '<tt>goodbye</tt>' - Indicates the connection is about to be closed purposefully, to differentiate from an accidental cut off.
00062  *  
00063  *  bool types are expected to be numerical values, 0 for false,
00064  *  non-zero for true.
00065  *
00066  *  <tt>load</tt> and <tt>close</tt> are intended to allow pop-up
00067  *  windows for custom displays.
00068  *
00069  *  The upstream is the responsibility of the individual Controls, but
00070  *  the protocol is listed here to keep it together.  When a control's
00071  *  state changes, it's that control's responsiblity to refresh the UI
00072  *  (LEDs, console, and GUI as appropriate).  Thus, future extensions
00073  *  to the upstream protocol are between the control which will use it
00074  *  and the GUI.  Future extensions to the downstream protocol would
00075  *  involve changing Controller and the GUI.
00076  *
00077  *  The Controller may connect to serr in the future to pop-up an alert
00078  *  anytime output to serr occurs.
00079  *
00080  *  Note that all state is maintained on the robot - even if the GUI
00081  *  is connected, you can still use the buttons to interact with the
00082  *  controller, and the GUI will update to reflect the changes.  In
00083  *  HCI (Human Computer Interaction) parlance, this is the MVC,
00084  *  Model-View-Controller architecture, almost by necessity. (HCI
00085  *  happens to be my double major when I was an undergrad ;)
00086  *    
00087  *  Also, the Controller is responsible for sending out TextMsgEvents
00088  *  from user input it receives - either a !msg command from the
00089  *  console or GUI, or <i>any text at all</i> which is received on the
00090  *  console if there is already a GUI connected.
00091  *
00092  *  These TextMsgEvents are always status events, and the duration
00093  *  field is always 0.
00094  */
00095 class Controller : public BehaviorBase, public EventTrapper {
00096 public:
00097   Controller() : BehaviorBase("Controller"), EventTrapper(), 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
00098   Controller(ControlBase* r) : BehaviorBase("Controller"), EventTrapper(), 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
00099   virtual ~Controller() {
00100     cout << "~Controller()..." << endl;
00101     delete root;
00102     theOneController=NULL;
00103     cout << "~Controller()-DONE" << endl;
00104   } //!< Destructor
00105 
00106   //@{
00107   //! event masks used by processEvent()
00108   static EventBase nextItem; 
00109   static EventBase prevItem;
00110   static EventBase nextItemFast;
00111   static EventBase prevItemFast;
00112   static EventBase selectItem;
00113   static EventBase cancel; //@}
00114 
00115   virtual void DoStart(); //!< register for events and resets the cmdstack
00116   virtual void DoStop(); //!< stop listening for events and resets the cmdstack
00117   virtual bool trapEvent(const EventBase& e); //!< passes an event to the top control
00118   virtual void processEvent(const EventBase& e); //!< just for e-stop activation/deactivation
00119   
00120   void reset();   //!< will take the command stack back down to the root
00121   void refresh(); //!< refreshes the display, for times like sub-control dying, the previous control needs to reset it's display
00122 
00123   void push(ControlBase* c); //!< puts a new control on top
00124   void pop();                //!< kills the top control, goes to previous
00125   ControlBase* top() { return cmdstack.top(); } //!< returns the current control
00126 
00127   Controller& setRoot(ControlBase* r); //!< sets the root level control
00128 
00129   Controller& setEStopID(MotionManager::MC_ID estopid); //!< Sets the emergency stop MC to monitor for pausing
00130   
00131   static std::string getClassDescription() { return "Provides interface for activating/deactivating controls (and through them, behaviors)"; }
00132   virtual std::string getDescription() const { return getClassDescription(); }
00133 
00134 
00135   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
00136   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
00137   static void closeGUI(const std::string& name); //!< calls close() on a Java object loaded with loadGUI() (on the desktop)
00138 
00139   static int gui_comm_callback(char *buf, int bytes); //!< called by wireless when there's new data from the GUI
00140   static int console_callback(char *buf, int bytes);  //!< called by wireless when someone has entered new data on the tekkotsu console (NOT cin)
00141 
00142 protected:
00143   //! assigns appropriate values to the static event bases
00144   void init();
00145   
00146   //! called with each line that's entered on the tekkotsu console or from the GUI
00147   void takeLine(const std::string& s);
00148 
00149   //! sets a config value - some values may require additional processing (done here) to have the new values take effect
00150   int setConfig(const char *str);
00151 
00152   //! maintains top Control
00153   /*! @param next one of: @li NULL: pop() ::cmdstack @li ::cmdstack.top(): nothing @li other address: ::push(@a next)
00154    *  @return true, all the time, for convenience from trapEvent() */
00155   bool setNext(ControlBase* next);
00156 
00157   //! called when the estop switches on
00158   /*!  causes the top control to activate, registers for button events */
00159   void activate();
00160 
00161   //! called when the estop switches off\n
00162   /*!  causes the top control to deactivate, stops listening for buttons */
00163   void deactivate();
00164   
00165   //! @brief returns true if a valid control is available on the stack
00166   /*!  if the stack is empty, will push root if it's non-null */
00167   bool chkCmdStack();
00168 
00169   //! invalid_MC_ID if not active, otherwise id of high priority LEDs
00170   MotionManager::MC_ID display;
00171 
00172   //! the EmergencyStopMC MC_ID that this Controller is monitoring
00173   MotionManager::MC_ID estop_id;
00174 
00175   //! the base control, if cmdstack underflows, it will be reset to this
00176   ControlBase * root;
00177 
00178   /*! @brief the stack of the current control hierarchy\n
00179    *  should never contain NULL entries */
00180   std::stack< ControlBase* > cmdstack;
00181 
00182   //! returns true when the current time and last time are in different periods
00183   static bool calcPulse(unsigned int t, unsigned int last, unsigned int period) {
00184     if(period<t-last)
00185       return true;
00186     bool nextclock=(t/period)&1;
00187     bool lastclock=(last/period)&1;
00188     return (lastclock!=nextclock);
00189   }
00190 
00191 
00192   unsigned int last_time; //!< the time of the last event
00193   unsigned int cur_time; //!< the time of the current event (do*() can check this instead of calling get_time() )
00194   float nextEv_val; //!< the magnitude of the last next event (::nextItem)
00195   unsigned int nextEv_dur; //!< the duration of the last next event (::nextItem)
00196   float prevEv_val; //!< the magnitude of the last prev event (::prevItem)
00197   unsigned int prevEv_dur; //!< the duration of the last prev event (::prevItem)
00198   bool alreadyGotBoth; //!< if doReadStdIn() was already called, but the buttons are both still down
00199   bool isControlling; //!< true if the Controller is currently active (in the activate()/deactivate() sense, not DoStart()/DoStop() sense - use isActive() for that...)
00200 
00201   Socket * gui_comm; //!< the socket to listen on for the gui
00202   static Controller * theOneController; //!< currently can't pull connection socket off of server socket, so only one Controller
00203   
00204 private:
00205   Controller(const Controller&); //!< shouldn't be called...
00206   Controller& operator=(const Controller&); //!< shouldn't be called...
00207 };
00208 
00209 /*! @file
00210  * @brief Describes Controller class, a behavior that should be started whenever the emergency stop goes on to provide menus for robot control
00211  * @author ejt (Creator)
00212  *
00213  * $Author: ejt $
00214  * $Name: tekkotsu-2_2_2 $
00215  * $Revision: 1.31 $
00216  * $State: Exp $
00217  * $Date: 2004/11/11 01:45:31 $
00218  */
00219 
00220 #endif

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