Tekkotsu: Controller.cc Source File

00001 #include "Controller.h"
00002 #include "Motion/EmergencyStopMC.h"
00003 #include "Motion/LedMC.h"
00004 #include "Motion/MMAccessor.h"
00005 #include "Shared/SharedObject.h"
00006 #include "Shared/WorldState.h"
00007 #include "Shared/get_time.h"
00008 #include "SoundPlay/SoundManager.h"
00009 #include "Events/TextMsgEvent.h"
00010 #include "Shared/ERS210Info.h"
00011 #include "Shared/ERS220Info.h"
00012 #include "Shared/ERS7Info.h"
00013 #include "Shared/string_util.h"
00014 #include <sstream>
00015 
00016 Controller * Controller::theOneController=NULL;
00017 
00018 //these are given appropriate values in init once we know which model we're running on
00019 EventBase Controller::nextItem;
00020 EventBase Controller::prevItem;
00021 EventBase Controller::nextItemFast;
00022 EventBase Controller::prevItemFast;
00023 EventBase Controller::selectItem;
00024 EventBase Controller::cancel;
00025 
00026 using namespace string_util;
00027 
00028 
00029 void Controller::DoStart() {
00030   BehaviorBase::DoStart();
00031   sndman->LoadFile(config->controller.select_snd);
00032   sndman->LoadFile(config->controller.next_snd);
00033   sndman->LoadFile(config->controller.prev_snd);
00034   sndman->LoadFile(config->controller.read_snd);
00035   sndman->LoadFile(config->controller.cancel_snd);
00036   erouter->addListener(this,EventBase::estopEGID);
00037   // Turn on wireless
00038   gui_comm=wireless->socket(SocketNS::SOCK_STREAM, 2048, 32000);
00039   wireless->setReceiver(gui_comm->sock, gui_comm_callback);
00040   wireless->setDaemon(gui_comm,true);
00041   wireless->listen(gui_comm->sock, config->controller.gui_port);
00042   theOneController=this;
00043   SharedObject<LedMC> leds;
00044   leds->setWeights(~FaceLEDMask,0);
00045   leds->setWeights(FaceLEDMask,.75);
00046   display=motman->addPersistentMotion(leds,isControlling?MotionManager::kEmergencyPriority:MotionManager::kIgnoredPriority);
00047   reset();
00048 }
00049 
00050 void Controller::DoStop() {
00051   motman->removeMotion(display);
00052   //these two lines help prevent residual display in case that was the only MotionCommand using LEDs
00053   for(unsigned int i=LEDOffset; i<LEDOffset+NumLEDs; i++)
00054     motman->setOutput(NULL,i,0.f);
00055   display=MotionManager::invalid_MC_ID;
00056   sndman->ReleaseFile(config->controller.select_snd);
00057   sndman->ReleaseFile(config->controller.next_snd);
00058   sndman->ReleaseFile(config->controller.prev_snd);
00059   sndman->ReleaseFile(config->controller.read_snd);
00060   sndman->ReleaseFile(config->controller.cancel_snd);
00061   erouter->removeListener(this);
00062   reset();
00063   gui_comm->printf("goodbye\n");
00064   wireless->setDaemon(gui_comm,false);
00065   wireless->close(gui_comm);
00066   theOneController=NULL;
00067   BehaviorBase::DoStop();
00068 }
00069 
00070 bool Controller::trapEvent(const EventBase& e) {
00071   if(!chkCmdStack())
00072     return false;
00073   last_time=cur_time;
00074   cur_time=get_time();
00075   //this will prevent inadvertant controller commands when you pick up an ERS-7
00076   if(state->buttons[nextItem.getSourceID()] && state->buttons[prevItem.getSourceID()] && state->buttons[selectItem.getSourceID()])
00077     return true;
00078   
00079   if(nextItem.sameGenSource(e)) {
00080     nextEv_val=e.getMagnitude();
00081     nextEv_dur=e.getDuration();
00082     if(nextEv_val==0 && prevEv_val==0)
00083       alreadyGotBoth=false;
00084     if(nextEv_val>.75 && prevEv_val>.75 && nextEv_dur<666 && prevEv_dur<666)
00085       if(alreadyGotBoth)
00086         return true;
00087       else {
00088         alreadyGotBoth=true;
00089         return setNext(cmdstack.top()->doReadStdIn());
00090       }
00091     if(e.getTypeID()==nextItem.getTypeID() && e.getDuration()<666)
00092       return setNext(cmdstack.top()->doNextItem());
00093     if(e.getTypeID()==nextItemFast.getTypeID() && e.getDuration()>666 && calcPulse(cur_time,last_time,static_cast<unsigned int>(50/e.getMagnitude())))
00094       return setNext(cmdstack.top()->doNextItem());
00095   }
00096   if(prevItem.sameGenSource(e)) {
00097     prevEv_val=e.getMagnitude();
00098     prevEv_dur=e.getDuration();
00099     if(nextEv_val==0 && prevEv_val==0)
00100       alreadyGotBoth=false;
00101     if(nextEv_val>.75 && prevEv_val>.75 && nextEv_dur<666 && prevEv_dur<666)
00102       if(alreadyGotBoth)
00103         return true;
00104       else {
00105         alreadyGotBoth=true;
00106         return setNext(cmdstack.top()->doReadStdIn());
00107       }
00108     if(e.getTypeID()==prevItem.getTypeID() && e.getDuration()<666)
00109       return setNext(cmdstack.top()->doPrevItem());
00110     if(e.getTypeID()==prevItemFast.getTypeID() && e.getDuration()>666 && calcPulse(cur_time,last_time,static_cast<unsigned int>(50/e.getMagnitude())))
00111       return setNext(cmdstack.top()->doPrevItem());
00112   }
00113   if(e.getDuration()>250) {
00114     if(e==selectItem)
00115       return setNext(cmdstack.top()->doSelect());
00116     if(e==cancel)
00117       return setNext(cmdstack.top()->doCancel());
00118   }
00119   return true;
00120 }
00121 
00122 void Controller::processEvent(const EventBase& event) {
00123   if(event.getTypeID()==EventBase::activateETID) { //estop just turned on
00124     if(!isControlling)
00125       activate();
00126   } else { //estop just turned off
00127     if(isControlling)
00128       deactivate();
00129   }
00130 }
00131 
00132 void Controller::reset() {
00133   while(cmdstack.size()>1)
00134     pop();
00135   if(!cmdstack.empty()) {
00136     cmdstack.top()->deactivate();
00137     cmdstack.pop();
00138   }
00139   refresh();
00140 }
00141 
00142 void Controller::refresh() {
00143   if(!chkCmdStack())
00144     return;
00145   cmdstack.top()->refresh();
00146 }
00147 
00148 void Controller::push(ControlBase* c) {
00149   if(!chkCmdStack())
00150     return;
00151   cmdstack.top()->pause();
00152   cmdstack.push(c);
00153   theOneController->gui_comm->printf("push\n");
00154   setNext(cmdstack.top()->activate(display,gui_comm));
00155 }
00156 
00157 void Controller::pop() {
00158   cmdstack.top()->deactivate();
00159   cmdstack.pop();
00160   theOneController->gui_comm->printf("pop\n");
00161   refresh();
00162 }
00163 
00164 Controller& Controller::setRoot(ControlBase* r) {
00165   reset();
00166   root=r;
00167   refresh();
00168   return *this;
00169 }
00170 
00171 Controller& Controller::setEStopID(MotionManager::MC_ID estopid) {
00172   estop_id=estopid;
00173   if(static_cast<EmergencyStopMC*>(motman->peekMotion(estopid))->getStopped()) {
00174     if(!isControlling)
00175       activate();
00176   } else {
00177     if(isControlling)
00178       deactivate();
00179   }   
00180   return *this;
00181 }
00182 
00183 void Controller::loadGUI(const std::string& type, const std::string& name, unsigned int port, const std::vector<std::string>& args) {
00184   if(theOneController==NULL)
00185     return;
00186   std::stringstream ss;
00187   ss << "load\n" << type << '\n' << name << '\n' << port << '\n';
00188   for(unsigned int i=0; i<args.size(); i++) {
00189     ss << '"';
00190     for(unsigned int j=0; j<args[i].size(); j++) {
00191       if(args[i][j]=='\\' || args[i][j]=='"' || args[i][j]=='\n')
00192         ss << '\\';
00193       ss << args[i][j];
00194     }
00195     ss << "\" ";
00196   }
00197   ss << '\n';
00198   theOneController->gui_comm->write((const byte*)ss.str().c_str(),ss.str().size());
00199 }
00200 
00201 void Controller::closeGUI(const std::string& name) {
00202   if(theOneController==NULL)
00203     return;
00204   ASSERTRET(theOneController->gui_comm!=NULL,"null gui_comm");
00205 
00206   theOneController->gui_comm->printf("close\n%s\n",name.c_str());
00207 }
00208 
00209 int Controller::gui_comm_callback(char *buf, int bytes) {
00210   std::string s(buf,bytes);
00211   //  cout << "Controller Received: " << s << endl;
00212   if(theOneController==NULL)
00213     return 0;
00214 
00215   static std::string incomplete;
00216 
00217   //pass a line at a time to the controller
00218   while(s.size()>0) {
00219     unsigned int endline=s.find('\n');
00220     if(endline==std::string::npos) {
00221       incomplete+=s;
00222       return 0;
00223     }
00224     
00225     //strip a \r\n or a \n
00226     if(endline>0 && s[endline-1]=='\r')
00227       incomplete+=s.substr(0,endline-1);
00228     else
00229       incomplete+=s.substr(0,endline);
00230     
00231     //is now complete
00232     theOneController->takeLine(incomplete); 
00233     incomplete.erase();
00234     s=s.substr(endline+1);
00235   }
00236   
00237   return 0;
00238 }
00239 
00240 int Controller::console_callback(char *buf, int bytes) {
00241   std::string s(buf,bytes);
00242   //  cout << "Console Received: " << s << endl;
00243   if(theOneController==NULL)
00244     return 0;
00245 
00246   static std::string incomplete;
00247 
00248   //pass a line at a time to the controller
00249   while(s.size()>0) {
00250     unsigned int endline=s.find('\n');
00251     if(endline==std::string::npos) {
00252       incomplete+=s;
00253       return 0;
00254     }
00255 
00256     //strip a \r\n or a \n
00257     if(endline>0 && s[endline-1]=='\r')
00258       incomplete+=s.substr(0,endline-1);
00259     else
00260       incomplete+=s.substr(0,endline);
00261     
00262     //is now complete
00263     if(wireless->isConnected(theOneController->gui_comm->sock))
00264       erouter->postEvent(new TextMsgEvent(incomplete));
00265     else
00266       theOneController->takeLine(incomplete); 
00267     incomplete.erase();
00268     s=s.substr(endline+1);
00269   }
00270   
00271   return 0;
00272 }
00273 
00274 void Controller::init() {
00275   if(state->robotDesign & WorldState::ERS210Mask) {
00276     nextItem=EventBase(EventBase::buttonEGID,ERS210Info::HeadFrButOffset,EventBase::deactivateETID,0);
00277     prevItem=EventBase(EventBase::buttonEGID,ERS210Info::HeadBkButOffset,EventBase::deactivateETID,0);
00278     nextItemFast=EventBase(EventBase::buttonEGID,ERS210Info::HeadFrButOffset,EventBase::statusETID,666);
00279     prevItemFast=EventBase(EventBase::buttonEGID,ERS210Info::HeadBkButOffset,EventBase::statusETID,666);
00280     selectItem=EventBase(EventBase::buttonEGID,ERS210Info::ChinButOffset,EventBase::deactivateETID,250);
00281     cancel=EventBase(EventBase::buttonEGID,ERS210Info::BackButOffset,EventBase::deactivateETID,250);
00282   } else if(state->robotDesign & WorldState::ERS220Mask) {
00283     nextItem=EventBase(EventBase::buttonEGID,ERS220Info::TailLeftButOffset,EventBase::deactivateETID,0);
00284     prevItem=EventBase(EventBase::buttonEGID,ERS220Info::TailRightButOffset,EventBase::deactivateETID,0);
00285     //the 220 doesn't really support the next two because it's using boolean buttons
00286     //i'm using a "hack" on the 210 because the pressure sensitivity causes status
00287     //events to continually be sent but since this is just on/off, it only gets the
00288     //activate/deactivate.  To fix this, make these timers and do timer management
00289     //in processEvents()
00290     nextItemFast=EventBase(EventBase::buttonEGID,ERS220Info::TailLeftButOffset,EventBase::statusETID,666);
00291     prevItemFast=EventBase(EventBase::buttonEGID,ERS220Info::TailRightButOffset,EventBase::statusETID,666);
00292     selectItem=EventBase(EventBase::buttonEGID,ERS220Info::TailCenterButOffset,EventBase::deactivateETID,50);
00293     cancel=EventBase(EventBase::buttonEGID,ERS220Info::BackButOffset,EventBase::deactivateETID,50);
00294   } else if(state->robotDesign & WorldState::ERS7Mask) {
00295     nextItem=EventBase(EventBase::buttonEGID,ERS7Info::FrontBackButOffset,EventBase::deactivateETID,0);
00296     prevItem=EventBase(EventBase::buttonEGID,ERS7Info::RearBackButOffset,EventBase::deactivateETID,0);
00297     nextItemFast=EventBase(EventBase::buttonEGID,ERS7Info::FrontBackButOffset,EventBase::statusETID,500);
00298     prevItemFast=EventBase(EventBase::buttonEGID,ERS7Info::RearBackButOffset,EventBase::statusETID,500);
00299     selectItem=EventBase(EventBase::buttonEGID,ERS7Info::MiddleBackButOffset,EventBase::deactivateETID,25);
00300     cancel=EventBase(EventBase::buttonEGID,ERS7Info::HeadButOffset,EventBase::deactivateETID,25);
00301   } else {
00302     serr->printf("Controller: Unsupported model!\n");
00303   }
00304 }
00305 
00306 void Controller::takeLine(const std::string& s) {
00307   //  cout << "RECEIVED: " << s << endl;
00308   if(s.size()==0)
00309     return;
00310   // break s into a vector of arguments
00311   std::vector<std::string> args;
00312   std::vector<unsigned int> offsets;
00313   if(!string_util::parseArgs(s,args,offsets)) {
00314     serr->printf("Controller::takeLine(\"%s\") was malformed.\n",s.c_str());
00315     return;
00316   }
00317   if(args.size()==0 || offsets.size()==0)
00318     return;
00319   // now look through for a ';' (separates multiple commands)
00320   unsigned int last=offsets[0];
00321   for(unsigned int i=0; i<args.size(); i++) {
00322     if(args[i]==";") { // if we found a ';', recurse with substring
00323       takeLine(s.substr(last,offsets[i]-last));
00324       if(i+1==args.size()) // last arg is a ';'
00325         return;
00326       last=offsets[i+1];
00327     }
00328     if(args[i]=="\\;") // if we found a '\;', replace it with base ';'
00329       args[i]=";";
00330   }
00331   if(!chkCmdStack())
00332     return;
00333   if(args[0][0]!='!') {
00334     setNext(cmdstack.top()->takeInput(s));
00335   } else {
00336     if(last!=offsets[0]) { // only changes if we found a ';' - in that case, need to do last segment
00337       takeLine(s.substr(last));
00338     } else if(args[0]=="!refresh") {
00339       refresh();
00340     } else if(args[0]=="!reset") {
00341       reset();
00342     } else if(args[0]=="!cancel") {
00343       setNext(cmdstack.top()->doCancel());
00344     } else if(args[0]=="!select") {
00345       setNext(cmdstack.top()->doSelect());
00346     } else if(args[0]=="!next") {
00347       setNext(cmdstack.top()->doNextItem());
00348     } else if(args[0]=="!prev") {
00349       setNext(cmdstack.top()->doPrevItem());
00350     } else if(args[0]=="!dump_stack") {
00351       theOneController->gui_comm->printf("stack_dump\n%d\n",cmdstack.size());
00352       //this is rather ugly - can't iterate a stack, have to unstack and restack it.  Oh well.
00353       std::stack< ControlBase* > tmpstack;
00354       while(!cmdstack.empty()) {
00355         tmpstack.push(cmdstack.top());
00356         cmdstack.pop();
00357       }
00358       while(!tmpstack.empty()) {
00359         theOneController->gui_comm->printf("%s\n",tmpstack.top()->getName().c_str());
00360         cmdstack.push(tmpstack.top());
00361         tmpstack.pop();
00362       }
00363     } else if(args[0]=="!msg") {
00364       if(offsets.size()>1)
00365         erouter->postEvent(new TextMsgEvent(s.substr(offsets[1])));
00366       else
00367         erouter->postEvent(new TextMsgEvent(""));
00368     } else if(args[0]=="!hello") {
00369       static unsigned int count=0;
00370       count++;
00371       theOneController->gui_comm->printf("hello\n%d\n",count);
00372     } else if(args[0]=="!root") {
00373       ControlBase * ret=root->takeInput(s.substr(offsets[1]));
00374       if(ret!=NULL)
00375         setNext(ret);
00376     } else if(args[0]=="!hilight") {
00377       std::vector<unsigned int> hilights;
00378       for(unsigned int i=1; i<args.size(); i++)
00379         hilights.push_back(atoi(args[i].c_str()));
00380       cmdstack.top()->setHilights(hilights);
00381     } else if(args[0]=="!input") {
00382       const std::vector<unsigned int>& hilights=cmdstack.top()->getHilights();
00383       const std::vector<ControlBase*>& slots=cmdstack.top()->getSlots();
00384       std::string in=s.substr(offsets[1]);
00385       for(unsigned int i=0; i<hilights.size(); i++)
00386         if(hilights[i]<slots.size() && slots[hilights[i]]!=NULL) {
00387           ControlBase * ret=slots[hilights[i]]->takeInput(in);
00388           if(ret!=NULL)
00389             setNext(ret);
00390         }
00391       refresh();
00392     } else if(args[0]=="!set") {
00393       setConfig(s.substr(offsets[1]).c_str());
00394     } else
00395       setNext(cmdstack.top()->takeInput(s));
00396   }
00397 }
00398 
00399 int Controller::setConfig(const char *str) {
00400   char buf[80];
00401   strncpy(buf, str, 79);
00402   char *value=index(buf, '=');
00403   char *key=index(buf, '.');
00404   if (key==NULL || value==NULL) return -1;
00405   if (key>=value) return -1;
00406   *key=0;
00407   key++;
00408   *value=0;
00409   value++;
00410   Config::section_t section=config->parseSection(buf);
00411   if (section==Config::sec_invalid) return -2;
00412   config->setValue(section, key, value, true);
00413   //void *val_set=config->setValue(section, key, value, true);
00414   // might want to catch setValue's return value and do
00415   // something special for some config values?
00416   // (such as reboot a subsystem to reload new settings)
00417   return 0;
00418 }
00419 
00420 bool Controller::setNext(ControlBase* next) {
00421   if(next==NULL)
00422     pop();
00423   else if(next!=cmdstack.top())
00424     push(next);
00425   return true;
00426 }
00427 
00428 void Controller::activate() {
00429   motman->setPriority(display,MotionManager::kEmergencyPriority);
00430   erouter->addTrapper(this,EventBase::buttonEGID);
00431   isControlling=true;
00432   if(!cmdstack.empty())
00433     cmdstack.top()->activate(display,gui_comm);
00434   else
00435     chkCmdStack();
00436 }
00437 
00438 void Controller::deactivate() {
00439   //these two lines help prevent residual display in case that was the only MotionCommand using LEDs
00440   motman->setPriority(display,MotionManager::kIgnoredPriority);
00441   isControlling=false;
00442   for(unsigned int i=LEDOffset; i<LEDOffset+NumLEDs; i++)
00443     motman->setOutput(NULL,i,0.f);
00444   erouter->removeTrapper(this);
00445   cmdstack.top()->pause();
00446 }
00447 
00448 bool Controller::chkCmdStack() {
00449   if(cmdstack.empty()) {
00450     if(root==NULL)
00451       return false;
00452     cmdstack.push(root);
00453     ControlBase * next = cmdstack.top()->activate(display,gui_comm);
00454     if(next==NULL)
00455       cout << "*** WARNING Controller root returned NULL on activate!" << endl;
00456     else if(next!=root)
00457       push(next);
00458   }
00459   return true;
00460 }
00461 
00462 
00463 /*! @file
00464  * @brief Implements Controller class, a behavior that should be started whenever the emergency stop goes on to provide menus for robot control
00465  * @author ejt (Creator)
00466  *
00467  * $Author: ejt $
00468  * $Name: tekkotsu-2_3 $
00469  * $Revision: 1.41 $
00470  * $State: Exp $
00471  * $Date: 2005/01/05 20:28:34 $
00472  */