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WalkControllerBehavior.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_WalkControllerBehavior_h_ #define INCLUDED_WalkControllerBehavior_h_ #include <iostream> #include "Wireless/Wireless.h" #include "Behaviors/BehaviorBase.h" #include "Motion/MotionManager.h" #include "Motion/WalkMC.h" #include "Motion/MMAccessor.h" #include "Events/EventRouter.h" #include "Events/EventBase.h" #include "Shared/Config.h" //! Listens to control commands coming in from the command port for remotely controlling the walk /*! The communication protocol is a very simple binary format, shared * with HeadPointControllerBehavior. Each command is sent as a * 5-byte group. The first byte is a command selector, and the * following 4 bytes are a floating point argument: * * - <@c char: command indicator> * - <@c float: value> * * The valid values for command indicator are given by #CMD_fwd, * #CMD_roto, or #CMD_side ('f', 'r', or 's' respectively). Others * are listed below, but are not currently used. */ class WalkControllerBehavior : public BehaviorBase { public: //! Points to the one WalkControllerBehavior object that the input //! command stream is talking to. A kludge. Dunno how you're gonna //! make sure you're not using this uninitialized. static WalkControllerBehavior * theOne; static int mechacmd_callback(char *buf, int bytes); //!< called by wireless when there's new data protected: SharedObject<WalkMC> shared_walker; //!< the WalkMC to use private: //!@name Command Bytes static const char CMD_fwd = 'f'; //!< handy symbol for matching incoming communication static const char CMD_roto = 'r'; static const char CMD_side = 's'; static const char CMD_opt0 = '0'; static const char CMD_opt1 = '1'; static const char CMD_opt2 = '2'; static const char CMD_opt3 = '3'; static const char CMD_opt4 = '4'; static const char CMD_opt5 = '5'; static const char CMD_opt6 = '6'; static const char CMD_opt7 = '7'; static const char CMD_opt8 = '8'; static const char CMD_opt9 = '9'; //@} float dx; //!< Motion parameter float dy; //!< Motion parameter float da; //!< Motion parameter //! The last WCB object that was theOne, so we can restore it //! to prominence when we die. This is a nice gesture, but it doesn't //! really make sense since we're all using the same port. But just //! in case something changes and we don't do that, this mechanism //! is in place. WalkControllerBehavior *theLastOne; //! The input command stream socket Socket *cmdsock; //! Executes a command. Called by mechacmd_callback. void runCommand(unsigned char *command); WalkControllerBehavior(const WalkControllerBehavior&); //!< don't call WalkControllerBehavior operator=(const WalkControllerBehavior&); //!< don't call public: //! constructor WalkControllerBehavior() : BehaviorBase("WalkControllerBehavior"), shared_walker(), dx(0), dy(0), da(0), theLastOne(theOne), cmdsock(NULL) {} //! destructor virtual ~WalkControllerBehavior() { theOne = theLastOne; } virtual void DoStart(); virtual void DoStop(); virtual WalkMC * getWalkMC() { return &(*shared_walker); } //!< returns the WalkMC which [will be|is being] used virtual MotionManager::MC_ID getWalkID() { return shared_walker->getID(); } //!< returns the current Walk's MotionCommand ID //! The only event we could possibly receive is the stop-if-no-heartbeat timer. virtual void processEvent(const EventBase &) { MMAccessor<WalkMC> walker(getWalkID()); walker->setTargetVelocity(0,0,0); } static std::string getClassDescription() { char tmp[20]; sprintf(tmp,"%d",config->main.walkControl_port); return std::string("Listens to walk control commands coming in from port ")+tmp; } virtual std::string getDescription() const { return getClassDescription(); } }; /*! @file * @brief Describes WalkControllerBehavior, listens to control commands coming in from the command port for remotely controlling the walk * @author tss (Creator) * @author ejt (modifications) * @author PA Gov. School for the Sciences 2003 Team Project - Haoqian Chen, Yantian Martin, Jon Stahlman (modifications) * * $Author: ejt $ * $Name: tekkotsu-3_0 $ * $Revision: 1.5 $ * $State: Exp $ * $Date: 2005/09/13 22:10:36 $ */ #endif

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