ControlBase Class Reference
#include <ControlBase.h>
Inheritance diagram for ControlBase:
Detailed Description
Base class for all items in the Controller hierarchy.These are similar to behaviors in that they can do processing and are told when to start and stop.
However, the important difference is that these have to follow a much tighter set of guidelines for a more refined purpose - user interface. Controls do not directly receive events - the Controller will process events for them and call the appropriate functions at the appropriate times. Controls are expected to fit into a heirarchical scheme, where each control (except the root) has a parent which created it, and may return its own children where appropriate.
Controls can be very powerful, and a class can be both a behavior and a control. This allows integrated user interface to controlling a complex behavior. Some controls may simply need EventListener access instead to perform a few tricks. Mix and match as you see fit. (multiple inheritance can be nice if it's planned for, as these have been)
This base class will do most of the work of maintaining submenus for you, and will call appropriate virtual functions which you are expected to override. Controls generally live in Behaviors/Controls/ as the Controller itself is a behavior, and these controls merely its tools.
The ControlBase pointers which are returned at various points are the responsibility of the creator. Controller will not delete them upon deactivation.
GUI Theory:
There are 3 levels to the user interface.
- Robot/Local: Uses the buttons for input, and LEDs and sounds for immediate feedback. No external resources needed
- Text: Uses a console to display/request information.
- GUI: Uses a graphical interface on a desktop machine
Obviously, higher levels require more technological resources, which also means there's more to go wrong and debug. However, another important distinction between the first level and the others is that the first level does not require the user to lose direct contact with the robot. Requiring the user to move back and forth from robot to computer can be much more frustrating than decoding LED signals or press head buttons. There are also safety issues when triggering behaviors remotely if the robot is out of immediate reach. But of course, having a GUI and text output is extremely valuable in terms of ease of use and efficiency.
So, the lesson is to try to support all 3 levels so that your interfaces will be robust and efficient in a variety of environments. You'll thank yourself when you're demoing on the road and you can't get wavelan up, or the guest machine you're supposed to use doesn't have Java, or whatever.
- Todo:
- ControlBase's should use ReferenceCounter so memory management is not an issue
- See also:
- Controller, NullControl
Definition at line 65 of file ControlBase.h.
Public Member Functions | |
Constructors/Destructors | |
| ControlBase () | |
| Contructor. | |
| ControlBase (const std::string &n) | |
| Contructor, initializes with a name. | |
| ControlBase (const std::string &n, const std::string &d) | |
| Contructor, initializes with a name. | |
| virtual | ~ControlBase () |
| Destructor. | |
Controller Functions | |
You probably want to override some of these, call the ControlBase functions from your code if you want default sound effects (or look in Config::controller_config). | |
| virtual ControlBase * | activate (MotionManager::MC_ID disp_id, Socket *gui) |
| Called when the control is activated (or the control system is reactivating). | |
| virtual void | pause () |
| called when a control is being overriden by a child, or the control system is deactivating (e-stop being turned off) | |
| virtual void | refresh () |
| called when the child has deactivated and this control should refresh its display, or some other event (such as the user pressing the refresh button) has happened to cause a refresh to be needed | |
| virtual void | deactivate () |
| called when this control is being popped from the control stack | |
| virtual ControlBase * | doSelect () |
| when the user has trigger an "open selection" - default is to return the hilighted control*/ | |
| virtual ControlBase * | doNextItem () |
when the user wants to increment the control - default is to hilight the first non-null slot after the last hilight, and return this | |
| virtual ControlBase * | doPrevItem () |
when the user wants to decrement the control - default is to hilight the last non-null slot before the first hilight, and return this | |
| virtual ControlBase * | doCancel () |
| when the user wants to cancel - you should almost always return NULL now unless you need to override the cancel in order to confirm something (e.g. "Save changes?") | |
| virtual ControlBase * | doReadStdIn (const std::string &prompt=std::string()) |
| prompt the user for text input on the current input device (cin, tekkotsu console (sout), or GUI) | |
| virtual ControlBase * | takeInput (const std::string &msg) |
| called when the user has supplied a text string (may or may not have been prompted by doReadStdIn()! May not even be active yet - the user can direct the same input to a set of hilighted menus) | |
| virtual bool | validInput (const std::string &msg) |
| may be called before takeInput to verify this Control can make sense of msg | |
Accessors | |
| virtual ControlBase & | setName (const std::string &n) |
| sets the name of the control | |
| virtual std::string | getName () const |
| returns the name of the control | |
| virtual ControlBase & | setDescription (const std::string d) |
| sets the description of the control | |
| virtual std::string | getDescription () const |
| returns a short description of what the control does | |
| virtual const std::vector< ControlBase * > & | getSlots () const |
| returns the vector of sub-controls | |
| virtual std::string | getSlotName (unsigned int i) const |
| returns the string that will appear in slot i | |
| virtual unsigned int | slotsSize () const |
| returns the number of options available | |
| virtual void | setSlot (unsigned int i, ControlBase *o) |
| sets i'th element of options to o | |
| virtual void | pushSlot (ControlBase *o) |
| sets next unused element of options to o | |
| virtual void | clearSlots () |
| deletes each slot item and clears the slots | |
| virtual const std::vector< unsigned int > & | getHilights () const |
| returns a vector of the indicies of hilighted slots | |
| virtual void | setHilights (const std::vector< unsigned int > &hi) |
| sets the hilighted slots | |
| virtual void | hilightFirst () |
| sets the hilight to the first non-null slot | |
| virtual MotionManager::MC_ID | getDisplay () |
| returns display being used | |
| virtual ControlBase & | setDisplay (MotionManager::MC_ID d) |
| sets display to use | |
Protected Member Functions | |
| virtual void | clearMenu () |
| clears the display (if use_VT100 is on) | |
| float | hilightsAvg () const |
| returns the average of the hilighted indicies - used to know to play the "next" sound, or the "prev" sound when the hilight changes | |
Protected Attributes | |
| std::string | name |
| the name of this control | |
| std::string | description |
| the description of this control | |
| std::vector< unsigned int > | hilights |
| keep sorted - index(es) of current selection - can have multiple if using GUI | |
| std::vector< ControlBase * > | options |
| vector of controls to select from | |
| bool | doRewrite |
| toggles using VT100 codes to reposition the cursor at the beginning of the menu | |
| MotionManager::MC_ID | display_id |
| LedMC to use for displaying selection. | |
| Socket * | gui_comm |
| socket to communicate with the GUI, if it is connected | |
Private Member Functions | |
| ControlBase (const ControlBase &) | |
| you can override, but don't call this... | |
| ControlBase & | operator= (const ControlBase &) |
| you can override, but don't call this... | |
Constructor & Destructor Documentation
| ControlBase::ControlBase | ( | ) | [inline] |
Contructor.
Definition at line 70 of file ControlBase.h.
Referenced by EventLogger::EventLogger(), FileBrowserControl::rebuildmenu(), SensorObserverControl::SensorObserverControl(), and WalkCalibration::WalkCalibration().
| ControlBase::ControlBase | ( | const std::string & | n | ) | [inline] |
| ControlBase::ControlBase | ( | const std::string & | n, | |
| const std::string & | d | |||
| ) | [inline] |
| virtual ControlBase::~ControlBase | ( | ) | [inline, virtual] |
| ControlBase::ControlBase | ( | const ControlBase & | ) | [private] |
you can override, but don't call this...
Member Function Documentation
| virtual ControlBase* ControlBase::activate | ( | MotionManager::MC_ID | disp_id, | |
| Socket * | gui | |||
| ) | [virtual] |
Called when the control is activated (or the control system is reactivating).
Takes the id number of a LedMC which the control should use, maintained by Controller. Controls share the display which is passed, and may use the socket gui to communicate with the GUI controller, if it is connected.
- Returns:
- a ControlBase pointer. Return:
- this if the control should stay active (if it's not a one-shot command)
NULLto return to parent- other address to spawn a child control
Reimplemented in PostureEditor, and WaypointWalkControl.
Referenced by WalkCalibration::activate(), ValueEditControl< T >::activate(), FileBrowserControl::activate(), BehaviorSwitchControlBase::activate(), BatteryCheckControl::activate(), and doSelect().
| void ControlBase::clearMenu | ( | ) | [protected, virtual] |
clears the display (if use_VT100 is on)
Definition at line 393 of file ControlBase.cc.
Referenced by deactivate(), doSelect(), refresh(), and takeInput().
| void ControlBase::clearSlots | ( | ) | [virtual] |
deletes each slot item and clears the slots
Reimplemented in EventLogger.
Definition at line 360 of file ControlBase.cc.
Referenced by EventLogger::clearSlots(), FileBrowserControl::rebuildmenu(), NetworkStatusControl::refresh(), WalkCalibration::setupChoose(), WalkCalibration::setupMoving(), WalkCalibration::setupReading1(), WalkCalibration::setupReading2(), WalkCalibration::setupReady(), WalkCalibration::setupRoot(), SensorObserverControl::updateRT(), ~ControlBase(), and FreeMemReportControl::~FreeMemReportControl().
| void ControlBase::deactivate | ( | ) | [virtual] |
called when this control is being popped from the control stack
Reimplemented in BatteryCheckControl, NetworkStatusControl, PostureEditor, SensorObserverControl::RTViewControl, WalkCalibration, and WaypointWalkControl.
Definition at line 90 of file ControlBase.cc.
Referenced by WaypointWalkControl::deactivate(), WalkCalibration::deactivate(), SensorObserverControl::RTViewControl::deactivate(), PostureEditor::deactivate(), and NetworkStatusControl::deactivate().
| ControlBase * ControlBase::doCancel | ( | ) | [virtual] |
when the user wants to cancel - you should almost always return NULL now unless you need to override the cancel in order to confirm something (e.g. "Save changes?")
The value which is returned is then activate()ed and pushed on the Controller's stack, you probably want to return NULL
Definition at line 181 of file ControlBase.cc.
| ControlBase * ControlBase::doNextItem | ( | ) | [virtual] |
when the user wants to increment the control - default is to hilight the first non-null slot after the last hilight, and return this
The value which is returned is then activate()ed and pushed on the Controller's stack, so you probably want to return this
Reimplemented in NullControl, and ValueEditControl< T >.
Definition at line 145 of file ControlBase.cc.
| ControlBase * ControlBase::doPrevItem | ( | ) | [virtual] |
when the user wants to decrement the control - default is to hilight the last non-null slot before the first hilight, and return this
The value which is returned is then activate()ed and pushed on the Controller's stack, so you probably want to return this
Reimplemented in NullControl, and ValueEditControl< T >.
Definition at line 163 of file ControlBase.cc.
| ControlBase * ControlBase::doReadStdIn | ( | const std::string & | prompt = std::string() |
) | [virtual] |
prompt the user for text input on the current input device (cin, tekkotsu console (sout), or GUI)
The value which is returned is then activate()ed and pushed on the Controller's stack, so you probably want to return this
Reimplemented in NullControl, and StringInputControl.
Definition at line 187 of file ControlBase.cc.
Referenced by StringInputControl::doReadStdIn(), WalkCalibration::processEvent(), and WalkCalibration::takeInput().
| ControlBase * ControlBase::doSelect | ( | ) | [virtual] |
when the user has trigger an "open selection" - default is to return the hilighted control*/
The value which is returned is then activate()ed and pushed on the Controller's stack
Reimplemented in BatteryCheckControl, EventLogger, FileBrowserControl, MCValueEditControl< T >, NullControl, RebootControl, SensorObserverControl, ShutdownControl, ToggleControl, ValueEditControl< T >, WalkCalibration, WaypointWalkControl, and WaypointWalkControl::WaypointEditControl.
Definition at line 104 of file ControlBase.cc.
Referenced by WaypointWalkControl::WaypointEditControl::doSelect(), WaypointWalkControl::doSelect(), WalkCalibration::doSelect(), FileBrowserControl::doSelect(), and takeInput().
| virtual std::string ControlBase::getDescription | ( | ) | const [inline, virtual] |
returns a short description of what the control does
Reimplemented in BehaviorSwitchActivatorControl, BehaviorSwitchControlBase, and BehaviorSwitchControl< B, Al >.
Definition at line 123 of file ControlBase.h.
Referenced by BehaviorSwitchControlBase::getDescription().
| virtual MotionManager::MC_ID ControlBase::getDisplay | ( | ) | [inline, virtual] |
| virtual const std::vector<unsigned int>& ControlBase::getHilights | ( | ) | const [inline, virtual] |
| virtual std::string ControlBase::getName | ( | ) | const [inline, virtual] |
returns the name of the control
Reimplemented in BehaviorSwitchActivatorControl, BehaviorSwitchControlBase, BehaviorSwitchControl< B, Al >, FreeMemReportControl, and ValueEditControl< T >.
Definition at line 120 of file ControlBase.h.
Referenced by SensorObserverControl::checkLogFile(), EventLogger::checkLogFile(), StringInputControl::doReadStdIn(), SensorObserverControl::doSelect(), FileBrowserControl::doSelect(), EventLogger::doSelect(), ValueEditControl< T >::getName(), FreeMemReportControl::getName(), BehaviorSwitchControl< B, Al >::getName(), BehaviorSwitchControlBase::getName(), EventLogger::processEvent(), refresh(), BatteryCheckControl::refresh(), and EventLogger::spider().
| std::string ControlBase::getSlotName | ( | unsigned int | i | ) | const [virtual] |
returns the string that will appear in slot i
Definition at line 342 of file ControlBase.cc.
Referenced by refresh().
| virtual const std::vector<ControlBase*>& ControlBase::getSlots | ( | ) | const [inline, virtual] |
returns the vector of sub-controls
Definition at line 125 of file ControlBase.h.
Referenced by SensorObserverControl::processEvent(), HelpControl::report(), Controller::select(), and SensorObserverControl::updateRT().
| void ControlBase::hilightFirst | ( | ) | [virtual] |
sets the hilight to the first non-null slot
Reimplemented in WalkCalibration.
Definition at line 383 of file ControlBase.cc.
Referenced by WalkCalibration::hilightFirst().
| float ControlBase::hilightsAvg | ( | ) | const [protected] |
returns the average of the hilighted indicies - used to know to play the "next" sound, or the "prev" sound when the hilight changes
Definition at line 400 of file ControlBase.cc.
Referenced by setHilights().
| ControlBase& ControlBase::operator= | ( | const ControlBase & | ) | [private] |
you can override, but don't call this...
Referenced by ValueSetControl< T >::operator=(), and ValueEditControl< T >::operator=().
| void ControlBase::pause | ( | ) | [virtual] |
called when a control is being overriden by a child, or the control system is deactivating (e-stop being turned off)
Reimplemented in BatteryCheckControl, NetworkStatusControl, PostureEditor, SensorObserverControl::RTViewControl, and ValueEditControl< T >.
Definition at line 18 of file ControlBase.cc.
Referenced by WaypointWalkControl::doSelect(), ValueEditControl< T >::pause(), SensorObserverControl::RTViewControl::pause(), PostureEditor::pause(), and NetworkStatusControl::pause().
| void ControlBase::pushSlot | ( | ControlBase * | o | ) | [virtual] |
sets next unused element of options to o
Definition at line 356 of file ControlBase.cc.
Referenced by EventLogger::EventLogger(), FreeMemReportControl::init(), FileBrowserControl::init(), FileBrowserControl::rebuildmenu(), WaypointWalkControl::refresh(), NetworkStatusControl::refresh(), SensorObserverControl::SensorObserverControl(), WalkCalibration::setupChoose(), WalkCalibration::setupClear(), WalkCalibration::setupMoving(), WalkCalibration::setupReading1(), WalkCalibration::setupReading2(), WalkCalibration::setupReady(), WalkCalibration::setupRoot(), SensorObserverControl::updateRT(), WalkCalibration::WalkCalibration(), and WaypointWalkControl::WaypointWalkControl().
| void ControlBase::refresh | ( | ) | [virtual] |
called when the child has deactivated and this control should refresh its display, or some other event (such as the user pressing the refresh button) has happened to cause a refresh to be needed
Reimplemented in BatteryCheckControl, EventLogger, FreeMemReportControl, NetworkStatusControl, PostureEditor, SensorObserverControl, SensorObserverControl::RTViewControl, StringInputControl, ValueEditControl< T >, WalkCalibration, and WaypointWalkControl.
Definition at line 24 of file ControlBase.cc.
Referenced by doNextItem(), doPrevItem(), FileBrowserControl::doSelect(), WaypointWalkControl::refresh(), WalkCalibration::refresh(), StringInputControl::refresh(), SensorObserverControl::RTViewControl::refresh(), SensorObserverControl::refresh(), PostureEditor::refresh(), NetworkStatusControl::refresh(), FreeMemReportControl::refresh(), EventLogger::refresh(), setHilights(), and takeInput().
| virtual ControlBase& ControlBase::setDescription | ( | const std::string | d | ) | [inline, virtual] |
sets the description of the control
Definition at line 122 of file ControlBase.h.
Referenced by WaypointWalkControl::doSelect().
| virtual ControlBase& ControlBase::setDisplay | ( | MotionManager::MC_ID | d | ) | [inline, virtual] |
| void ControlBase::setHilights | ( | const std::vector< unsigned int > & | hi | ) | [virtual] |
sets the hilighted slots
Reimplemented in WalkCalibration.
Definition at line 367 of file ControlBase.cc.
Referenced by WalkCalibration::hilightFirst(), and WalkCalibration::setHilights().
| virtual ControlBase& ControlBase::setName | ( | const std::string & | n | ) | [inline, virtual] |
sets the name of the control
Reimplemented in ToggleControl.
Definition at line 119 of file ControlBase.h.
Referenced by SensorObserverControl::checkLogFile(), EventLogger::checkLogFile(), WaypointWalkControl::doSelect(), WalkCalibration::setupClear(), and WalkCalibration::setupRoot().
| void ControlBase::setSlot | ( | unsigned int | i, | |
| ControlBase * | o | |||
| ) | [virtual] |
| virtual unsigned int ControlBase::slotsSize | ( | ) | const [inline, virtual] |
returns the number of options available
Definition at line 127 of file ControlBase.h.
Referenced by BehaviorSwitchControlBase::activate(), WalkCalibration::hilightFirst(), WaypointWalkControl::refresh(), refresh(), WalkCalibration::setHilights(), SensorObserverControl::updateRT(), and WaypointWalkControl::WaypointWalkControl().
| ControlBase * ControlBase::takeInput | ( | const std::string & | msg | ) | [virtual] |
called when the user has supplied a text string (may or may not have been prompted by doReadStdIn()! May not even be active yet - the user can direct the same input to a set of hilighted menus)
The value which is returned is then activate()ed and pushed on the Controller's stack
Reimplemented in BehaviorSwitchControlBase, FileBrowserControl, NullControl, SavePostureControl, SaveWalkControl, StringInputControl, ValueEditControl< T >, and WalkCalibration.
Definition at line 216 of file ControlBase.cc.
Referenced by doReadStdIn(), Controller::select(), WalkCalibration::takeInput(), FileBrowserControl::takeInput(), BehaviorSwitchControlBase::takeInput(), and Controller::takeLine().
| bool ControlBase::validInput | ( | const std::string & | msg | ) | [virtual] |
may be called before takeInput to verify this Control can make sense of msg
Definition at line 337 of file ControlBase.cc.
Member Data Documentation
std::string ControlBase::description [protected] |
the description of this control
Definition at line 150 of file ControlBase.h.
Referenced by getDescription(), and setDescription().
MotionManager::MC_ID ControlBase::display_id [protected] |
LedMC to use for displaying selection.
Definition at line 157 of file ControlBase.h.
Referenced by deactivate(), BatteryCheckControl::deactivate(), doReadStdIn(), doSelect(), getDisplay(), BatteryCheckControl::pause(), NetworkStatusControl::refresh(), refresh(), BatteryCheckControl::report(), and setDisplay().
bool ControlBase::doRewrite [protected] |
toggles using VT100 codes to reposition the cursor at the beginning of the menu
we don't always want to do this, any time someone else might have written to the display we set this to false so we don't overwrite it.
Definition at line 153 of file ControlBase.h.
Referenced by deactivate(), doSelect(), pause(), refresh(), DumpFileControl::selectedFile(), and takeInput().
Socket* ControlBase::gui_comm [protected] |
socket to communicate with the GUI, if it is connected
Definition at line 158 of file ControlBase.h.
Referenced by StringInputControl::doReadStdIn(), doReadStdIn(), doSelect(), WalkCalibration::refresh(), ValueEditControl< T >::refresh(), refresh(), and BatteryCheckControl::refresh().
std::vector<unsigned int> ControlBase::hilights [protected] |
keep sorted - index(es) of current selection - can have multiple if using GUI
Definition at line 151 of file ControlBase.h.
Referenced by clearSlots(), deactivate(), doNextItem(), doPrevItem(), WaypointWalkControl::WaypointEditControl::doSelect(), WaypointWalkControl::doSelect(), WalkCalibration::doSelect(), SensorObserverControl::doSelect(), FileBrowserControl::doSelect(), EventLogger::doSelect(), doSelect(), getHilights(), hilightFirst(), hilightsAvg(), FileBrowserControl::rebuildmenu(), refresh(), setHilights(), WalkCalibration::setupChoose(), and takeInput().
std::string ControlBase::name [protected] |
the name of this control
Definition at line 149 of file ControlBase.h.
Referenced by getName(), ToggleControl::getStatusChar(), PostureEngine::loadBuffer(), ToggleControl::setName(), setName(), ToggleControl::setStatus(), and takeInput().
std::vector<ControlBase*> ControlBase::options [protected] |
vector of controls to select from
Definition at line 152 of file ControlBase.h.
Referenced by EventLogger::checkLogFile(), clearMenu(), clearSlots(), doNextItem(), doPrevItem(), WaypointWalkControl::WaypointEditControl::doSelect(), WaypointWalkControl::doSelect(), WalkCalibration::doSelect(), SensorObserverControl::doSelect(), FileBrowserControl::doSelect(), EventLogger::doSelect(), doSelect(), getSlotName(), getSlots(), WalkCalibration::hilightFirst(), hilightFirst(), EventLogger::processEvent(), pushSlot(), FileBrowserControl::rebuildmenu(), WaypointWalkControl::refresh(), PostureEditor::refresh(), FreeMemReportControl::refresh(), refresh(), WalkCalibration::setHilights(), setHilights(), setSlot(), EventLogger::setStatus(), WalkCalibration::setupChoose(), WalkCalibration::setupClear(), slotsSize(), FileBrowserControl::takeInput(), takeInput(), BehaviorSwitchControlBase::takeInput(), validInput(), PostureEditor::~PostureEditor(), and WalkCalibration::~WalkCalibration().
The documentation for this class was generated from the following files:
