HeadPointControllerBehavior Class Reference
#include <HeadPointControllerBehavior.h>
Inheritance diagram for HeadPointControllerBehavior:
Detailed Description
Listens to control commands coming in from the command port for remotely controlling the head.The communication protocol is a very simple binary format, shared with WalkControllerBehavior. 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:
- <
char:command indicator> - <
float:value>
The valid values for command indicator are given by CMD_tilt, CMD_pan, or CMD_roll ('t', 'p', or 'r' respectively).
Definition at line 25 of file HeadPointControllerBehavior.h.
Public Member Functions | |
| HeadPointControllerBehavior () | |
| constructor | |
| virtual | ~HeadPointControllerBehavior () |
| destructor | |
| virtual void | DoStart () |
| By default, merely adds to the reference counter (through AddReference()); Note you should still call this from your overriding methods. | |
| virtual void | DoStop () |
By default, subtracts from the reference counter (RemoveReference()), and thus may deletex if zero; Don't forget to still call this when you override this; Warning: call this at the end of your DoStop(), not beginning (it might delete this ). | |
| virtual std::string | getDescription () const |
| Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis). | |
Static Public Member Functions | |
| static int | mechacmd_callback (char *buf, int bytes) |
| called by wireless when there's new data | |
| static std::string | getClassDescription () |
| Gives a short description of what this class of behaviors does... you should override this (but don't have to). | |
Static Public Attributes | |
| static HeadPointControllerBehavior * | theOne = NULL |
Protected Attributes | |
| MotionManager::MC_ID | head_id |
| the HeadPointerMC to use | |
Private Member Functions | |
| void | runCommand (unsigned char *command) |
| Executes a command. Called by mechacmd_callback. | |
| HeadPointControllerBehavior (const HeadPointControllerBehavior &) | |
| don't call | |
| HeadPointControllerBehavior | operator= (const HeadPointControllerBehavior &) |
| don't call | |
Private Attributes | |
| float | t |
| head parameter | |
| float | p |
| head parameter | |
| float | r |
| head parameter | |
| HeadPointControllerBehavior * | theLastOne |
| Socket * | cmdsock |
| The input command stream socket. | |
Static Private Attributes | |
Command Bytes | |
| static const char | CMD_tilt = 't' |
| handy symbol for matching incoming communication | |
| static const char | CMD_pan = 'p' |
| handy symbol for matching incoming communication | |
| static const char | CMD_roll = 'r' |
| handy symbol for matching incoming communication | |
Constructor & Destructor Documentation
| HeadPointControllerBehavior::HeadPointControllerBehavior | ( | const HeadPointControllerBehavior & | ) | [private] |
don't call
| HeadPointControllerBehavior::HeadPointControllerBehavior | ( | ) | [inline] |
| virtual HeadPointControllerBehavior::~HeadPointControllerBehavior | ( | ) | [inline, virtual] |
Member Function Documentation
| void HeadPointControllerBehavior::DoStart | ( | ) | [virtual] |
By default, merely adds to the reference counter (through AddReference()); Note you should still call this from your overriding methods.
Reimplemented from BehaviorBase.
Definition at line 53 of file HeadPointControllerBehavior.cc.
| void HeadPointControllerBehavior::DoStop | ( | ) | [virtual] |
By default, subtracts from the reference counter (RemoveReference()), and thus may deletex if zero; Don't forget to still call this when you override this; Warning: call this at the end of your DoStop(), not beginning (it might delete this ).
Reimplemented from BehaviorBase.
Definition at line 69 of file HeadPointControllerBehavior.cc.
| static std::string HeadPointControllerBehavior::getClassDescription | ( | ) | [inline, static] |
Gives a short description of what this class of behaviors does... you should override this (but don't have to).
If you do override this, also consider overriding getDescription() to return it
Reimplemented from BehaviorBase.
Definition at line 80 of file HeadPointControllerBehavior.h.
Referenced by getDescription().
| virtual std::string HeadPointControllerBehavior::getDescription | ( | ) | const [inline, virtual] |
Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).
By default simply returns getName(), because any calls from a BehaviorBase function to getClassDescription() are going to call BehaviorBase::getClassDescription(), not ~YourSubClass~getClassDescription(), because static functions can't be virtual in C++ (doh!)
This means that getDescription called on a pointer to a BehaviorBase of unknown subtype would always return an empty string, which is pretty useless. So instead we return the name in this situation. If you want getDescription to return getClassDescription, you'll have to override it in your subclass to do so.
Reimplemented from BehaviorBase.
Definition at line 85 of file HeadPointControllerBehavior.h.
| int HeadPointControllerBehavior::mechacmd_callback | ( | char * | buf, | |
| int | bytes | |||
| ) | [static] |
called by wireless when there's new data
Definition at line 85 of file HeadPointControllerBehavior.cc.
Referenced by DoStart().
| HeadPointControllerBehavior HeadPointControllerBehavior::operator= | ( | const HeadPointControllerBehavior & | ) | [private] |
don't call
| void HeadPointControllerBehavior::runCommand | ( | unsigned char * | command | ) | [private] |
Executes a command. Called by mechacmd_callback.
Definition at line 8 of file HeadPointControllerBehavior.cc.
Referenced by mechacmd_callback().
Member Data Documentation
const char HeadPointControllerBehavior::CMD_pan = 'p' [static, private] |
handy symbol for matching incoming communication
Definition at line 40 of file HeadPointControllerBehavior.h.
Referenced by runCommand().
const char HeadPointControllerBehavior::CMD_roll = 'r' [static, private] |
handy symbol for matching incoming communication
Definition at line 41 of file HeadPointControllerBehavior.h.
Referenced by runCommand().
const char HeadPointControllerBehavior::CMD_tilt = 't' [static, private] |
handy symbol for matching incoming communication
Definition at line 39 of file HeadPointControllerBehavior.h.
Referenced by runCommand().
Socket* HeadPointControllerBehavior::cmdsock [private] |
the HeadPointerMC to use
Definition at line 35 of file HeadPointControllerBehavior.h.
Referenced by DoStart(), DoStop(), and runCommand().
float HeadPointControllerBehavior::p [private] |
head parameter
Definition at line 45 of file HeadPointControllerBehavior.h.
Referenced by runCommand().
float HeadPointControllerBehavior::r [private] |
head parameter
Definition at line 46 of file HeadPointControllerBehavior.h.
Referenced by runCommand().
float HeadPointControllerBehavior::t [private] |
head parameter
Definition at line 44 of file HeadPointControllerBehavior.h.
Referenced by runCommand().
The last HPCB 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.
Definition at line 53 of file HeadPointControllerBehavior.h.
Referenced by DoStart(), DoStop(), and ~HeadPointControllerBehavior().
HeadPointControllerBehavior * HeadPointControllerBehavior::theOne = NULL [static] |
Points to the one HeadPointControllerBehavior object that the input command stream is talking to. A kludge. Dunno how you're gonna make sure you're not using this uninitialized.
Definition at line 31 of file HeadPointControllerBehavior.h.
Referenced by DoStart(), DoStop(), mechacmd_callback(), and ~HeadPointControllerBehavior().
The documentation for this class was generated from the following files:
