Tekkotsu: WalkControllerBehavior Class Reference

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:

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.

Definition at line 28 of file WalkControllerBehavior.h.


Public Member Functions
	WalkControllerBehavior ()
	constructor
virtual	~WalkControllerBehavior ()
	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 WalkMC *	getWalkMC ()
	returns the WalkMC which [will be\|is being] used
virtual MotionManager::MC_ID	getWalkID ()
	returns the current Walk's MotionCommand ID
virtual void	processEvent (const EventBase &)
	The only event we could possibly receive is the stop-if-no-heartbeat timer.
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 WalkControllerBehavior *	theOne = NULL
Protected Attributes
SharedObject< WalkMC >	shared_walker
	the WalkMC to use
Private Member Functions
void	runCommand (unsigned char *command)
	Executes a command. Called by mechacmd_callback.
	WalkControllerBehavior (const WalkControllerBehavior &)
	don't call
WalkControllerBehavior	operator= (const WalkControllerBehavior &)
	don't call
Private Attributes
float	dx
	Motion parameter.
float	dy
	Motion parameter.
float	da
	Motion parameter.
WalkControllerBehavior *	theLastOne
Socket *	cmdsock
	The input command stream socket.
Static Private Attributes
Command Bytes
static const char	CMD_fwd = 'f'
	handy symbol for matching incoming communication
static const char	CMD_roto = 'r'
	handy symbol for matching incoming communication
static const char	CMD_side = 's'
	handy symbol for matching incoming communication
static const char	CMD_opt0 = '0'
	handy symbol for matching incoming communication
static const char	CMD_opt1 = '1'
	handy symbol for matching incoming communication
static const char	CMD_opt2 = '2'
	handy symbol for matching incoming communication
static const char	CMD_opt3 = '3'
	handy symbol for matching incoming communication
static const char	CMD_opt4 = '4'
	handy symbol for matching incoming communication
static const char	CMD_opt5 = '5'
	handy symbol for matching incoming communication
static const char	CMD_opt6 = '6'
	handy symbol for matching incoming communication
static const char	CMD_opt7 = '7'
	handy symbol for matching incoming communication
static const char	CMD_opt8 = '8'
	handy symbol for matching incoming communication
static const char	CMD_opt9 = '9'
	handy symbol for matching incoming communication

Constructor & Destructor Documentation

WalkControllerBehavior::WalkControllerBehavior ( const WalkControllerBehavior & ) [private]

don't call

WalkControllerBehavior::WalkControllerBehavior ( ) [inline]

constructor

Definition at line 79 of file WalkControllerBehavior.h.

virtual WalkControllerBehavior::~WalkControllerBehavior ( ) [inline, virtual]

destructor

Definition at line 87 of file WalkControllerBehavior.h.

Member Function Documentation

void WalkControllerBehavior::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 94 of file WalkControllerBehavior.cc.

void WalkControllerBehavior::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 112 of file WalkControllerBehavior.cc.

static std::string WalkControllerBehavior::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 103 of file WalkControllerBehavior.h.

Referenced by getDescription().

virtual std::string WalkControllerBehavior::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 108 of file WalkControllerBehavior.h.

virtual MotionManager::MC_ID WalkControllerBehavior::getWalkID ( ) [inline, virtual]

returns the current Walk's MotionCommand ID

Definition at line 95 of file WalkControllerBehavior.h.

Referenced by DoStop(), processEvent(), and runCommand().

virtual WalkMC* WalkControllerBehavior::getWalkMC ( ) [inline, virtual]

returns the WalkMC which [will be|is being] used

Definition at line 93 of file WalkControllerBehavior.h.

int WalkControllerBehavior::mechacmd_callback	(	char *	buf,
		int	bytes
	)			`[static]`

called by wireless when there's new data

Definition at line 128 of file WalkControllerBehavior.cc.

Referenced by DoStart().

WalkControllerBehavior WalkControllerBehavior::operator= ( const WalkControllerBehavior & ) [private]

don't call

virtual void WalkControllerBehavior::processEvent ( const EventBase & ) [inline, virtual]

The only event we could possibly receive is the stop-if-no-heartbeat timer.

Reimplemented from BehaviorBase.

Definition at line 98 of file WalkControllerBehavior.h.

void WalkControllerBehavior::runCommand ( unsigned char * command ) [private]

Executes a command. Called by mechacmd_callback.

Definition at line 9 of file WalkControllerBehavior.cc.

Referenced by mechacmd_callback().

Member Data Documentation

const char WalkControllerBehavior::CMD_fwd = 'f' [static, private]