RobotDrive Class Reference

Inheritance diagram for RobotDrive:

Capability List of all members.

Detailed Description

Instantiation of RobotDrive interface.

Please read the documentation for Capabilities for other important functions. Data structures will be placed behind accessor functions in the future.

Definition at line 80 of file RobotDrive.H.

Public Member Functions

 RobotDrive (const std::string &streamname)
 Standard constructor.
 RobotDrive (const ConnectionStrategy &strategy, const std::string &gblName)
 Auto-wiring constructor.
 RobotDrive (const std::string &streamname, const std::string &gblName)
 Like the standard constructor, but explicitly sets the global name.
 ~RobotDrive ()
void init (const std::string &streamname, const ConnectionStrategy &strategy, const std::string &gblName)
 Initialization function, used by above.
void runUpdate ()
 Does all necessary work to update the data/info provided by the object.
void setManager (CommsManager *myManager_)
 Gives the object a reference to the global CORBAHelper.
void setCOMObject (COMBase *object)
 Returns the ID number of the instantiated interface.
void disconnect ()
 Does all necessary work to clean up the object's connection.
void activateSupplier ()
 Sets up the object as a supplier of data.
void activateConsumer ()
 Sets up the object as a consumer of data.
std::string getInterfaceName ()
 Returns the name of the interface.
void setStreamName (const std::string &name)
 Sets the name of the stream we're using.
void setGlobalName (const std::string &name)
 Sets the global name of this object.
bool newData ()
 True if there is new data.
bool newInfo ()
 True if there is new info/requests (depending on supplier/consumer mode).
void setAutoPing (const bool &val)
 Sets the state of the auto-ping function.
void doPing ()
 Manually tells the object to do a ping.
bool getQueueMode ()
 True if events are being queued, otherwise false.
void setQueueMode (const bool &val)
 Turn queue mode on or off.
RobotDriveDataStruct getNextData ()
 Returns a struct containing the next event in the queue.
RobotDriveInfoStruct getNextInfo ()
 Returns a struct containing the next event in the queue.
RobotDriveInfoStruct getNextRequest ()
 Convenience function, calls getNextInfo().
void publishData ()
 Informs the object to publish data on the next update.
void publishInfo ()
 Informs the object to publish info on the next update.

Public Attributes

RobotDriveDataStruct data
 The data structure.
RobotDriveInfoStruct info
 Information-- read if consumer, write if supplier.
RobotDriveInfoStruct requests
 Requests-- read if supplier, write if consumer.

Protected Attributes

COMObject< RobotDriveInfoStruct,
RobotDriveDataStruct > * 
myCOMObject
bool m_queue
bool m_initialize
std::queue< RobotDriveDataStructm_dataVector
std::queue< RobotDriveInfoStructm_infoVector
std::queue< RobotDriveInfoStructm_requestVector


Constructor & Destructor Documentation

RobotDrive ( const std::string &  streamname  )  [explicit]

Standard constructor.

Automatically generates a (hopefully) unique global name. If two of the same (consumer) binaries are running, it *will* fail. This is the only constructor you should use for suppliers.

Definition at line 37 of file RobotDrive.cpp.

References RobotDrive::init(), Capability::m_haveGlobalname, and WURDE::STRAT_NORMAL.

RobotDrive ( const ConnectionStrategy strategy,
const std::string &  gblName 
)

Auto-wiring constructor.

Submits a request to MCP for a stream to connect to, based on global name. ConnectionStrategy should be auto for now.

Definition at line 44 of file RobotDrive.cpp.

References RobotDrive::init(), Capability::m_haveGlobalname, Capability::m_haveStream, and WURDE::STRAT_NORMAL.

RobotDrive ( const std::string &  streamname,
const std::string &  gblName 
)

Like the standard constructor, but explicitly sets the global name.

Use this when starting multiple instances of the same binary, so that each instance can be assigned a separate name.

Definition at line 58 of file RobotDrive.cpp.

References RobotDrive::init(), and WURDE::STRAT_NORMAL.

~RobotDrive (  ) 

Definition at line 102 of file RobotDrive.cpp.

References RobotDrive::myCOMObject, and Capability::myManager.


Member Function Documentation

void init ( const std::string &  streamname,
const ConnectionStrategy strategy,
const std::string &  gblName 
)

Initialization function, used by above.

Definition at line 62 of file RobotDrive.cpp.

References RobotDrive::info, Capability::m_doAutoPing, Capability::m_doPublishData, Capability::m_doPublishInfo, Capability::m_doTag, Capability::m_doTimestamp, Capability::m_globalname, Capability::m_haveGlobalname, Capability::m_haveStream, RobotDrive::m_initialize, RobotDrive::m_queue, Capability::m_sourceModule, Capability::m_strategy, Capability::m_streamname, Capability::m_streamRequest, Capability::m_supplier, RobotDrive::myCOMObject, Time::now(), RobotDrive::requests, RobotDriveInfoStruct::source, WURDE::STAT_NULL, RobotDriveInfoStruct::target, and RobotDriveInfoStruct::timestamp.

Referenced by RobotDrive::RobotDrive().

void runUpdate (  )  [virtual]

Does all necessary work to update the data/info provided by the object.

Implements Capability.

Definition at line 285 of file RobotDrive.cpp.

References Capability::m_doPublishData, Capability::m_doPublishInfo, and RobotDrive::myCOMObject.

void setManager ( CommsManager myManager_  )  [virtual]

Gives the object a reference to the global CORBAHelper.

This will be changed soon to be less adaptor specific.

Implements Capability.

Definition at line 296 of file RobotDrive.cpp.

References RobotDrive::myCOMObject, and Capability::myManager.

void setCOMObject ( COMBase object  )  [inline, virtual]

Returns the ID number of the instantiated interface.

Implements Capability.

Definition at line 132 of file RobotDrive.H.

References RobotDrive::myCOMObject.

void disconnect (  )  [inline, virtual]

Does all necessary work to clean up the object's connection.

Implements Capability.

Definition at line 133 of file RobotDrive.H.

References RobotDrive::myCOMObject.

void activateSupplier (  )  [virtual]

Sets up the object as a supplier of data.

Implements Capability.

Definition at line 111 of file RobotDrive.cpp.

References RobotDriveInfoStruct::angular, RobotDriveInfoStruct::angularAccel, RobotDriveInfoStruct::angularDecel, RobotDriveInfoStruct::angularLimit, RobotDriveInfoStruct::brake, WURDE::C_CONSUMER, WURDE::C_SUPPLIER, RobotDrive::data, WURDE::g_fatal(), RobotDrive::info, RobotDrive::m_dataVector, Capability::m_doAutoPing, Capability::m_globalname, Capability::m_haveGlobalname, Capability::m_haveStream, RobotDrive::m_infoVector, RobotDrive::m_initialize, RobotDrive::m_queue, RobotDrive::m_requestVector, Capability::m_streamname, Capability::m_supplier, RobotDrive::myCOMObject, RobotDrive::requests, Writable::setCMode(), RobotDriveInfoStruct::source, RobotDriveDataStruct::source, RobotDriveInfoStruct::trans, RobotDriveInfoStruct::transAccel, RobotDriveInfoStruct::transDecel, and RobotDriveInfoStruct::transLimit.

Referenced by RobotDrive::setStreamName().

void activateConsumer (  )  [virtual]

Sets up the object as a consumer of data.

Implements Capability.

Definition at line 197 of file RobotDrive.cpp.

References RobotDriveInfoStruct::angular, RobotDriveInfoStruct::angularAccel, RobotDriveInfoStruct::angularDecel, RobotDriveInfoStruct::angularLimit, RobotDriveInfoStruct::brake, WURDE::C_CONSUMER, WURDE::C_SUPPLIER, RobotDrive::data, WURDE::g_fatal(), CommsManager::getName(), RobotDrive::info, RobotDrive::m_dataVector, Capability::m_doAutoPing, Capability::m_globalname, Capability::m_haveGlobalname, Capability::m_haveStream, RobotDrive::m_infoVector, RobotDrive::m_initialize, RobotDrive::m_queue, RobotDrive::m_requestVector, Capability::m_strategy, Capability::m_streamname, Capability::m_supplier, RobotDrive::myCOMObject, Capability::myManager, RobotDrive::requests, ROBOTDRIVE, Writable::setCMode(), RobotDriveDataStruct::source, RobotDriveInfoStruct::source, WURDE::STRAT_NORMAL, RobotDriveInfoStruct::trans, RobotDriveInfoStruct::transAccel, RobotDriveInfoStruct::transDecel, and RobotDriveInfoStruct::transLimit.

Referenced by RobotDrive::setStreamName().

std::string getInterfaceName (  )  [inline, virtual]

Returns the name of the interface.

We're identifying interfaces by strings, rather than an enum, as it saves us from having to autogenerate even more code

Implements Capability.

Definition at line 136 of file RobotDrive.H.

References ROBOTDRIVE.

void setStreamName ( const std::string &  name  )  [virtual]

Sets the name of the stream we're using.

Implements Capability.

Definition at line 809 of file RobotDrive.cpp.

References RobotDrive::activateConsumer(), RobotDrive::activateSupplier(), Capability::m_globalname, Capability::m_haveStream, RobotDrive::m_initialize, Capability::m_streamname, Capability::m_streamRequest, Capability::m_supplier, RobotDrive::myCOMObject, and WURDE::STAT_OKAY.

void setGlobalName ( const std::string &  name  )  [virtual]

Sets the global name of this object.

Implements Capability.

Definition at line 837 of file RobotDrive.cpp.

References Capability::m_globalname, Capability::m_haveGlobalname, Capability::m_streamname, Capability::m_supplier, and RobotDrive::myCOMObject.

bool newData (  )  [virtual]

True if there is new data.

Implements Capability.

Definition at line 328 of file RobotDrive.cpp.

References RobotDrive::m_dataVector, RobotDrive::m_queue, and RobotDrive::myCOMObject.

bool newInfo (  )  [virtual]

True if there is new info/requests (depending on supplier/consumer mode).

Implements Capability.

Definition at line 340 of file RobotDrive.cpp.

References RobotDrive::m_infoVector, RobotDrive::m_queue, RobotDrive::m_requestVector, Capability::m_supplier, and RobotDrive::myCOMObject.

void setAutoPing ( const bool &  val  )  [virtual]

Sets the state of the auto-ping function.

If true, consumers will automatically send out a blank MESSAGE_PING to the stream source, and suppliers will automatically filter out these requests and send a copy of the last published info and data.

Should consumers be set up to send out this request on a regular basis?

Implements Capability.

Definition at line 860 of file RobotDrive.cpp.

References Capability::m_doAutoPing, and RobotDrive::myCOMObject.

void doPing (  )  [virtual]

Manually tells the object to do a ping.

If a consumer, sends a ping request to its supplier, if a supplier, sends out a copy of the last published info and data messages.

Implements Capability.

Definition at line 854 of file RobotDrive.cpp.

References RobotDrive::myCOMObject.

bool getQueueMode (  )  [inline]

True if events are being queued, otherwise false.

Definition at line 148 of file RobotDrive.H.

References RobotDrive::m_queue.

void setQueueMode ( const bool &  val  ) 

Turn queue mode on or off.

Definition at line 304 of file RobotDrive.cpp.

References RobotDrive::m_dataVector, RobotDrive::m_infoVector, RobotDrive::m_queue, RobotDrive::m_requestVector, and RobotDrive::myCOMObject.

RobotDriveDataStruct getNextData (  ) 

Returns a struct containing the next event in the queue.

Also copies the contents of that event into the data struct.

Definition at line 497 of file RobotDrive.cpp.

References RobotDrive::data, RobotDrive::m_dataVector, RobotDrive::m_queue, RobotDrive::myCOMObject, RobotDriveDataStruct::source, and RobotDriveDataStruct::timestamp.

RobotDriveInfoStruct getNextInfo (  ) 

Returns a struct containing the next event in the queue.

Also copies the contents of that event into the info/requests struct.

Definition at line 519 of file RobotDrive.cpp.

References RobotDriveInfoStruct::angular, RobotDriveInfoStruct::angularAccel, RobotDriveInfoStruct::angularDecel, RobotDriveInfoStruct::angularLimit, RobotDriveInfoStruct::brake, WURDE::C_CONSUMER, WURDE::C_SUPPLIER, RobotDrive::info, RobotDrive::m_infoVector, RobotDrive::m_queue, RobotDrive::m_requestVector, Capability::m_supplier, RobotDriveInfoStruct::mType, RobotDrive::myCOMObject, RobotDrive::requests, Writable::setCMode(), RobotDriveInfoStruct::source, RobotDriveInfoStruct::target, RobotDriveInfoStruct::timestamp, RobotDriveInfoStruct::trans, RobotDriveInfoStruct::transAccel, RobotDriveInfoStruct::transDecel, and RobotDriveInfoStruct::transLimit.

Referenced by RobotDrive::getNextRequest().

RobotDriveInfoStruct getNextRequest (  )  [inline]

Convenience function, calls getNextInfo().

Definition at line 170 of file RobotDrive.H.

References RobotDrive::getNextInfo().

void publishData (  )  [virtual]

Informs the object to publish data on the next update.

Implements Capability.

Definition at line 357 of file RobotDrive.cpp.

References RobotDrive::data, RobotDrive::m_dataVector, Capability::m_doPublishData, Capability::m_doTag, Capability::m_doTimestamp, Capability::m_globalname, RobotDrive::m_queue, Capability::m_supplier, Time::now(), RobotDriveDataStruct::source, and RobotDriveDataStruct::timestamp.

void publishInfo (  )  [virtual]

Informs the object to publish info on the next update.

Implements Capability.

Definition at line 377 of file RobotDrive.cpp.

References RobotDriveInfoStruct::angular, RobotDriveInfoStruct::angularAccel, RobotDriveInfoStruct::angularDecel, RobotDriveInfoStruct::angularLimit, RobotDriveInfoStruct::brake, WURDE::C_CONSUMER, WURDE::C_SUPPLIER, RobotDrive::info, Capability::m_doPublishInfo, Capability::m_doTag, Capability::m_doTimestamp, Capability::m_globalname, RobotDrive::m_infoVector, RobotDrive::m_queue, RobotDrive::m_requestVector, Capability::m_streamname, Capability::m_supplier, WURDE::MESSAGE_INFO, WURDE::MESSAGE_REQUEST, RobotDriveInfoStruct::mType, Time::now(), RobotDrive::requests, Writable::setCMode(), RobotDriveInfoStruct::source, RobotDriveInfoStruct::target, RobotDriveInfoStruct::timestamp, RobotDriveInfoStruct::trans, RobotDriveInfoStruct::transAccel, RobotDriveInfoStruct::transDecel, and RobotDriveInfoStruct::transLimit.


Member Data Documentation

RobotDriveDataStruct data

The data structure.

Read from this if you're a consumer, write to it if you're a supplier.

Definition at line 117 of file RobotDrive.H.

Referenced by RobotDrive::activateConsumer(), RobotDrive::activateSupplier(), RobotDrive::getNextData(), and RobotDrive::publishData().

RobotDriveInfoStruct info

Information-- read if consumer, write if supplier.

Definition at line 122 of file RobotDrive.H.

Referenced by RobotDrive::activateConsumer(), RobotDrive::activateSupplier(), RobotDrive::getNextInfo(), RobotDrive::init(), and RobotDrive::publishInfo().

RobotDriveInfoStruct requests

Requests-- read if supplier, write if consumer.

Definition at line 127 of file RobotDrive.H.

Referenced by RobotDrive::activateConsumer(), RobotDrive::activateSupplier(), RobotDrive::getNextInfo(), RobotDrive::init(), main(), and RobotDrive::publishInfo().

COMObject<RobotDriveInfoStruct, RobotDriveDataStruct>* myCOMObject [protected]

Definition at line 177 of file RobotDrive.H.

Referenced by RobotDrive::activateConsumer(), RobotDrive::activateSupplier(), RobotDrive::disconnect(), RobotDrive::doPing(), RobotDrive::getNextData(), RobotDrive::getNextInfo(), RobotDrive::init(), RobotDrive::newData(), RobotDrive::newInfo(), RobotDrive::runUpdate(), RobotDrive::setAutoPing(), RobotDrive::setCOMObject(), RobotDrive::setGlobalName(), RobotDrive::setManager(), RobotDrive::setQueueMode(), RobotDrive::setStreamName(), and RobotDrive::~RobotDrive().

bool m_queue [protected]

Definition at line 179 of file RobotDrive.H.

Referenced by RobotDrive::activateConsumer(), RobotDrive::activateSupplier(), RobotDrive::getNextData(), RobotDrive::getNextInfo(), RobotDrive::getQueueMode(), RobotDrive::init(), RobotDrive::newData(), RobotDrive::newInfo(), RobotDrive::publishData(), RobotDrive::publishInfo(), and RobotDrive::setQueueMode().

bool m_initialize [protected]

Definition at line 182 of file RobotDrive.H.

Referenced by RobotDrive::activateConsumer(), RobotDrive::activateSupplier(), RobotDrive::init(), and RobotDrive::setStreamName().

std::queue<RobotDriveDataStruct> m_dataVector [protected]

Definition at line 183 of file RobotDrive.H.

Referenced by RobotDrive::activateConsumer(), RobotDrive::activateSupplier(), RobotDrive::getNextData(), RobotDrive::newData(), RobotDrive::publishData(), and RobotDrive::setQueueMode().

std::queue<RobotDriveInfoStruct> m_infoVector [protected]

Definition at line 184 of file RobotDrive.H.

Referenced by RobotDrive::activateConsumer(), RobotDrive::activateSupplier(), RobotDrive::getNextInfo(), RobotDrive::newInfo(), RobotDrive::publishInfo(), and RobotDrive::setQueueMode().

std::queue<RobotDriveInfoStruct> m_requestVector [protected]

Definition at line 185 of file RobotDrive.H.

Referenced by RobotDrive::activateConsumer(), RobotDrive::activateSupplier(), RobotDrive::getNextInfo(), RobotDrive::newInfo(), RobotDrive::publishInfo(), and RobotDrive::setQueueMode().


The documentation for this class was generated from the following files:
Generated on Thu Feb 1 15:31:55 2007 for WURDE by  doxygen 1.5.1