AnimatLab  2
Test
RoboticsAnimatSim::Robotics::RobotIOControls::RbXBeeCommander Class Reference
+ Inheritance diagram for RoboticsAnimatSim::Robotics::RobotIOControls::RbXBeeCommander:
+ Collaboration diagram for RoboticsAnimatSim::Robotics::RobotIOControls::RbXBeeCommander:

Public Member Functions

virtual void BaudRate (int iRate)
 
virtual int BaudRate ()
 
virtual void Initialize ()
 Initializes this object. More...
 
virtual void Load (StdUtils::CStdXml &oXml)
 Loads the item using an XML data packet. More...
 
virtual void Port (std::string strPort)
 
virtual std::string Port ()
 
virtual void QueryProperties (CStdPtrArray< TypeProperty > &aryProperties)
 
virtual bool SetData (const std::string &strDataType, const std::string &strValue, bool bThrowError=true)
 Set a variable based on a string data type name. More...
 
virtual void SimStarting ()
 Called just before the simulation starts. More...
 
- Public Member Functions inherited from AnimatSim::Robotics::RemoteControl
virtual bool AddItem (const std::string &strItemType, const std::string &strXml, bool bThrowError=true, bool bDoNotInit=false)
 Adds a new object to this parent. More...
 
virtual void AfterResetSimulation ()
 Called after a simulation reset for some objects. More...
 
virtual void ChangeSimStepCount (int iRate)
 
virtual int ChangeSimStepCount ()
 
virtual CStdMap< std::string, int > * DataIDMap ()
 
virtual RemoteControlLinkageFindLinkageWithPropertyName (std::string strName, bool bThrowError=true)
 
virtual float * GetDataPointer (const std::string &strDataType)
 Returns a float pointer to a data item of interest in this object. More...
 
virtual CStdArray< RemoteControlLinkage * > * InLinks ()
 Gets the array of remote control in links. More...
 
virtual CStdPtrArray< RemoteControlLinkage > * Links ()
 Gets the array ofremote control links. More...
 
virtual void Load (CStdXml &oXml)
 
virtual CStdArray< RemoteControlLinkage * > * OutLinks ()
 Gets the array of remote control out links. More...
 
virtual void QueryProperties (CStdPtrArray< TypeProperty > &aryProperties)
 Queries this object for a list of properties that can be changed using SetData. More...
 
virtual bool RemoveItem (const std::string &strItemType, const std::string &strID, bool bThrowError=true)
 Removes a child item from this parent. More...
 
virtual void ResetSimulation ()
 Resets the simulation back to time 0. More...
 
virtual void SetupIO ()
 This method is called after all connections to whatever control board have been made. It calls each parts SetupIO method. For example, We connect to a Firmata microcontroller like an Arduino, and then do a setup that could take some time. We should not attempt to setup any of the pins until after the board itself has been setup. After that we need to loop through and setup all the parts. More...
 
virtual void ShutdownIO ()
 This method is called just before the IO thread is closed down. It gives the IO objects a chance to do any required cleanup. More...
 
virtual void StepSimulation ()
 Step the simulation for this object. More...
 
virtual bool UseRemoteDataTypes ()
 
- Public Member Functions inherited from AnimatSim::Robotics::RobotIOControl
 RobotIOControl (void)
 Default constructor. More...
 
virtual ~RobotIOControl (void)
 Destructor. More...
 
virtual bool IOPaused ()
 
virtual void ParentInterface (RobotInterface *lpParent)
 Sets the parent robot interface pointer. More...
 
virtual RobotInterfaceParentInterface ()
 Gets the parent robot interface pointer. More...
 
virtual CStdPtrArray< RobotPartInterface > * Parts ()
 Gets the array of IO controls. More...
 
virtual void PauseIO (bool bVal)
 Gets the array of IO controls. More...
 
virtual bool PauseIO ()
 
virtual void SimStopping ()
 Called just before the simulation stops. More...
 
virtual float StepIODuration ()
 Gets the time duration required to perform one step of the IO for all parts in this control. More...
 
- Public Member Functions inherited from AnimatSim::AnimatBase
 AnimatBase ()
 Constructs an AnimatBase object. More...
 
virtual ~AnimatBase ()
 Destroys the AnimatBase object.. More...
 
virtual long CalculateSnapshotByteSize ()
 Calculates the snapshot byte size. More...
 
virtual void Copy (CStdSerialize *lpSource)
 
virtual void Enabled (bool bVal)
 Tells whether this item is enabled or not. This is not actually used for all objects, only specific ones. I am putting it in the base class though to prevent numerous duplications. More...
 
virtual bool Enabled ()
 Tells whether this item is enabled or not. This is not actually used for all objects, only specific ones. I am putting it in the base class though to prevent numerous duplications. More...
 
virtual NeuralModuleGetNeuralModule ()
 Gets the neural module. More...
 
virtual NodeGetNode ()
 Gets the node. More...
 
virtual SimulatorGetSimulator ()
 Gets the simulator pointer. More...
 
virtual StructureGetStructure ()
 Gets the structure for this node. More...
 
virtual bool HasProperty (const std::string &strName)
 Queries this object if it has a property with the given name. More...
 
virtual std::string ID ()
 Gets the unique GUID ID of this object. More...
 
virtual void ID (std::string strValue)
 Sets the unique GUID ID of the object. More...
 
virtual void Kill (bool bState=true)
 Kills. More...
 
virtual void LoadKeyFrameSnapshot (byte *aryBytes, long &lIndex)
 Loads a key frame snapshot. More...
 
virtual std::string Name ()
 Gets the name of this object. More...
 
virtual void Name (std::string strValue)
 Sets the name of the object. Blank is acceptable. More...
 
virtual AnimatPropertyType PropertyType (const std::string &strName)
 
virtual void ReInitialize ()
 Re-initialize this object. More...
 
virtual void Reset ()
 Resets this object. More...
 
virtual void RigidBodyAdded (std::string strID)
 
virtual void RigidBodyRemoved (std::string strID)
 
virtual void SaveKeyFrameSnapshot (byte *aryBytes, long &lIndex)
 Saves a key frame snapshot. More...
 
virtual bool Selected ()
 Tells if this items is selected or not. More...
 
virtual void Selected (bool bValue, bool bSelectMultiple)
 Selects this object. More...
 
virtual bool SetData (const std::string &strDataType, const float fltValue, bool bThrowError=true)
 Set a variable based on a string data type name. More...
 
virtual bool SetData (const std::string &strDataType, const long lValue, bool bThrowError=true)
 Set a variable based on a string data type name. More...
 
virtual void SetSystemPointers (Simulator *lpSim, Structure *lpStructure, NeuralModule *lpModule, Node *lpNode, bool bVerify)
 Sets the system pointers. More...
 
virtual void SimPausing ()
 Called just before the simulation pauses. More...
 
virtual void TimeStepModified ()
 Notification method that the time step modified has been modified. Objects should recalculate any slice times as needed. More...
 
virtual std::string Type ()
 returns the string type name of this object. More...
 
virtual void Type (std::string strValue)
 Sets the class type for this object. More...
 
virtual void VerifySystemPointers ()
 Verify that system pointers have been set correctly. More...
 
virtual void VisualSelectionModeChanged (int iNewMode)
 Visual selection mode changed. More...
 

Protected Member Functions

virtual void CloseIO ()
 
virtual void CreateDataIDMap ()
 
virtual bool OpenIO ()
 
virtual void ResetData ()
 
virtual void StepIO ()
 This method is called from within the IO thread. It calls StepIO for each part. More...
 
virtual void WaitForThreadNotifyReady ()
 
- Protected Member Functions inherited from AnimatSim::Robotics::RemoteControl
virtual RemoteControlLinkageAddRemoteControlLinkage (std::string strXml)
 Creates and adds a robot IO control. More...
 
virtual void CheckStartedStopped ()
 
virtual void ClearStartStops ()
 
virtual bool FindDataToWrite (CStdArray< RemoteControlLinkage * > &aryWrites)
 
virtual int FindLinkageChildListPos (std::string strID, bool bThrowError=true)
 Finds the array index for the child part with the specified ID. More...
 
virtual int FindLinkageChildListPos (CStdArray< RemoteControlLinkage * > &aryLinks, std::string strID, bool bThrowError=true)
 Finds the array index for the child part with the specified ID. More...
 
virtual RemoteControlLinkageLoadRemoteControlLinkage (CStdXml &oXml)
 Loads a child IO Control. More...
 
virtual void RemoveRemoteControlLinkage (std::string strID, bool bThrowError=true)
 Removes the rigid body with the specified ID. More...
 
virtual void SetDataValue (int iButtonID, float fltVal)
 
- Protected Member Functions inherited from AnimatSim::Robotics::RobotIOControl
virtual RobotPartInterfaceAddPartInterface (std::string strXml)
 Creates and adds a robot IO control. More...
 
virtual void ExitIOThread ()
 
virtual void ExitPause ()
 This method is waits until the m_bIOPaused flag is set back to false. More...
 
virtual int FindChildListPos (std::string strID, bool bThrowError=true)
 Finds the array index for the child part with the specified ID. More...
 
virtual RobotPartInterfaceLoadPartInterface (CStdXml &oXml)
 Loads a child IO Control. More...
 
virtual void ProcessIO ()
 
virtual void RemovePartInterface (std::string strID, bool bThrowError=true)
 Removes the rigid body with the specified ID. More...
 
virtual void StartIOThread ()
 
virtual void StartPause ()
 This method is waits until the m_bIOPaused flag is set to true. More...
 
virtual void WaitTillPaused ()
 This method is waits until the m_bIOPaused flag is set to true. More...
 
virtual void WaitWhilePaused ()
 This method is waits until the m_bPauseIO flag is set back to false. More...
 

Protected Attributes

int checksum
 
int index
 
int m_iBaudRate
 The baud rate of communications for this XBee.
 
unsigned char m_iButtons
 buttons are 0 or 1 (PRESSED), and bitmapped
 
unsigned char m_iExt
 
ofSerial m_Port
 
std::string m_strPort
 The serial port this Xbee communicates on.
 
unsigned char status
 
unsigned char vals [7]
 
- Protected Attributes inherited from AnimatSim::Robotics::RemoteControl
CStdMap< std::string, int > m_aryDataIDMap
 Used to map property names to IDs when UseRemoteDataTypes is true.
 
CStdArray< RemoteControlLinkage * > m_aryInLinks
 Only the linkages that are inlinks.
 
CStdPtrArray< RemoteControlLinkagem_aryLinks
 
CStdArray< RemoteControlLinkage * > m_aryOutLinks
 Only the linkages that are outlinks.
 
bool m_bUseRemoteDataTypes
 
int m_iChangeSimStepCount
 The number of simulation time slices to keep a start/stop signal active.
 
- Protected Attributes inherited from AnimatSim::Robotics::RobotIOControl
CStdPtrArray< RobotPartInterfacem_aryParts
 
bool m_bIOPaused
 Is set to true once the IO loop is paused.
 
bool m_bIOThreadProcessing
 True while the io thread processing loop is going on.
 
bool m_bPauseIO
 Set to true to pause the IO processing. Set back to false to resume it.
 
bool m_bSetupComplete
 Set to true once the IO is setup correctly.
 
bool m_bSetupStarted
 Set to true once the IO begins its setup.
 
bool m_bStopIO
 Flags the thread processing loop to exit.
 
bool m_bWaitingForThreadNotify
 Used to signal to the IO thread that we are waiting for their return signal.
 
float m_fltStepIODuration
 The time it takes to perform a step of the IO for all parts in this control.
 
int m_iCyclePartCount
 The total number of parts that are part of any round robin cycle of updates.
 
int m_iCyclePartIdx
 The index of the part that should be processed on the current step.
 
boost::thread m_ioThread
 Thread responsible for doing IO processing.
 
RobotInterfacem_lpParentInterface
 Pointer to the parent robot interface.
 
boost::interprocess::interprocess_condition m_WaitForIOSetupCond
 Condition used to determine when the IO is setup.
 
boost::interprocess::interprocess_mutex m_WaitForIOSetupMutex
 Mutex responsible for waiting until the IO is finished setting up.
 
- Protected Attributes inherited from AnimatSim::AnimatBase
bool m_bEnabled
 Tells if this item is enabled or not. If it is not enabled then it is not run.
 
bool m_bSelected
 Tells whether the object is selected or not.
 
AnimatSim::Behavior::NeuralModulem_lpModule
 The pointer to this items parentNeuralModule. If this is not relevant for this object then this is NULL.
 
Nodem_lpNode
 The pointer to this items parent Node. If this is not relevant for this object then this is NULL.
 
Simulatorm_lpSim
 The pointer to a Simulation.
 
AnimatSim::Environment::Structurem_lpStructure
 The pointer to this items parent Structure. If this is not relevant for this object then this is NULL.
 
std::string m_strID
 The unique Id for this object.
 
std::string m_strName
 The name for this object.
 
std::string m_strType
 The type for this object. Examples are Box, Plane, Neuron, etc..
 

Additional Inherited Members

- Static Public Member Functions inherited from AnimatSim::Robotics::RemoteControl
static RemoteControlCastToDerived (AnimatBase *lpBase)
 
- Static Public Member Functions inherited from AnimatSim::Robotics::RobotIOControl
static RobotIOControlCastToDerived (AnimatBase *lpBase)
 

Detailed Description

Definition at line 40 of file RbXBeeCommander.h.

Member Function Documentation

void RoboticsAnimatSim::Robotics::RobotIOControls::RbXBeeCommander::Initialize ( )
virtual

Initializes this object.

After an object is loaded in it must be initialized before it can be used. This allows the object to retrieve any pointers or setup memory that it will need during execution. Each object is responsible for initializing any of its child objects, so you simply need to call this method on the containing class to init all child objects. It also calls VerifySystemPointers to make sure that the system pointers have been setup correctly.

Author
dcofer
Date
3/1/2011

Reimplemented from AnimatSim::Robotics::RemoteControl.

Definition at line 191 of file RbXBeeCommander.cpp.

References AnimatSim::Robotics::RemoteControl::m_aryLinks, AnimatSim::AnimatBase::m_bEnabled, AnimatSim::Robotics::RobotIOControl::m_bSetupComplete, m_strPort, AnimatSim::Robotics::RemoteControl::ShutdownIO(), and StdUtils::Std_IsBlank().

Referenced by SetData(), and SimStarting().

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void RoboticsAnimatSim::Robotics::RobotIOControls::RbXBeeCommander::Load ( StdUtils::CStdXml oXml)
virtual

Loads the item using an XML data packet.

This method is responsible for loading the structure from a XMl configuration file. You should call this method even in your overriden function becuase it loads all of the base properties for this object like ID and Name. It also includes this object in the simulators AddToObjectList so that the simulator knows about this object when you do a FindObject call. If you do not call this base method then it is up to you to add your item to the simulators list of objects.

Author
dcofer
Date
3/1/2011
Parameters
[in,out]oXmlThe CStdXml xml data packet to load.

Reimplemented from AnimatSim::AnimatBase.

Definition at line 351 of file RbXBeeCommander.cpp.

References StdUtils::CStdXml::GetChildInt(), StdUtils::CStdXml::GetChildString(), StdUtils::CStdXml::IntoElem(), m_iBaudRate, m_strPort, and StdUtils::CStdXml::OutOfElem().

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bool RoboticsAnimatSim::Robotics::RobotIOControls::RbXBeeCommander::SetData ( const std::string &  strDataType,
const std::string &  strValue,
bool  bThrowError = true 
)
virtual

Set a variable based on a string data type name.

This is a generic method that can be used to set any variable in an AnimatBase object by specifying the name of the variable and a string representation of that data. The GUI uses this method to set data into variables in the simulation when the user changes them in the UI. The value string can be as simple as a float or int, or as complex as an xml packet. It is the developers responsibilty to know what type of data is needed and to process it accordingly.

Author
dcofer
Date
2/22/2011
Parameters
strDataTypestring name of the data type to set.
strValueThe string value of the data. It is up to the developer to determine what this should be. For example, in most cases it is simply a float and you just have to convert it to a float and make the appropriate mutator method call. However, it can be any type of string, including an entire xml packet. It is the developers responsibility to know how to set and process the data as required.
bThrowErrortrue to throw error if there is a problem. If false then it will not return an error, just return false.
Returns
true if it succeeds, false if it fails.

Reimplemented from AnimatSim::Robotics::RemoteControl.

Definition at line 98 of file RbXBeeCommander.cpp.

References Initialize(), AnimatSim::Robotics::RemoteControl::SetData(), and StdUtils::Std_CheckString().

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void RoboticsAnimatSim::Robotics::RobotIOControls::RbXBeeCommander::SimStarting ( )
virtual

Called just before the simulation starts.

This method is called on each AnimatBase object when the simulation starts. It allows it to perform any intialization prior to the beginning of the simulation that is needed.

Author
dcofer
Date
3/1/2011

Reimplemented from AnimatSim::AnimatBase.

Definition at line 244 of file RbXBeeCommander.cpp.

References Initialize().

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void RoboticsAnimatSim::Robotics::RobotIOControls::RbXBeeCommander::StepIO ( )
protectedvirtual

This method is called from within the IO thread. It calls StepIO for each part.

Author
dcofer
Date
5/2/2014

Reimplemented from AnimatSim::Robotics::RemoteControl.

Definition at line 262 of file RbXBeeCommander.cpp.

References m_iButtons, AnimatSim::AnimatBase::m_lpSim, AnimatSim::Simulator::Paused(), and AnimatSim::Robotics::RemoteControl::StepIO().

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The documentation for this class was generated from the following files: