A Robot IO controller base class. More...

#include <RobotIOControl.h>

Inheritance diagram for AnimatSim::Robotics::RobotIOControl:

Collaboration diagram for AnimatSim::Robotics::RobotIOControl:

Public Member Functions
	RobotIOControl (void)
	Default constructor. More...

virtual	~RobotIOControl (void)
	Destructor. More...

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 float *	GetDataPointer (const std::string &strDataType)
	Returns a float pointer to a data item of interest in this object. More...

virtual void	Initialize ()
	Initializes this object. More...

virtual bool	IOPaused ()

virtual void	Load (CStdXml &oXml)

virtual void	ParentInterface (RobotInterface *lpParent)
	Sets the parent robot interface pointer. More...

virtual RobotInterface *	ParentInterface ()
	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	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 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	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	SimStopping ()
	Called just before the simulation stops. More...

virtual void	StepIO ()
	This method is called from within the IO thread. It calls StepIO for each part. More...

virtual float	StepIODuration ()
	Gets the time duration required to perform one step of the IO for all parts in this control. More...

virtual void	StepSimulation ()
	Step the simulation for this object. 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 NeuralModule *	GetNeuralModule ()
	Gets the neural module. More...

virtual Node *	GetNode ()
	Gets the node. More...

virtual Simulator *	GetSimulator ()
	Gets the simulator pointer. More...

virtual Structure *	GetStructure ()
	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	Load (StdUtils::CStdXml &oXml)
	Loads the item using an XML data packet. 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	SimStarting ()
	Called just before the simulation starts. 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...

Static Public Member Functions
static RobotIOControl *	CastToDerived (AnimatBase *lpBase)

Protected Member Functions
virtual RobotPartInterface *	AddPartInterface (std::string strXml)
	Creates and adds a robot IO control. More...

virtual void	CloseIO ()=0

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 RobotPartInterface *	LoadPartInterface (CStdXml &oXml)
	Loads a child IO Control. More...

virtual bool	OpenIO ()=0

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	WaitForThreadNotifyReady ()

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
CStdPtrArray< RobotPartInterface >	m_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.

RobotInterface *	m_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::NeuralModule *	m_lpModule
	The pointer to this items parentNeuralModule. If this is not relevant for this object then this is NULL.

Node *	m_lpNode
	The pointer to this items parent Node. If this is not relevant for this object then this is NULL.

Simulator *	m_lpSim
	The pointer to a Simulation.

AnimatSim::Environment::Structure *	m_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..

Detailed Description

A Robot IO controller base class.

Robot IO controllers are responsible for setting up and maintaining the communications channels used by a specific IO control system. A lot of the basic functionality to do this is included in this base class. You will need to derive a new class for your specific IO system and then override a few key methods like OpenIO, SetupIO, StepIO, CloseIO, and StepSimulation. Each Robot IO controller has a separate IO thread that it starts during the initialization phase. IO processing is performed within that thread and when the simulation steps it gets data that was read in during the IO thread, and sets data that the IO will send out. This means that the IO update process and the simulation step method are not going to be synchronized. One will be moving faster than the other. So you need to be careful of how you are transfering data back and forth between these two threads.

Each Robot IO controller contains a list of RobotPartInterface objects. Each robot part interface uses the communications channel that was opened by the IO controller to either directly talk to the real hardware, or it uses the IO controller to do that indirectly.

Author: dcofer

Date: 8/9/2014

Definition at line 34 of file RobotIOControl.h.

Constructor & Destructor Documentation

AnimatSim::Robotics::RobotIOControl::RobotIOControl ( void )

Default constructor.

Author: dcofer

Date: 9/8/2014

Definition at line 56 of file RobotIOControl.cpp.

References m_bIOPaused, m_bIOThreadProcessing, m_bPauseIO, m_bSetupComplete, m_bSetupStarted, m_bStopIO, m_bWaitingForThreadNotify, m_fltStepIODuration, m_iCyclePartCount, m_iCyclePartIdx, and m_lpParentInterface.

AnimatSim::Robotics::RobotIOControl::~RobotIOControl ( void )

virtual

Destructor.

Author: dcofer

Date: 9/8/2014

Definition at line 78 of file RobotIOControl.cpp.

References m_aryParts, and StdUtils::Std_TraceMsg().

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Member Function Documentation

bool AnimatSim::Robotics::RobotIOControl::AddItem	(	const std::string &	strItemType,
		const std::string &	strXml,
		bool	bThrowError = `true`,
		bool	bDoNotInit = `false`
	)

virtual

Adds a new object to this parent.

Generic method to add a new child item to this parent by specifying a string item type descriptor and an xml packet that can be used to load in the new object. The GUI uses this method to create new items that were added with the user interface. The item type lets the method determine what type of item is being created, like synapse, neuron, body part, etc.. It then gets the modulename, classname, and type from the xml and calls CreateObject to create the appropriate type of object. Then it passes in the xml packet to the new objects load method and does any needed initialization and adds it to the parent.

Author: dcofer

Date: 2/22/2011

Parameters

strItemType	String descriptor of the type of item that is being created.
strXml	XML packet that is used to create and load the new item.
bThrowError	If true then throw an error if there is a problem, otherwise return false.

Returns: true if it succeeds, false if it fails.

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Robotics::RemoteControl.

Definition at line 187 of file RobotIOControl.cpp.

References AddPartInterface(), and StdUtils::Std_CheckString().

Referenced by AnimatSim::Robotics::RemoteControl::AddItem().

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RobotPartInterface * AnimatSim::Robotics::RobotIOControl::AddPartInterface ( std::string strXml )

protectedvirtual

Creates and adds a robot IO control.

Author: dcofer

Date: 3/2/2011

Parameters

strXml The xml data packet for loading the control node.

Definition at line 229 of file RobotIOControl.cpp.

References StdUtils::CStdXml::Deserialize(), StdUtils::CStdXml::FindChildElement(), StdUtils::CStdXml::FindElement(), AnimatSim::Robotics::RobotPartInterface::Initialize(), and LoadPartInterface().

Referenced by AddItem().

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void AnimatSim::Robotics::RobotIOControl::AfterResetSimulation ( )

virtual

Called after a simulation reset for some objects.

This method is only used by some objects because they need to do some processing after the simulation has been reset.

Author: dcofer

Date: 3/4/2011

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Robotics::RemoteControl.

Definition at line 579 of file RobotIOControl.cpp.

References AnimatSim::AnimatBase::AfterResetSimulation(), m_aryParts, and AnimatSim::AnimatBase::m_bEnabled.

Referenced by AnimatSim::Robotics::RemoteControl::AfterResetSimulation().

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void AnimatSim::Robotics::RobotIOControl::ExitPause ( )

protectedvirtual

This method is waits until the m_bIOPaused flag is set back to false.

Author: dcofer

Date: 5/12/2014

Definition at line 506 of file RobotIOControl.cpp.

References AnimatSim::Simulator::InSimulation(), AnimatSim::AnimatBase::m_bEnabled, m_bIOPaused, m_bPauseIO, AnimatSim::AnimatBase::m_lpSim, and AnimatSim::Simulator::Paused().

Referenced by AnimatSim::Robotics::RemoteControl::RemoveRemoteControlLinkage().

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int AnimatSim::Robotics::RobotIOControl::FindChildListPos	(	std::string	strID,
		bool	bThrowError = `true`
	)

protectedvirtual

Finds the array index for the child part with the specified ID.

Author: dcofer

Date: 3/2/2011

Parameters

strID	ID of part to find
bThrowError	If true and ID is not found then it will throw an error, else return NULL

Exceptions

If	bThrowError is true and ID is not found.

Returns: If bThrowError is false and ID is not found returns NULL, else returns the pointer to the found part.

Definition at line 276 of file RobotIOControl.cpp.

References AnimatSim::AnimatBase::ID(), m_aryParts, StdUtils::Std_ToUpper(), and StdUtils::Std_Trim().

Referenced by RemovePartInterface().

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float * AnimatSim::Robotics::RobotIOControl::GetDataPointer ( const std::string & strDataType )

virtual

Returns a float pointer to a data item of interest in this object.

This is a generic method used to get a pointer to data variable of interest. It is used by a variety of systems in the simulation. The most prominent are the data charting and stimulus classes. Within this method we associate a variable with a string name. By passing in the name of the data type we are interested in we can recieve back a float pointer to that data type. We can use that to read or set the data item in other classes. For example, the data charting system gets the pointer and then each time it needs to log a data point it reads the value into an array.

Author: dcofer

Date: 2/22/2011

Parameters

strDataType name of the data item for which we are looking.

Returns: float pointer of the data item. If not found then it throws an exception.

Exceptions

If	DataType is not found.

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Robotics::RemoteControl, RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataController, RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSB, HybridInterfaceSim::Robotics::HiSpike2, and HybridInterfaceSim::Robotics::HiC884Controller.

Definition at line 148 of file RobotIOControl.cpp.

References m_fltStepIODuration, AnimatSim::AnimatBase::m_strName, and StdUtils::Std_CheckString().

Referenced by AnimatSim::Robotics::RemoteControl::GetDataPointer().

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void AnimatSim::Robotics::RobotIOControl::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::AnimatBase.

Reimplemented in RoboticsAnimatSim::Robotics::RobotIOControls::RbXBeeCommander, RoboticsAnimatSim::Robotics::RobotIOControls::RbAnimatSerial, AnimatSim::Robotics::RemoteControl, HybridInterfaceSim::Robotics::HiSpike2, and HybridInterfaceSim::Robotics::HiC884Controller.

Definition at line 548 of file RobotIOControl.cpp.

References AnimatSim::Simulator::InSimulation(), m_aryParts, AnimatSim::AnimatBase::m_bEnabled, and AnimatSim::AnimatBase::m_lpSim.

Referenced by AnimatSim::Robotics::RobotInterface::AddIOControl(), and AnimatSim::Robotics::RemoteControl::Initialize().

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RobotPartInterface * AnimatSim::Robotics::RobotIOControl::LoadPartInterface ( CStdXml & oXml )

protectedvirtual

Loads a child IO Control.

Author: dcofer

Date: 3/2/2011

Parameters

[in,out] oXml The xml data definition of the part to load.

Returns: null if it fails, else the IO control.

Definition at line 644 of file RobotIOControl.cpp.

References AnimatSim::Simulator::CreateObject(), StdUtils::CStdXml::GetChildString(), StdUtils::CStdXml::IntoElem(), m_aryParts, AnimatSim::AnimatBase::m_lpSim, AnimatSim::AnimatBase::m_lpStructure, StdUtils::CStdXml::OutOfElem(), and AnimatSim::AnimatBase::SetSystemPointers().

Referenced by AddPartInterface().

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void AnimatSim::Robotics::RobotIOControl::ParentInterface ( RobotInterface * lpParent )

virtual

Sets the parent robot interface pointer.

Author: dcofer

Date: 9/8/2014

Parameters

lpParent pointer to parent robot interface

Definition at line 96 of file RobotIOControl.cpp.

References m_lpParentInterface.

Referenced by AnimatSim::Robotics::RobotInterface::LoadIOControl().

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RobotInterface * AnimatSim::Robotics::RobotIOControl::ParentInterface ( )

virtual

Gets the parent robot interface pointer.

Author: dcofer

Date: 9/8/2014

Returns: pointer to parent robot interface.

Definition at line 106 of file RobotIOControl.cpp.

References m_lpParentInterface.

CStdPtrArray< RobotPartInterface > * AnimatSim::Robotics::RobotIOControl::Parts ( )

virtual

Gets the array of IO controls.

Author: dcofer

Date: 3/2/2011

Returns: pointer to array of IO controls.

Definition at line 134 of file RobotIOControl.cpp.

References m_aryParts.

void AnimatSim::Robotics::RobotIOControl::PauseIO ( bool bVal )

virtual

Gets the array of IO controls.

Author: dcofer

Date: 9/8/2014

Returns: pointer to array of IO controls.

Definition at line 116 of file RobotIOControl.cpp.

References m_bIOPaused, and m_bPauseIO.

void AnimatSim::Robotics::RobotIOControl::QueryProperties ( CStdPtrArray< TypeProperty > & aryProperties )

virtual

Queries this object for a list of properties that can be changed using SetData.

The method provides a list of the properties that can be set using the SetData method. It gives the property name and the type of data that should be passed to it. Valid date types are Boolean, Float, Integer, and Xml.

Author: dcofer

Date: 2/22/2011

Parameters

aryNames	Array list of the property names.
strTypes	Array list of the type that is associated with the cooresponding name in the list.

Returns: Nothing.

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Robotics::RemoteControl.

Definition at line 180 of file RobotIOControl.cpp.

References AnimatSim::AnimatBase::QueryProperties().

Referenced by AnimatSim::Robotics::RemoteControl::QueryProperties().

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bool AnimatSim::Robotics::RobotIOControl::RemoveItem	(	const std::string &	strItemType,
		const std::string &	strID,
		bool	bThrowError = `true`
	)

virtual

Removes a child item from this parent.

This is a generic method that is used to delete a child object from this parent. The GUI uses this method to remove objects from the simulation that have been deleted in the UI. The item type lets the method determine what type of item is being deleted, like synapse, neuron, body part, etc.. The ID is then used to delete that specific item.

Author: dcofer

Date: 2/22/2011

Parameters

strItemType	String descriptor of the type of item that is being created.
strID	Unique ID of the item that will be removed.
bThrowError	If true then throw an error if there is a problem, otherwise return false.

Returns: true if it succeeds, false if it fails.

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Robotics::RemoteControl.

Definition at line 204 of file RobotIOControl.cpp.

References RemovePartInterface(), and StdUtils::Std_CheckString().

Referenced by AnimatSim::Robotics::RemoteControl::RemoveItem().

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void AnimatSim::Robotics::RobotIOControl::RemovePartInterface	(	std::string	strID,
		bool	bThrowError = `true`
	)

protectedvirtual

Removes the rigid body with the specified ID.

Author: dcofer

Date: 3/2/2011

Parameters

strID	ID of the body to remove
bThrowError	If true and ID is not found then it will throw an error.

Exceptions

If	bThrowError is true and ID is not found.

Definition at line 253 of file RobotIOControl.cpp.

References FindChildListPos(), and m_aryParts.

Referenced by RemoveItem().

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void AnimatSim::Robotics::RobotIOControl::ResetSimulation ( )

virtual

Resets the simulation back to time 0.

This method calls the ResetSimulation method on all subitems in order to reset the simulation back to the beginning.

Author: dcofer

Date: 3/1/2011

Reimplemented from AnimatSim::AnimatBase.

Reimplemented in AnimatSim::Robotics::RemoteControl, RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataController, and HybridInterfaceSim::Robotics::HiSpike2.

Definition at line 566 of file RobotIOControl.cpp.

References m_aryParts, AnimatSim::AnimatBase::m_bEnabled, m_iCyclePartIdx, and AnimatSim::AnimatBase::ResetSimulation().

Referenced by AnimatSim::Robotics::RemoteControl::ResetSimulation().

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bool AnimatSim::Robotics::RobotIOControl::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

strDataType	string name of the data type to set.
strValue	The 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.
bThrowError	true 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::AnimatBase.

Reimplemented in RoboticsAnimatSim::Robotics::RobotIOControls::RbXBeeCommander, RoboticsAnimatSim::Robotics::RobotIOControls::RbAnimatSerial, AnimatSim::Robotics::RemoteControl, RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataController, RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSB, HybridInterfaceSim::Robotics::HiSpike2, and HybridInterfaceSim::Robotics::HiC884Controller.

Definition at line 160 of file RobotIOControl.cpp.

References AnimatSim::AnimatBase::Enabled(), AnimatSim::AnimatBase::SetData(), StdUtils::Std_CheckString(), and StdUtils::Std_ToBool().

Referenced by AnimatSim::Robotics::RemoteControl::SetData().

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void AnimatSim::Robotics::RobotIOControl::SetupIO ( )

virtual

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.

Author: dcofer

Date: 5/1/2014

Reimplemented in AnimatSim::Robotics::RemoteControl.

Definition at line 403 of file RobotIOControl.cpp.

References AnimatSim::AnimatBase::Enabled(), m_aryParts, AnimatSim::AnimatBase::m_bEnabled, and m_iCyclePartCount.

Referenced by AnimatSim::Robotics::RemoteControl::SetupIO().

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void AnimatSim::Robotics::RobotIOControl::ShutdownIO ( )

virtual

This method is called just before the IO thread is closed down. It gives the IO objects a chance to do any required cleanup.

Author: dcofer

Date: 5/12/2014

Reimplemented in AnimatSim::Robotics::RemoteControl.

Definition at line 525 of file RobotIOControl.cpp.

References AnimatSim::AnimatBase::Enabled(), m_aryParts, AnimatSim::AnimatBase::m_bEnabled, m_bIOThreadProcessing, AnimatSim::AnimatBase::Name(), StartPause(), and WaitTillPaused().

Referenced by AnimatSim::Robotics::RobotInterface::RemoveIOControl(), AnimatSim::Robotics::RemoteControl::ShutdownIO(), and SimStopping().

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void AnimatSim::Robotics::RobotIOControl::SimStopping ( )

virtual

Called just before the simulation stops.

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

Author: dcofer

Date: 3/1/2011

Reimplemented from AnimatSim::AnimatBase.

Definition at line 591 of file RobotIOControl.cpp.

References ShutdownIO(), and AnimatSim::AnimatBase::SimStopping().

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void AnimatSim::Robotics::RobotIOControl::StartPause ( )

protectedvirtual

This method is waits until the m_bIOPaused flag is set to true.

Author: dcofer

Date: 5/12/2014

Definition at line 488 of file RobotIOControl.cpp.

References AnimatSim::Simulator::InSimulation(), AnimatSim::AnimatBase::m_bEnabled, m_bIOPaused, m_bPauseIO, AnimatSim::AnimatBase::m_lpSim, and AnimatSim::Simulator::Paused().

Referenced by AnimatSim::Robotics::RemoteControl::RemoveRemoteControlLinkage(), and ShutdownIO().

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void AnimatSim::Robotics::RobotIOControl::StepIO ( )

virtual

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

Author: dcofer

Date: 5/2/2014

Reimplemented in AnimatSim::Robotics::RemoteControl, RoboticsAnimatSim::Robotics::RobotIOControls::RbXBeeCommander, RoboticsAnimatSim::Robotics::RobotIOControls::RbAnimatSerial, and HybridInterfaceSim::Robotics::HiSpike2.

Definition at line 433 of file RobotIOControl.cpp.

References AnimatSim::AnimatBase::Enabled(), m_aryParts, AnimatSim::AnimatBase::m_bEnabled, m_fltStepIODuration, m_iCyclePartCount, m_iCyclePartIdx, and AnimatSim::AnimatBase::m_lpSim.

Referenced by AnimatSim::Robotics::RemoteControl::StepIO().

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float AnimatSim::Robotics::RobotIOControl::StepIODuration ( )

virtual

Gets the time duration required to perform one step of the IO for all parts in this control.

Author: dcofer

Date: 5/7/2014

Returns: Step duration.

Definition at line 144 of file RobotIOControl.cpp.

References m_fltStepIODuration.

void AnimatSim::Robotics::RobotIOControl::StepSimulation ( )

virtual

Step the simulation for this object.

This is called on an object each time it is stepped in the simulation. this is where its simulation code is processed. However, StepSimulation is not necessarily called every single time that the simulation as a whole is stepped. A good example of this is that neural modules can have different integration time steps. So a firing rate module may have a DT of 0.5 ms, while an integrate and fire model may have one of 0.1 ms. So the firing rate module would only get its StepSimulation method called every 5th time that the other module was called. This is all handed in the StepSimulation method of the Simulator and NervousSystem.