Inheritance diagram for AnimatSim::Robotics::RobotPartInterface:

Collaboration diagram for AnimatSim::Robotics::RobotPartInterface:

Public Member Functions
virtual bool	Changed ()

virtual void	Changed (bool bVal)

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

virtual Gain *	GetGain ()
	Gets the poitner to the gain function. More...

virtual bool	IncludeInPartsCycle ()

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

virtual int	IOComponentID ()

virtual void	IOComponentID (int iID)

virtual float	IOScaledValue ()

virtual void	IOScaledValue (float fltVal)

virtual float	IOValue ()

virtual void	IOValue (float fltVal)

virtual int	IOValueInt ()

virtual void	IOValueInt (int iVal)

virtual bool	IsMotorControl ()
	Returns true if this part interface is for controlling a motor. More...

virtual void	LinkedPartID (std::string strID)

virtual std::string	LinkedPartID ()

virtual void	Load (CStdXml &oXml)

virtual void	ParentIOControl (RobotIOControl *lpParent)

virtual RobotIOControl *	ParentIOControl ()

virtual void	PropertyName (std::string strName)

virtual std::string	PropertyName ()

virtual float	QuantizeServoPosition (float fltPos)
	If this is a servo controller interface then it will take a continuous positon and return back a valid quantized position for that servo. More...

virtual float	QuantizeServoVelocity (float fltVel)
	If this is a servo controller interface then it will take a continuous velocity and return back a valid quantized velocity for that servo. More...

virtual void	QueryProperties (CStdPtrArray< TypeProperty > &aryProperties)
	Queries this object for a list of properties that can be changed using SetData. 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	SetGain (Gain *lpGain)

virtual void	SetupIO ()
	This method is called after all connections to whatever control board have been made. It is meant to be used to setup connection information specific to this part. 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. That is what this method is for. 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	StepIO (int iPartIdx)
	This method is used to send/recieve the actual IO. This will often be in a seperate thread than the StepSimulation. StepSimulation gets/sets the values in the sim and gets it read for the thread that does the IO. Once that thread is ready to send/receive it uses that value to perform the operation. More...

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

Public Member Functions inherited from AnimatSim::AnimatBase
	AnimatBase ()
	Constructs an AnimatBase object. More...

virtual	~AnimatBase ()
	Destroys the AnimatBase object.. 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 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 bool	RemoveItem (const std::string &strItemType, const std::string &strID, bool bThrowError=true)
	Removes a child item from this parent. 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	SimStopping ()
	Called just before the simulation stops. More...

virtual void	StepSimulation ()
	Step the simulation for this object. 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 RobotPartInterface *	CastToDerived (AnimatBase *lpBase)

Protected Member Functions
virtual void	AddGain (std::string strXml)
	Creates and adds a gain object. More...

Protected Attributes
bool	m_bChanged
	True when the value changes.

float	m_fltIOScaledValue

float	m_fltIOValue

float	m_fltStepIODuration

int	m_iIOComponentID

int	m_iIOValue
	This stores the temporary IO value to be used later in IO calculations.

Gain *	m_lpGain
	Pointer to the Gain that will be used to convert the source value into the target value.

RobotInterface *	m_lpParentInterface

RobotIOControl *	m_lpParentIOControl

BodyPart *	m_lpPart

float *	m_lpProperty

std::string	m_strPartID

std::string	m_strPropertyName

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

Definition at line 8 of file RobotPartInterface.h.

Member Function Documentation

void AnimatSim::Robotics::RobotPartInterface::AddGain ( std::string strXml )

protectedvirtual

Creates and adds a gain object.

Author: dcofer

Date: 3/2/2011

Parameters

strXml The xml data packet for loading the gain.

Definition at line 219 of file RobotPartInterface.cpp.

References StdUtils::CStdXml::Deserialize(), StdUtils::CStdXml::FindChildElement(), StdUtils::CStdXml::FindElement(), AnimatSim::Gains::LoadGain(), and AnimatSim::AnimatBase::m_lpSim.

Referenced by SetData().

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float * AnimatSim::Robotics::RobotPartInterface::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 RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo, RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataHingeServo, and HybridInterfaceSim::Robotics::HiM110Actuator.

Definition at line 231 of file RobotPartInterface.cpp.

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

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Gain * AnimatSim::Robotics::RobotPartInterface::GetGain ( )

virtual

Gets the poitner to the gain function.

Author: dcofer

Date: 3/18/2011

Returns: Pointer to the gain.

Definition at line 187 of file RobotPartInterface.cpp.

References m_lpGain.

void AnimatSim::Robotics::RobotPartInterface::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::Firmata::RbFirmataDynamixelServo, RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo, RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataHingeServo, HybridInterfaceSim::Robotics::HiM110Actuator, and RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataPrismaticServo.

Definition at line 347 of file RobotPartInterface.cpp.

References AnimatSim::Simulator::FindByID(), AnimatSim::AnimatBase::m_lpSim, and StdUtils::Std_IsBlank().

Referenced by AnimatSim::Robotics::RobotIOControl::AddPartInterface(), and RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo::Initialize().

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bool AnimatSim::Robotics::RobotPartInterface::IsMotorControl ( )

virtual

Returns true if this part interface is for controlling a motor.

Author: dcofer

Date: 6/19/2014

Returns: Pointer to the gain.

Reimplemented in RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo, RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo, RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataHingeServo, RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataPrismaticServo, and HybridInterfaceSim::Robotics::HiM110Actuator.

Definition at line 143 of file RobotPartInterface.cpp.

float AnimatSim::Robotics::RobotPartInterface::QuantizeServoPosition ( float fltPos )

virtual

If this is a servo controller interface then it will take a continuous positon and return back a valid quantized position for that servo.

Servos have discreet positions they can obtain based on the bit resolution of the goal position. So they can only be set to move to those positions. If we are trying to sync the sim to match this behavior then we need to only move the sim to these positions as well. You will need to override this method in your actual motor control part interface and implement for your motor model.

Author: dcofer

Date: 6/19/2014

Returns: Quantized position.

Reimplemented in RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo.

Definition at line 157 of file RobotPartInterface.cpp.

Referenced by AnimatSim::Environment::MotorizedJoint::SetPosition().

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float AnimatSim::Robotics::RobotPartInterface::QuantizeServoVelocity ( float fltVel )

virtual

If this is a servo controller interface then it will take a continuous velocity and return back a valid quantized velocity for that servo.

Servos have discreet velocity they can obtain based on the bit resolution of the goal velocity. So they can only be set to move at those velocity. If we are trying to sync the sim to match this behavior then we need to only move the sim to these velociies as well. You will need to override this method in your actual motor control part interface and implement for your motor model.

Author: dcofer

Date: 6/19/2014

Returns: Quantized velocity.

Reimplemented in RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo.

Definition at line 174 of file RobotPartInterface.cpp.

Referenced by AnimatSim::Environment::MotorizedJoint::SetVelocity().

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void AnimatSim::Robotics::RobotPartInterface::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.

Definition at line 291 of file RobotPartInterface.cpp.

References AnimatSim::AnimatBase::QueryProperties().

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void AnimatSim::Robotics::RobotPartInterface::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 RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo, and HybridInterfaceSim::Robotics::HiM110Actuator.

Definition at line 371 of file RobotPartInterface.cpp.

References m_bChanged, m_fltIOScaledValue, m_fltIOValue, m_iIOValue, and AnimatSim::AnimatBase::ResetSimulation().

Referenced by HybridInterfaceSim::Robotics::HiM110Actuator::ResetSimulation(), and RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo::ResetSimulation().

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bool AnimatSim::Robotics::RobotPartInterface::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::Firmata::RbFirmataDynamixelServo, RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo, RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataHingeServo, and HybridInterfaceSim::Robotics::HiM110Actuator.

Definition at line 247 of file RobotPartInterface.cpp.

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

Referenced by RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo::SetData().

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void AnimatSim::Robotics::RobotPartInterface::SetupIO ( )

virtual

This method is called after all connections to whatever control board have been made. It is meant to be used to setup connection information specific to this part. 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. That is what this method is for.

Author: dcofer

Date: 5/1/2014

Definition at line 318 of file RobotPartInterface.cpp.

void AnimatSim::Robotics::RobotPartInterface::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 RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDynamixelServo, RoboticsAnimatSim::Robotics::RobotIOControls::DynamixelUSB::RbDynamixelUSBServo, and HybridInterfaceSim::Robotics::HiM110Actuator.

Definition at line 343 of file RobotPartInterface.cpp.

void AnimatSim::Robotics::RobotPartInterface::StepIO ( int iPartIdx )

virtual

This method is used to send/recieve the actual IO. This will often be in a seperate thread than the StepSimulation. StepSimulation gets/sets the values in the sim and gets it read for the thread that does the IO. Once that thread is ready to send/receive it uses that value to perform the operation.

Author: dcofer

Date: 5/2/2014

Definition at line 331 of file RobotPartInterface.cpp.

float AnimatSim::Robotics::RobotPartInterface::StepIODuration ( )

virtual

Gets the time duration required to perform one step of the IO for this part.

Author: dcofer

Date: 5/7/2014

Returns: Step duration.

Definition at line 209 of file RobotPartInterface.cpp.

Member Data Documentation

float AnimatSim::Robotics::RobotPartInterface::m_fltIOScaledValue

protected

This is a generic variable that keeps track of the data that was sent/received AFTER it has been scled using the gain function.

Definition at line 36 of file RobotPartInterface.h.

Referenced by GetDataPointer(), ResetSimulation(), RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDigitalInput::StepSimulation(), RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataPWMOutput::StepSimulation(), RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDigitalOutput::StepSimulation(), and RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataAnalogInput::StepSimulation().

float AnimatSim::Robotics::RobotPartInterface::m_fltIOValue

protected

This is a generic variable that keeps track of the data that will be sent/recieved. If it is a digital value then you will need to cast it appropriately.

Definition at line 29 of file RobotPartInterface.h.

Referenced by GetDataPointer(), ResetSimulation(), RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataDigitalInput::StepSimulation(), RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataPWMOutput::StepSimulation(), RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataAnalogInput::StepSimulation(), and RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataHingeServo::StepSimulation().

int AnimatSim::Robotics::RobotPartInterface::m_iIOComponentID

protected

This is a generic ID value to be used for this part. This will be the servo ID for a servo, or the pin number for a digital ouput. Its meaning depends on the part type.

Definition at line 25 of file RobotPartInterface.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

Member Data Documentation