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

Public Member Functions

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 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 void StepSimulation ()
 Step the simulation for this object. More...
 
- Public Member Functions inherited from RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataPart
virtual RbFirmataControllerGetFirmata ()
 
virtual void ParentIOControl (RobotIOControl *lpParent)
 
virtual void SetFirmata (RbFirmataController *lpFirmata)
 
- Public Member Functions inherited from AnimatSim::Robotics::RobotPartInterface
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 GainGetGain ()
 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 RobotIOControlParentIOControl ()
 
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 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 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 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 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 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...
 

Additional Inherited Members

- Static Public Member Functions inherited from AnimatSim::Robotics::RobotPartInterface
static RobotPartInterfaceCastToDerived (AnimatBase *lpBase)
 
- Protected Member Functions inherited from AnimatSim::Robotics::RobotPartInterface
virtual void AddGain (std::string strXml)
 Creates and adds a gain object. More...
 
- Protected Attributes inherited from RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataPart
RbFirmataControllerm_lpFirmata
 
- Protected Attributes inherited from AnimatSim::Robotics::RobotPartInterface
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.
 
RobotInterfacem_lpParentInterface
 
RobotIOControlm_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::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..
 

Detailed Description

Definition at line 16 of file RbFirmataPWMOutput.h.

Member Function Documentation

void RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataPWMOutput::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

Reimplemented from AnimatSim::Robotics::RobotPartInterface.

Definition at line 40 of file RbFirmataPWMOutput.cpp.

References AnimatSim::Simulator::InSimulation(), AnimatSim::Robotics::RobotPartInterface::m_iIOComponentID, and AnimatSim::AnimatBase::m_lpSim.

+ Here is the call graph for this function:

void RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataPWMOutput::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

Reimplemented from AnimatSim::Robotics::RobotPartInterface.

Definition at line 46 of file RbFirmataPWMOutput.cpp.

References AnimatSim::Simulator::InSimulation(), AnimatSim::Robotics::RobotPartInterface::m_iIOComponentID, AnimatSim::Robotics::RobotPartInterface::m_iIOValue, and AnimatSim::AnimatBase::m_lpSim.

+ Here is the call graph for this function:

void RoboticsAnimatSim::Robotics::RobotIOControls::Firmata::RbFirmataPWMOutput::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.

Author
dcofer
Date
3/1/2011

Reimplemented from AnimatSim::AnimatBase.

Definition at line 59 of file RbFirmataPWMOutput.cpp.

References AnimatSim::Robotics::RobotPartInterface::m_fltIOScaledValue, AnimatSim::Robotics::RobotPartInterface::m_fltIOValue, AnimatSim::Robotics::RobotPartInterface::m_iIOValue, and AnimatSim::Robotics::RobotPartInterface::m_lpGain.


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