ArServerModeDrive Class Reference

#include <ArServerModeDrive.h>

Inheritance diagram for ArServerModeDrive:

List of all members.

Public Member Functions
virtual void	activate (void)
	The function called when the mode is activated, subclass must provide.
void	addControlCommands (ArServerHandlerCommands *handlerCommands)
	This adds commands that'll let you disable and enable safe driving.
	ArServerModeDrive (ArServerBase *server, ArRobot *robot, bool takeControlOnJoystick=false)
virtual void	deactivate (void)
	The function called when the mode is deactivated, subclass must provide.
void	driveJoystick (double vel, double rotVel)
virtual ArActionGroup *	getActionGroup (void)
	This function should return the action group this mode uses.
bool	getSafeDriving (void)
void	serverDriveJoystick (ArServerClient *client, ArNetPacket *packet)
void	setExtraUnsafeAction (ArAction *action)
	this action will be activated in unsafe mode
void	setSafeDriving (bool safe)
void	setThrottleParams (int lowSpeed, int highSpeed)
virtual void	userTask (void)
	The ArMode's user task, don't need one, subclass must provide if needed.
virtual	~ArServerModeDrive ()
Protected Member Functions
void	joyUserTask (void)
void	serverSafeDrivingDisable (void)
void	serverSafeDrivingEnable (void)
Protected Attributes
ArActionGroupInput	myDriveGroup
bool	myDriveSafely
ArAction *	myExtraUnsafeAction
ArServerHandlerCommands *	myHandlerCommands
ArActionInput *	myInputAction
ArActionJoydrive	myJoydriveAction
ArJoyHandler *	myJoyHandler
ArFunctorC< ArServerModeDrive >	myJoyUserTaskCB
bool	myNewDriveSafely
double	myRotVel
ArFunctor2C< ArServerModeDrive, ArServerClient *, ArNetPacket * >	myServerDriveJoystickCB
ArFunctorC< ArServerModeDrive >	myServerSafeDrivingDisableCB
ArFunctorC< ArServerModeDrive >	myServerSafeDrivingEnableCB
ArActionStop	myStopAction
bool	myTakeControlOnJoystick
double	myVel

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Detailed Description

Examples:

drawingsExampleWithRobot.cpp, and serverDemo.cpp.

Definition at line 34 of file ArServerModeDrive.h.

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Constructor & Destructor Documentation

ArServerModeDrive::ArServerModeDrive (  ArServerBase *  server, ArRobot *  robot, bool  takeControlOnJoystick = false )

Definition at line 30 of file ArServerModeDrive.cpp. References ArActionGroup::addAction(), ArServerMode::addModeData(), ArRobot::addUserTask(), ArActionGroupInput::getActionInput(), ArJoyHandler::init(), myDriveGroup, myDriveSafely, myExtraUnsafeAction, myHandlerCommands, myInputAction, myJoydriveAction, myJoyHandler, myJoyUserTaskCB, myServerDriveJoystickCB, myStopAction, myTakeControlOnJoystick, Aria::setJoyHandler(), ArActionJoydrive::setStopIfNoButtonPressed(), and setThrottleParams().

ArServerModeDrive::~ArServerModeDrive (   )  [virtual]

Definition at line 68 of file ArServerModeDrive.cpp.

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Member Function Documentation

void ArServerModeDrive::activate (  void   )  [virtual]

The function called when the mode is activated, subclass must provide. Implements ArServerMode. Definition at line 73 of file ArServerModeDrive.cpp. References driveJoystick(). Referenced by joyUserTask().

void ArServerModeDrive::addControlCommands (  ArServerHandlerCommands *  handlerCommands  )

This adds commands that'll let you disable and enable safe driving. Definition at line 123 of file ArServerModeDrive.cpp. References ArServerHandlerCommands::addCommand(), myHandlerCommands, myServerSafeDrivingDisableCB, and myServerSafeDrivingEnableCB. Referenced by main().

void ArServerModeDrive::deactivate (  void   )  [virtual]

The function called when the mode is deactivated, subclass must provide. Implements ArServerMode. Definition at line 78 of file ArServerModeDrive.cpp. References ArServerMode::baseDeactivate(), ArActionGroup::deactivate(), and myDriveGroup.

void ArServerModeDrive::driveJoystick (  double  vel, double  rotVel )

Definition at line 141 of file ArServerModeDrive.cpp. References ArAction::activate(), ArActionGroup::activateExclusive(), ArServerMode::baseActivate(), ArRobot::clearDirectMotion(), ArRobot::deactivateActions(), ArServerMode::isActive(), ArLog::log(), myDriveGroup, myDriveSafely, myExtraUnsafeAction, myInputAction, myJoydriveAction, myNewDriveSafely, myRotVel, myVel, ArServerMode::setActivityTimeToNow(), ArActionGroupInput::setRotVel(), and ArActionGroupInput::setVel(). Referenced by activate(), serverDriveJoystick(), and setSafeDriving().

virtual ArActionGroup* ArServerModeDrive::getActionGroup (  void   )  [inline, virtual]

This function should return the action group this mode uses. Reimplemented from ArServerMode. Definition at line 49 of file ArServerModeDrive.h. References myDriveGroup.

bool ArServerModeDrive::getSafeDriving (  void   )

Definition at line 104 of file ArServerModeDrive.cpp. References myDriveSafely.

void ArServerModeDrive::joyUserTask (  void   )  [protected]

Definition at line 188 of file ArServerModeDrive.cpp. References activate(), ArJoyHandler::getButton(), ArServerMode::getName(), ArJoyHandler::haveJoystick(), ArServerMode::isActive(), ArLog::log(), myJoyHandler, and myTakeControlOnJoystick.

void ArServerModeDrive::serverDriveJoystick (  ArServerClient *  client, ArNetPacket *  packet )

Definition at line 175 of file ArServerModeDrive.cpp. References driveJoystick(), ArRobot::lock(), and ArRobot::unlock().

void ArServerModeDrive::serverSafeDrivingDisable (  void   )  [protected]

Definition at line 116 of file ArServerModeDrive.cpp. References ArRobot::lock(), setSafeDriving(), and ArRobot::unlock().

void ArServerModeDrive::serverSafeDrivingEnable (  void   )  [protected]

Definition at line 109 of file ArServerModeDrive.cpp. References ArRobot::lock(), setSafeDriving(), and ArRobot::unlock().

void ArServerModeDrive::setExtraUnsafeAction (  ArAction *  action  )  [inline]

this action will be activated in unsafe mode Definition at line 53 of file ArServerModeDrive.h. References myExtraUnsafeAction.

void ArServerModeDrive::setSafeDriving (  bool  safe  )

Definition at line 84 of file ArServerModeDrive.cpp. References driveJoystick(), ArServerMode::isActive(), ArLog::log(), myDriveSafely, myNewDriveSafely, myRotVel, and myVel. Referenced by serverSafeDrivingDisable(), and serverSafeDrivingEnable().

void ArServerModeDrive::setThrottleParams (  int  lowSpeed, int  highSpeed )

Definition at line 136 of file ArServerModeDrive.cpp. References myJoydriveAction, and ArActionJoydrive::setThrottleParams(). Referenced by ArServerModeDrive().

void ArServerModeDrive::userTask (  void   )  [virtual]

The ArMode's user task, don't need one, subclass must provide if needed. Reimplemented from ArServerMode. Definition at line 204 of file ArServerModeDrive.cpp. References ArMath::fabs(), ArRobot::forceTryingToMove(), ArJoyHandler::getButton(), ArRobot::getRotVel(), ArRobot::getStallValue(), ArRobot::getVel(), ArJoyHandler::haveJoystick(), ArRobot::isLeftMotorStalled(), ArRobot::isRightMotorStalled(), myJoyHandler, and ArServerMode::setActivityTimeToNow().

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Member Data Documentation

ArActionGroupInput ArServerModeDrive::myDriveGroup [protected]

Definition at line 64 of file ArServerModeDrive.h. Referenced by ArServerModeDrive(), deactivate(), driveJoystick(), and getActionGroup().

bool ArServerModeDrive::myDriveSafely [protected]

Definition at line 67 of file ArServerModeDrive.h. Referenced by ArServerModeDrive(), driveJoystick(), getSafeDriving(), and setSafeDriving().

ArAction* ArServerModeDrive::myExtraUnsafeAction [protected]

Definition at line 59 of file ArServerModeDrive.h. Referenced by ArServerModeDrive(), driveJoystick(), and setExtraUnsafeAction().

ArServerHandlerCommands* ArServerModeDrive::myHandlerCommands [protected]

Definition at line 73 of file ArServerModeDrive.h. Referenced by addControlCommands(), and ArServerModeDrive().

ArActionInput* ArServerModeDrive::myInputAction [protected]

Definition at line 62 of file ArServerModeDrive.h. Referenced by ArServerModeDrive(), and driveJoystick().

ArActionJoydrive ArServerModeDrive::myJoydriveAction [protected]

Definition at line 61 of file ArServerModeDrive.h. Referenced by ArServerModeDrive(), driveJoystick(), and setThrottleParams().

ArJoyHandler* ArServerModeDrive::myJoyHandler [protected]

Definition at line 60 of file ArServerModeDrive.h. Referenced by ArServerModeDrive(), joyUserTask(), and userTask().

ArFunctorC<ArServerModeDrive> ArServerModeDrive::myJoyUserTaskCB [protected]

Definition at line 66 of file ArServerModeDrive.h. Referenced by ArServerModeDrive().

bool ArServerModeDrive::myNewDriveSafely [protected]

Definition at line 68 of file ArServerModeDrive.h. Referenced by driveJoystick(), and setSafeDriving().

double ArServerModeDrive::myRotVel [protected]

Definition at line 70 of file ArServerModeDrive.h. Referenced by driveJoystick(), and setSafeDriving().

ArFunctor2C<ArServerModeDrive, ArServerClient *, ArNetPacket *> ArServerModeDrive::myServerDriveJoystickCB [protected]

Definition at line 65 of file ArServerModeDrive.h. Referenced by ArServerModeDrive().

ArFunctorC<ArServerModeDrive> ArServerModeDrive::myServerSafeDrivingDisableCB [protected]

Definition at line 75 of file ArServerModeDrive.h. Referenced by addControlCommands().

ArFunctorC<ArServerModeDrive> ArServerModeDrive::myServerSafeDrivingEnableCB [protected]

Definition at line 74 of file ArServerModeDrive.h. Referenced by addControlCommands().

ArActionStop ArServerModeDrive::myStopAction [protected]

Definition at line 63 of file ArServerModeDrive.h. Referenced by ArServerModeDrive().

bool ArServerModeDrive::myTakeControlOnJoystick [protected]

Definition at line 71 of file ArServerModeDrive.h. Referenced by ArServerModeDrive(), and joyUserTask().

double ArServerModeDrive::myVel [protected]

Definition at line 69 of file ArServerModeDrive.h. Referenced by driveJoystick(), and setSafeDriving().

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

• ArServerModeDrive.h
• ArServerModeDrive.cpp

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