ArServerModeRatioDrive Class Reference

#include <ArServerModeRatioDrive.h>

Inheritance diagram for ArServerModeRatioDrive:

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.
void	addToConfig (ArConfig config, const char section)
	Adds to a config in a section.
	ArServerModeRatioDrive (ArServerBase server, ArRobot robot, bool takeControlOnJoystick=true, bool useComputerJoystick=true, bool useRobotJoystick=true, bool useServerCommands=true, const char *name="ratioDrive")
	Constructor.
virtual void	deactivate (void)
	The function called when the mode is deactivated, subclass must provide.
virtual ArActionGroup *	getActionGroup (void)
	This function should return the action group this mode uses.
ArActionRatioInput *	getActionRatioInput (void)
bool	getSafeDriving (void)
	Gets whether we're driving safely or not.
bool	getUseLocationDependentDevices (void)
	Gets whether we're using the range devices that depend on location.
void	ratioDrive (double transRatio, double rotRatio, double throttleRatio)
	Sets the ratio drive action.
void	setSafeDriving (bool safe, bool internal=false)
	Sets whether we're safe driving or not.
void	setUseLocationDependentDevices (bool useLocationDependentDevices, bool internal=false)
	Sets whether we're using the range devices that depend on location.
virtual void	userTask (void)
	The ArMode's user task, don't need one, subclass must provide if needed.
virtual	~ArServerModeRatioDrive ()
	Destructor.
Protected Member Functions
void	joyUserTask (void)
void	ratioFireCallback (void)
void	serverGetSafeDrive (ArServerClient client, ArNetPacket packet)
void	serverRatioDrive (ArServerClient client, ArNetPacket packet)
void	serverSafeDrivingDisable (void)
void	serverSafeDrivingEnable (void)
void	serverSetSafeDrive (ArServerClient client, ArNetPacket packet)
Protected Attributes
bool	myDriveSafely
ArServerHandlerCommands *	myHandlerCommands
ArRatioInputJoydrive *	myJoydrive
ArJoyHandler *	myJoyHandler
ArFunctorC< ArServerModeRatioDrive >	myJoyUserTaskCB
ArActionDeceleratingLimiter *	myLimiterBackward
ArActionDeceleratingLimiter *	myLimiterForward
ArActionMovementParameters *	myMovementParameters
bool	myNewDriveSafely
bool	myPrinting
ArActionRatioInput *	myRatioAction
ArActionGroup	myRatioDriveGroup
ArFunctorC< ArServerModeRatioDrive >	myRatioFireCB
ArRatioInputRobotJoydrive *	myRobotJoydrive
ArRobotJoyHandler *	myRobotJoyHandler
double	myRotRatio
ArFunctor2C< ArServerModeRatioDrive, ArServerClient , ArNetPacket >	myServerGetSafeDriveCB
ArFunctor2C< ArServerModeRatioDrive, ArServerClient , ArNetPacket >	myServerRatioDriveCB
ArFunctorC< ArServerModeRatioDrive >	myServerSafeDrivingDisableCB
ArFunctorC< ArServerModeRatioDrive >	myServerSafeDrivingEnableCB
ArFunctor2C< ArServerModeRatioDrive, ArServerClient , ArNetPacket >	myServerSetSafeDriveCB
bool	myTakeControlOnJoystick
double	myThrottleRatio
double	myTransRatio
bool	myUseComputerJoystick
bool	myUseLocationDependentDevices
bool	myUseRobotJoystick
bool	myUseServerCommands

Detailed Description

Examples:: drawingsExampleWithRobot.cpp, serverDemo.cpp, and simpleServerExample.cpp.

Definition at line 35 of file ArServerModeRatioDrive.h.

Constructor & Destructor Documentation

ArServerModeRatioDrive::ArServerModeRatioDrive ( ArServerBase * server,

ArRobot * robot,

bool takeControlOnJoystick = true,

bool useComputerJoystick = true,

bool useRobotJoystick = true,

bool useServerCommands = true,

const char * name = "ratioDrive"

)

Constructor.

Definition at line 31 of file ArServerModeRatioDrive.cpp.
References ArActionGroup::addAction(), ArServerBase::addData(), ArActionRatioInput::addFireCallback(), ArServerMode::addModeData(), ArRobot::addUserTask(), ArJoyHandler::init(), myDriveSafely, myHandlerCommands, myJoydrive, myJoyHandler, myJoyUserTaskCB, myLimiterBackward, myLimiterForward, myMovementParameters, myPrinting, myRatioAction, myRatioDriveGroup, myRatioFireCB, myRobotJoydrive, myRobotJoyHandler, myServerGetSafeDriveCB, myServerRatioDriveCB, myServerSetSafeDriveCB, myTakeControlOnJoystick, myUseComputerJoystick, myUseLocationDependentDevices, myUseRobotJoystick, myUseServerCommands, Aria::setJoyHandler(), ArFunctor::setName(), and Aria::setRobotJoyHandler().

ArServerModeRatioDrive::~ArServerModeRatioDrive ( ) [virtual]

Destructor.

Definition at line 128 of file ArServerModeRatioDrive.cpp.

Member Function Documentation

void ArServerModeRatioDrive::activate ( void ) [virtual]

The function called when the mode is activated, subclass must provide.

Implements ArServerMode.
Definition at line 143 of file ArServerModeRatioDrive.cpp.
References ratioDrive().
Referenced by joyUserTask().

void ArServerModeRatioDrive::addControlCommands ( ArServerHandlerCommands * handlerCommands )

This adds commands that'll let you disable and enable safe driving.

Definition at line 194 of file ArServerModeRatioDrive.cpp.
References ArServerHandlerCommands::addCommand(), ArLog::log(), myHandlerCommands, myServerSafeDrivingDisableCB, myServerSafeDrivingEnableCB, and myUseServerCommands.
Referenced by main().

void ArServerModeRatioDrive::addToConfig ( ArConfig * config,

const char * section

)

Adds to a config in a section.

Definition at line 133 of file ArServerModeRatioDrive.cpp.
References ArActionMovementParameters::addToConfig(), ArActionDeceleratingLimiter::addToConfig(), ArActionRatioInput::addToConfig(), myLimiterBackward, myLimiterForward, myMovementParameters, and myRatioAction.

void ArServerModeRatioDrive::deactivate ( void ) [virtual]

The function called when the mode is deactivated, subclass must provide.

Implements ArServerMode.
Definition at line 148 of file ArServerModeRatioDrive.cpp.
References ArServerMode::baseDeactivate(), ArActionGroup::deactivate(), and myRatioDriveGroup.

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

This function should return the action group this mode uses.

Reimplemented from ArServerMode.
Definition at line 57 of file ArServerModeRatioDrive.h.
References myRatioDriveGroup.

ArActionRatioInput* ArServerModeRatioDrive::getActionRatioInput ( void ) [inline]

Definition at line 58 of file ArServerModeRatioDrive.h.
References myRatioAction.

bool ArServerModeRatioDrive::getSafeDriving ( void )

Gets whether we're driving safely or not.

Definition at line 179 of file ArServerModeRatioDrive.cpp.
References myDriveSafely.
Referenced by serverGetSafeDrive().

bool ArServerModeRatioDrive::getUseLocationDependentDevices ( void )

Gets whether we're using the range devices that depend on location.

Definition at line 381 of file ArServerModeRatioDrive.cpp.
References myUseLocationDependentDevices.

void ArServerModeRatioDrive::joyUserTask ( void ) [protected]

Definition at line 286 of file ArServerModeRatioDrive.cpp.
References activate(), ArJoyHandler::getButton(), ArRobotJoyHandler::getButton1(), ArServerMode::getName(), ArRobotJoyHandler::gotData(), ArJoyHandler::haveJoystick(), ArServerMode::isActive(), ArLog::log(), myJoyHandler, myRobotJoyHandler, myTakeControlOnJoystick, myUseComputerJoystick, and myUseRobotJoystick.

void ArServerModeRatioDrive::ratioDrive ( double transRatio,

double rotRatio,

double throttleRatio

)

Sets the ratio drive action.

Definition at line 213 of file ArServerModeRatioDrive.cpp.
References ArActionRatioInput::activate(), ArActionGroup::activateExclusive(), ArServerMode::baseActivate(), ArRobot::clearDirectMotion(), ArRobot::deactivateActions(), ArServerMode::isActive(), ArLog::log(), myDriveSafely, myNewDriveSafely, myPrinting, myRatioAction, myRatioDriveGroup, myRotRatio, myThrottleRatio, myTransRatio, and ArServerMode::setActivityTimeToNow().
Referenced by activate(), serverRatioDrive(), and setSafeDriving().

void ArServerModeRatioDrive::ratioFireCallback ( void ) [protected]

Definition at line 344 of file ArServerModeRatioDrive.cpp.
References myPrinting, myRatioAction, myRotRatio, myThrottleRatio, myTransRatio, and ArActionRatioInput::setRatios().

void ArServerModeRatioDrive::serverGetSafeDrive ( ArServerClient * client,

ArNetPacket * packet

) [protected]

Definition at line 273 of file ArServerModeRatioDrive.cpp.
References client, getSafeDriving(), ArClientBase::sendPacketTcp(), and ArBasePacket::uByteToBuf().

void ArServerModeRatioDrive::serverRatioDrive ( ArServerClient * client,

ArNetPacket * packet

) [protected]

Definition at line 248 of file ArServerModeRatioDrive.cpp.
References client, ArRobot::lock(), myDriveSafely, ratioDrive(), serverSafeDrivingEnable(), and ArRobot::unlock().

void ArServerModeRatioDrive::serverSafeDrivingDisable ( void ) [protected]

Definition at line 189 of file ArServerModeRatioDrive.cpp.
References setSafeDriving().

void ArServerModeRatioDrive::serverSafeDrivingEnable ( void ) [protected]

Definition at line 184 of file ArServerModeRatioDrive.cpp.
References setSafeDriving().
Referenced by serverRatioDrive().

void ArServerModeRatioDrive::serverSetSafeDrive ( ArServerClient * client,

ArNetPacket * packet

) [protected]

Definition at line 264 of file ArServerModeRatioDrive.cpp.
References setSafeDriving().