Interface for creating controller interfaces (e.g. Joystick, Wiimote) for controlling a Primitive Driver service of an Unmanned System. More...

#include <controldevice.h>

Inheritance diagram for JAUS::ControlDevice:

List of all members.

Public Types
enum	ButtonActions { RequestDriveControl = 0, ReleaseDriveControl }
	Enumeration of possible button mappings. More...
enum	WrenchEffort { PropulsiveLinearEffortX = 0, PropulsiveLinearEffortY, PropulsiveLinearEffortZ, PropulsiveRotationalEffortX, PropulsiveRotationalEffortY, PropulsiveRotationalEffortZ, ResistiveLinearEffortX, ResistiveLinearEffortY, ResistiveLinearEffortZ, ResistiveRotationalEffortX, ResistiveRotationalEffortY, ResistiveRotationalEffortZ }
	Enumeration of different wrench efforts the data can be mapped to. More...
Public Member Functions
	ControlDevice ()
	Constructor, initializes default value.
virtual	~ControlDevice ()
	Destructor.
virtual bool	LoadSettings (const std::string &filename)
	Loads settings for the service from an XML file.
virtual bool	LoadSettingsForVehicle (const std::string &vehicleIdentificationName, const std::string &directory)
	Loads settings for the service from an XML file.
virtual void	Shutdown ()
	Shutsdown the service.
void	SetSubsystemToControl (const UShort id)
	Sets the ID of the subsystem to control with the control device.
virtual void	TakeDriveControl (const bool enable=true)
	Takes or releases control of the Primitive Driver service on the subsystem being controlled.
virtual bool	HaveDriveControl () const
	Method to check if Control Device has control of a Primitive Driver.
virtual void	SignalButtonPress (const int buttonNumber)
	Method to call when a button is pressed. Method will convert button number to a ButtonActions command based on button mappings.
virtual void	SignalButtonRelease (const int buttonNumber)
	Method to call when a button is released. Method will convert button number to a ButtonActions command based on button mappings.
virtual void	UpdateWrench (const int inputID, const double percentEffort)
	Updates the value of a Wrench for the Set Wrench Effort command being sent to the controlled Primitive Driver.
virtual void	UpdateAnalogOut (const int inputID, const double signalValue)
	Updates the value of a Set Microcontroller State message to transmit to any Microcontroller Service of the vehicle we are controlling.
virtual void	SendWrenchEffort ()
	Sends the current wrench effort built using the UpdateWrench method to the Primitive Driver service being controlled.
virtual void	SendMicrocontrollerState ()
	Sends the current wrench effort built using the UpdateWrench method to the Primitive Driver service being controlled.
virtual void	ClearWrenchEffort ()
	Clears the current wrench effort.
virtual void	ClearMicrocontrollState ()
	Clears the current Set Microcontroller State message.
virtual void	MapButtonToAction (const int buttonNumber, const ButtonActions action)
	Method to map a button ID/number to an button action.
virtual void	MapButtonToDigitalOut (const int buttonNumber, const std::string &digital, const bool onPress=true)
	Method to map a button ID/number to a digital state output.
virtual void	MapInputToWrench (const int inputID, const WrenchEffort wrenchID, const double deadzone, const bool invert, const double limit)
	Method to map an control device input ID to a wrench effort ID value.
virtual void	MapInputToAnalogOut (const int inputID, const std::string &analog, const bool invert, const double limit)
	Method to map an control device input ID to analog out.
virtual void	CheckServiceStatus (const unsigned int timeSinceLastCheckMs)
	Called periodicly by the Component the service belongs to. This method attempts to lookup a primitive driver on the subsystem we are trying to control.
virtual bool	GenerateEvent (const Events::Subscription &info) const
virtual bool	IsEventSupported (const Events::Type type, const double requestedPeriodicRate, const Message *queryMessage, double &confirmedPeriodicRate, std::string &errorMessage) const
virtual void	ProcessAcquisitionOfControl (const Address &controlledComponent)
	This method is called whenever our component is able to acquire control of a component.
virtual bool	IsDiscoverable () const
virtual void	Receive (const Message *message)
	Processes messages received by the component that are supported by this service.
virtual Message *	CreateMessage (const UShort messageCode) const
	Given a message code, the Service attempts to create a Message object that can be used for de-serialization of JAUS packets.
virtual bool	Resume ()
virtual bool	Reset ()
virtual bool	Standby ()
virtual bool	SetEmergency ()
virtual bool	ClearEmergency ()
virtual bool	ReleaseControl ()
	Method called whenever control of the parent component has been released.
virtual void	PrintStatus () const
	Prints service status.
Address	GetDriverID () const
std::map< int, WrenchEffort >	GetInputIdToWrenchMapping ()
Static Public Attributes
static const std::string	Name = "urn:jaus:jss:jpp:extras:ControlDevice"
	String name of the Service.

Detailed Description

Interface for creating controller interfaces (e.g. Joystick, Wiimote) for controlling a Primitive Driver service of an Unmanned System.

Definition at line 58 of file controldevice.h.

Member Enumeration Documentation

enum JAUS::ControlDevice::ButtonActions

Enumeration of possible button mappings.

Enumerator:

RequestDriveControl	Request drive control.
ReleaseDriveControl	Release drive control.

Definition at line 66 of file controldevice.h.

enum JAUS::ControlDevice::WrenchEffort

Enumeration of different wrench efforts the data can be mapped to.

Enumerator:

PropulsiveLinearEffortX
PropulsiveLinearEffortY
PropulsiveLinearEffortZ
PropulsiveRotationalEffortX
PropulsiveRotationalEffortY
PropulsiveRotationalEffortZ
ResistiveLinearEffortX
ResistiveLinearEffortY
ResistiveLinearEffortZ
ResistiveRotationalEffortX
ResistiveRotationalEffortY
ResistiveRotationalEffortZ

Definition at line 77 of file controldevice.h.

Constructor & Destructor Documentation

ControlDevice::ControlDevice ( )

Constructor, initializes default value.

Definition at line 59 of file controldevice.cpp.

ControlDevice::~ControlDevice ( ) [virtual]

Destructor.

Definition at line 78 of file controldevice.cpp.

Member Function Documentation

void ControlDevice::CheckServiceStatus ( const unsigned int timeSinceLastCheckMs ) [virtual]

Called periodicly by the Component the service belongs to. This method attempts to lookup a primitive driver on the subsystem we are trying to control.

Reimplemented from JAUS::Service.

Reimplemented in JAUS::Joystick, and JAUS::Keyboard.

Definition at line 831 of file controldevice.cpp.

virtual bool JAUS::ControlDevice::ClearEmergency ( ) [inline, virtual]

Reimplemented from JAUS::Management::Child.

Definition at line 169 of file controldevice.h.

void ControlDevice::ClearMicrocontrollState ( ) [virtual]

Clears the current Set Microcontroller State message.

Definition at line 714 of file controldevice.cpp.

void ControlDevice::ClearWrenchEffort ( ) [virtual]

Clears the current wrench effort.

Definition at line 702 of file controldevice.cpp.

Message * ControlDevice::CreateMessage ( const UShort messageCode ) const [virtual]

Given a message code, the Service attempts to create a Message object that can be used for de-serialization of JAUS packets.

Parameters:

[in] messageCode JAUS Message to try create.

Returns:: Pointer to created message, NULL if message not supported by any Services attached to the Transport.

Implements JAUS::Service.

Definition at line 916 of file controldevice.cpp.

virtual bool JAUS::ControlDevice::GenerateEvent ( const Events::Subscription & info ) const [inline, virtual]

Implements JAUS::Events::Child.

Definition at line 146 of file controldevice.h.

Address JAUS::ControlDevice::GetDriverID ( ) const [inline]

Definition at line 175 of file controldevice.h.

std::map<int, WrenchEffort> JAUS::ControlDevice::GetInputIdToWrenchMapping ( ) [inline]

Definition at line 177 of file controldevice.h.

bool ControlDevice::HaveDriveControl ( ) const [virtual]

Method to check if Control Device has control of a Primitive Driver.

Returns:: True if control of a Primitive Driver has been established.

Definition at line 378 of file controldevice.cpp.

virtual bool JAUS::ControlDevice::IsDiscoverable ( ) const [inline, virtual]

Implements JAUS::Service.

Definition at line 155 of file controldevice.h.

virtual bool JAUS::ControlDevice::IsEventSupported	(	const Events::Type	type,
		const double	requestedPeriodicRate,
		const Message *	queryMessage,
		double &	confirmedPeriodicRate,
		std::string &	errorMessage
	)		const `[inline, virtual]`

Implements JAUS::Events::Child.

Definition at line 148 of file controldevice.h.

bool ControlDevice::LoadSettings ( const std::string & filename ) [virtual]

Loads settings for the service from an XML file.

Parameters:

[in] filename Name of the XML file containing data.

Returns:: True on success, false on failure.

Reimplemented from JAUS::Service.

Reimplemented in JAUS::Joystick, and JAUS::Keyboard.

Definition at line 93 of file controldevice.cpp.

bool ControlDevice::LoadSettingsForVehicle	(	const std::string &	vehicleIdentificationName,
		const std::string &	directory
	)		`[virtual]`

Loads settings for the service from an XML file.

Parameters:

[in]	vehicleIdentificationName	Name of robot to load joystick settings for.
[in]	directory	Name of the directory containing joystick files.

Returns:: True on success, false on failure.

Definition at line 242 of file controldevice.cpp.

void ControlDevice::MapButtonToAction	(	const int	buttonNumber,
		const ButtonActions	action
	)		`[virtual]`

Method to map a button ID/number to an button action.

Parameters:

[in]	buttonNumber	ID/Number of the button to map.
[in]	action	The action to map the button to (e.g. TakeDriveControl).

Definition at line 729 of file controldevice.cpp.

void ControlDevice::MapButtonToDigitalOut	(	const int	buttonNumber,
		const std::string &	digital,
		const bool	onPress = `true`
	)		`[virtual]`

Method to map a button ID/number to a digital state output.

Parameters:

[in]	buttonNumber	ID/Number of the button to map.
[in]	digital	Digital device to toggle on/off.
[in]	onPress	Value to send when button is pressed, opposit value is sent on release.

Definition at line 747 of file controldevice.cpp.

void ControlDevice::MapInputToAnalogOut	(	const int	inputID,
		const std::string &	analog,
		const bool	invert,
		const double	limit
	)		`[virtual]`

Method to map an control device input ID to analog out.

Parameters:

[in]	inputID	ID/Number of the input axis/lever, etc.
[in]	analog	Name of analog out to map to.
[in]	invert	If true, input value are inverted for this wrench.
[in]	limit	The maximum value (positive and negative) that can be set for an analog signal. [1-100).

Definition at line 809 of file controldevice.cpp.

void ControlDevice::MapInputToWrench	(	const int	inputID,
		const WrenchEffort	wrenchID,
		const double	deadzone,
		const bool	invert,
		const double	limit
	)		`[virtual]`

Method to map an control device input ID to a wrench effort ID value.

An example could be mapping a joystick axis (e.g. X axis = 1) to a wrench effort (e.g. PropulsiveLinearEffortX).

For example, if you set the limit to 50, and you try to sent a value of 100% for the matching wrench, the resulting wrench will be 100% of the limit (e.g. desired*limit/100 = 100*50/100 = 50%).

Parameters:

[in]	inputID	ID/Number of the input axis/lever, etc.
[in]	wrenchID	The wrench to map to.
[in]	deadzone	If a desired value is within the deazone range (e.g. 10%) wrench will be set to 0. Values are scaled/offset by deadzones.
[in]	invert	If true, input value are inverted for this wrench.
[in]	limit	The maximum value (positive and negative) that can be set for a wrench. [1-100).

Definition at line 778 of file controldevice.cpp.

void ControlDevice::PrintStatus ( ) const [virtual]

Prints service status.

Reimplemented from JAUS::Service.

Definition at line 935 of file controldevice.cpp.

void ControlDevice::ProcessAcquisitionOfControl ( const Address & controlledComponent ) [virtual]

This method is called whenever our component is able to acquire control of a component.

For a ControlDevice, if the ID matches that of the Primitive Driver component we are trying to drive, then this method sends a Resume command to it.

Parameters:

[in] controlledComponent The component we took control of.

Reimplemented from JAUS::AccessControl::Child.

Definition at line 877 of file controldevice.cpp.

void ControlDevice::Receive ( const Message * message ) [virtual]

Processes messages received by the component that are supported by this service.

Reimplemented from JAUS::Service.

Definition at line 899 of file controldevice.cpp.

virtual bool JAUS::ControlDevice::ReleaseControl ( ) [inline, virtual]

Method called whenever control of the parent component has been released.

Reimplemented from JAUS::Management::Child.

Definition at line 171 of file controldevice.h.

virtual bool JAUS::ControlDevice::Reset ( ) [inline, virtual]

Implements JAUS::Management::Child.

Definition at line 163 of file controldevice.h.

virtual bool JAUS::ControlDevice::Resume ( ) [inline, virtual]

Implements JAUS::Management::Child.

Definition at line 161 of file controldevice.h.

void ControlDevice::SendMicrocontrollerState ( ) [virtual]

Sends the current wrench effort built using the UpdateWrench method to the Primitive Driver service being controlled.

Definition at line 676 of file controldevice.cpp.

void ControlDevice::SendWrenchEffort ( ) [virtual]

Sends the current wrench effort built using the UpdateWrench method to the Primitive Driver service being controlled.

Definition at line 649 of file controldevice.cpp.

virtual bool JAUS::ControlDevice::SetEmergency ( ) [inline, virtual]

Reimplemented from JAUS::Management::Child.

Definition at line 167 of file controldevice.h.

void ControlDevice::SetSubsystemToControl ( const UShort id )

Sets the ID of the subsystem to control with the control device.

Parameters:

[in] id ID number of the subsystem.

Definition at line 318 of file controldevice.cpp.

void ControlDevice::Shutdown ( ) [virtual]

Shutsdown the service.

Reimplemented from JAUS::Service.

Reimplemented in JAUS::Joystick, and JAUS::Keyboard.

Definition at line 289 of file controldevice.cpp.

void ControlDevice::SignalButtonPress ( const int buttonNumber ) [virtual]

Method to call when a button is pressed. Method will convert button number to a ButtonActions command based on button mappings.

For digital out mappings, a button press turns a mapped digital out to true. For example, on button press, turn trigger digital out to 1. For reset to 0, see SignalButtonRelease.

Parameters:

[in] buttonNumber ID/Number of the button that was pressed.

Definition at line 403 of file controldevice.cpp.

void ControlDevice::SignalButtonRelease ( const int buttonNumber ) [virtual]

Method to call when a button is released. Method will convert button number to a ButtonActions command based on button mappings.

For digital out mappings, a button press turns a mapped digital out to false. For example, on button release, turn trigger digital out to 0. For reset to 1, see SignalButtonPress.

Parameters:

[in] buttonNumber ID/Number of the button that was released.

Definition at line 455 of file controldevice.cpp.

virtual bool JAUS::ControlDevice::Standby ( ) [inline, virtual]

Implements JAUS::Management::Child.

Definition at line 165 of file controldevice.h.

void ControlDevice::TakeDriveControl ( const bool enable = true ) [virtual]

Takes or releases control of the Primitive Driver service on the subsystem being controlled.

Parameters:

[in] enable If true, take control, false to release.

Definition at line 364 of file controldevice.cpp.

void ControlDevice::UpdateAnalogOut	(	const int	inputID,
		const double	signalValue
	)		`[virtual]`

Updates the value of a Set Microcontroller State message to transmit to any Microcontroller Service of the vehicle we are controlling.

Parameters:

[in]	inputID	The ID of the device input axis (e.g. joystick x or y axis).
[in]	signalValue	Signal value to send [-100,100]%.

Definition at line 615 of file controldevice.cpp.

void ControlDevice::UpdateWrench	(	const int	inputID,
		const double	percentEffort
	)		`[virtual]`

Updates the value of a Wrench for the Set Wrench Effort command being sent to the controlled Primitive Driver.

Based on input mappings to wrenches, the inputID is converted to a specfice Wrench Effort (e.g. 1 maps to PropulsiveLinearEffortX).

This method will also automatically apply deadzones, inversion, and scaling to the percent effort being set.

Parameters:

[in]	inputID	The ID of the device input axis (e.g. joystick x or y axis).
[in]	percentEffort	Percent effort value to send [-100,100]%.

Definition at line 493 of file controldevice.cpp.

Member Data Documentation

const std::string ControlDevice::Name = "urn:jaus:jss:jpp:extras:ControlDevice" [static]

String name of the Service.

Definition at line 92 of file controldevice.h.

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

jaus++/2.0/include/jaus/extras/controllers/controldevice.h
jaus++/2.0/src/jaus/extras/controllers/controldevice.cpp

JAUS::ControlDevice Class Reference

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation