253 lines
11 KiB
C
253 lines
11 KiB
C
|
#ifndef ARSERVERMODE_H
|
||
|
|
#define ARSERVERMODE_H
|
||
|
|
|
||
|
|
#include "Aria.h"
|
||
|
|
#include "ArServerBase.h"
|
||
|
|
|
||
|
|
class ArServerModeIdle;
|
||
|
|
class ArServerClient;
|
||
|
|
|
||
|
|
/// A mode for controlling the robot (only one active)
|
||
|
|
|
||
|
|
/**
|
||
|
|
This is a lot like ArMode but for net control instead...
|
||
|
|
|
||
|
|
Only one mode can control the robot at once, this is made to be
|
||
|
|
subclassed. Each subclass needs to implement activate and
|
||
|
|
deactivate, activate MUST call baseActivate and if baseActivate
|
||
|
|
returns false then the mode is NOT active and shouldn't do
|
||
|
|
anything. Further each class should set myMode and myStatus to the
|
||
|
|
mode its in and the things its doing... You can lock your mode in
|
||
|
|
with lockMode and unlock it with unlockMode but you should redefine
|
||
|
|
the inherited requestUnlock and unlock yourself and deactivate
|
||
|
|
gracefully.
|
||
|
|
|
||
|
|
If you want to implement a server mode as a default mode then you also
|
||
|
|
need to implement checkDefault which will be called when nothing
|
||
|
|
else is active
|
||
|
|
|
||
|
|
Note that there's a new mechanism in place where if you use
|
||
|
|
addModeData instead of addData on the ArServerBase the command will
|
||
|
|
be placed into a map of available modes with commands that can be
|
||
|
|
gotten by the client. The active mode and whether its locked and
|
||
|
|
will unlock and such can now be gotten too... this is all so that
|
||
|
|
different commands can be disabled in client GUIs when they aren't
|
||
|
|
available.
|
||
|
|
**/
|
||
|
|
class ArServerMode
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
/// Constructor
|
||
|
|
AREXPORT ArServerMode(ArRobot *robot, ArServerBase *server, const char *name);
|
||
|
|
/// Destructor
|
||
|
|
AREXPORT virtual ~ArServerMode();
|
||
|
|
/// This function should return the action group this mode uses
|
||
|
|
AREXPORT virtual ArActionGroup *getActionGroup(void) { return NULL; }
|
||
|
|
/** The function called when the mode is activated. Subclasses must implement
|
||
|
|
* this, but also call baseActivate().-
|
||
|
|
*/
|
||
|
|
AREXPORT virtual void activate(void) = 0;
|
||
|
|
/** The function called when the mode is deactivated. Subclasses must
|
||
|
|
* implement this, and also call baseDeactivate().
|
||
|
|
*/
|
||
|
|
AREXPORT virtual void deactivate(void) = 0;
|
||
|
|
/// The function called if the mode is not activated because another mode superceded it.
|
||
|
|
AREXPORT virtual void activationDenied(void) {}
|
||
|
|
|
||
|
|
/// The ArMode's user task, don't need one, subclass must provide if needed
|
||
|
|
AREXPORT virtual void userTask(void) {}
|
||
|
|
/// This will be called if another mode wants the lock broken (can ignore)
|
||
|
|
AREXPORT virtual void requestUnlock(void) { }
|
||
|
|
/// This will be called if another mode has to break the lock
|
||
|
|
AREXPORT virtual void forceUnlock(void);
|
||
|
|
/// Locks this mode in until its unlocked (mode must be the active mode)
|
||
|
|
AREXPORT void lockMode(bool willUnlockIfRequested = false);
|
||
|
|
/// Unlocks the mode so other modes can activate
|
||
|
|
AREXPORT void unlockMode(void);
|
||
|
|
/// Gets a string representing the mode we're in
|
||
|
|
AREXPORT const char *getMode(void) const { return myMode.c_str(); }
|
||
|
|
/// Gets a string representing the status of the mode we're in
|
||
|
|
AREXPORT const char *getStatus(void) const { return myStatus.c_str(); }
|
||
|
|
/// Gets a string representing the extended status of the mode we're
|
||
|
|
/// in
|
||
|
|
AREXPORT const char *getExtendedStatus(void) const { return myExtendedStatus.c_str(); }
|
||
|
|
/// Gets the active mode string
|
||
|
|
AREXPORT static const char *getActiveModeModeString(void);
|
||
|
|
/// Gets the active status string
|
||
|
|
AREXPORT static const char *getActiveModeStatusString(void);
|
||
|
|
/// Gets the active extended status string
|
||
|
|
AREXPORT static const char *getActiveModeExtendedStatusString(void);
|
||
|
|
/// Gets the name of the mode we're in
|
||
|
|
AREXPORT const char *getName(void) const { return myName.c_str(); }
|
||
|
|
/// Gets if this mode is active or not
|
||
|
|
AREXPORT bool isActive(void) const { return myIsActive; }
|
||
|
|
/// Gets if the active mode is locked or not
|
||
|
|
AREXPORT static bool isLocked(void);
|
||
|
|
/// Gets whether we'll unlock if requested or not
|
||
|
|
AREXPORT static bool willUnlockIfRequested(void);
|
||
|
|
/// Gets the active mode
|
||
|
|
AREXPORT static ArServerMode *getActiveMode(void);
|
||
|
|
/// Gets if we've set our activity time
|
||
|
|
AREXPORT bool hasSetActivityTime(void) { return myHasSetActivityTime; }
|
||
|
|
/// Gets the time of our last activity
|
||
|
|
AREXPORT ArTime getActivityTime(void);
|
||
|
|
/// Sets that we're active right now
|
||
|
|
AREXPORT void setActivityTimeToNow(void);
|
||
|
|
/// Gets the seconds since the activity of our active mode
|
||
|
|
AREXPORT static int getActiveModeActivityTimeSecSince(void);
|
||
|
|
/// Gets if the active mode set the activity time this cycle or not
|
||
|
|
AREXPORT static bool getActiveModeSetActivityThisCycle(void);
|
||
|
|
/// Sets this mode to default (so if a mode deactivates it activates this)
|
||
|
|
AREXPORT void addAsDefaultMode(ArListPos::Pos pos = ArListPos::LAST);
|
||
|
|
/// Sees if this wants to become the default mode
|
||
|
|
/**
|
||
|
|
This will be called when there would be no other modes, if this
|
||
|
|
mode wants to take over it should activate itself, if it doesn't
|
||
|
|
want to take over it shouldn't activate
|
||
|
|
**/
|
||
|
|
AREXPORT virtual void checkDefault(void) {}
|
||
|
|
/// This should only be used by careful people and probably not then
|
||
|
|
AREXPORT void setMode(const char *str) { myMode = str; }
|
||
|
|
/// This should only be used by careful people and probably not then
|
||
|
|
/**
|
||
|
|
This changes the status of the mode and sets the
|
||
|
|
myStatusSetThisCycle to true. If the mode inheriting is setting
|
||
|
|
the status in cycles then it should use this status instead and
|
||
|
|
then clear the myStatusSetThisFlag to false.
|
||
|
|
**/
|
||
|
|
AREXPORT void setStatus(const char *str)
|
||
|
|
{ myStatus = str; myStatusSetThisCycle = true; }
|
||
|
|
/// Adds data to the list of this mode's commands
|
||
|
|
|
||
|
|
|
||
|
|
/// Returns whether the mode should be automatically resumed after it was interrupted
|
||
|
|
/**
|
||
|
|
* This method primarily applies when the mode has been interrupted by a
|
||
|
|
* forced docking situation. In that case, when the docking mode is complete,
|
||
|
|
* it will resume the interrupted mode -- if this method returns true. This
|
||
|
|
* would primarily be applicable to very long, complex modes.
|
||
|
|
*
|
||
|
|
* The default return value is false.
|
||
|
|
**/
|
||
|
|
AREXPORT virtual bool isAutoResumeAfterInterrupt();
|
||
|
|
|
||
|
|
|
||
|
|
AREXPORT bool addModeData(
|
||
|
|
const char *name, const char *description,
|
||
|
|
ArFunctor2<ArServerClient *, ArNetPacket *> *functor,
|
||
|
|
const char *argumentDescription, const char *returnDescription,
|
||
|
|
const char *commandGroup = NULL, const char *dataFlags = NULL);
|
||
|
|
/// Gets the list of data for each mode
|
||
|
|
AREXPORT static void getModeDataList(ArServerClient *client,
|
||
|
|
ArNetPacket *packet);
|
||
|
|
/// Gets the info about which mode is active and such
|
||
|
|
AREXPORT static void getModeInfo(ArServerClient *client,
|
||
|
|
ArNetPacket *packet);
|
||
|
|
/// Handles the packet request for the mode busy state.
|
||
|
|
AREXPORT static void getModeBusy(ArServerClient *client,
|
||
|
|
ArNetPacket *packet);
|
||
|
|
|
||
|
|
/// Adds a callback for when this class is activated
|
||
|
|
void addActivateCallback(
|
||
|
|
ArFunctor *functor, int position = 50)
|
||
|
|
{ myActivateCallbacks.addCallback(functor, position); }
|
||
|
|
/// Removes a callback for when this class is activated
|
||
|
|
void remActivateCallback(ArFunctor *functor)
|
||
|
|
{ myActivateCallbacks.remCallback(functor); }
|
||
|
|
/// Adds a callback for when this class is deactivated
|
||
|
|
void addDeactivateCallback(
|
||
|
|
ArFunctor *functor, int position = 50)
|
||
|
|
{ myDeactivateCallbacks.addCallback(functor, position); }
|
||
|
|
/// Removes a callback for when this class is deactivated
|
||
|
|
void remDeactivateCallback(ArFunctor *functor)
|
||
|
|
{ myDeactivateCallbacks.remCallback(functor); }
|
||
|
|
|
||
|
|
/// Adds a single shot callback for when this class is deactivated
|
||
|
|
void addSingleShotDeactivateCallback(
|
||
|
|
ArFunctor *functor, int position = 50)
|
||
|
|
{ mySingleShotDeactivateCallbacks.addCallback(functor, position); }
|
||
|
|
/// Removes a single shot callback for when this class is deactivated
|
||
|
|
void remSingleShotDeactivateCallback(ArFunctor *functor)
|
||
|
|
{ mySingleShotDeactivateCallbacks.remCallback(functor); }
|
||
|
|
|
||
|
|
/// Call that gets our idle mode
|
||
|
|
AREXPORT static ArServerModeIdle *getIdleMode(void);
|
||
|
|
protected:
|
||
|
|
AREXPORT static void modeUserTask(void);
|
||
|
|
AREXPORT static void buildModeInfoPacket(ArNetPacket *packet);
|
||
|
|
AREXPORT static std::list<ArServerMode *> *getRequestedActivateModes(void);
|
||
|
|
AREXPORT void checkBroadcastModeInfoPacket(void);
|
||
|
|
/** Activates this mode if it can (returns true if it can, false otherwise).
|
||
|
|
If we have an ArRobot instance (myRobot), then robot motion is stopped.
|
||
|
|
Activity time is reset, and activate callbacks are called.
|
||
|
|
*/
|
||
|
|
AREXPORT bool baseActivate(void);
|
||
|
|
/** Deactivates this mode. Deactivation callbacks are called. The next mode to
|
||
|
|
be activated is activated, if any. (E.g. the global default mode)
|
||
|
|
*/
|
||
|
|
AREXPORT void baseDeactivate(void);
|
||
|
|
|
||
|
|
ArCallbackList myActivateCallbacks;
|
||
|
|
ArCallbackList myDeactivateCallbacks;
|
||
|
|
ArCallbackList mySingleShotDeactivateCallbacks;
|
||
|
|
|
||
|
|
bool myIsActive;
|
||
|
|
ArRobot *myRobot;
|
||
|
|
ArServerBase *myServer;
|
||
|
|
std::string myName;
|
||
|
|
// inheritors will want to play with these two strings as they are
|
||
|
|
// what is shown to the user
|
||
|
|
std::string myMode;
|
||
|
|
std::string myStatus;
|
||
|
|
bool myStatusSetThisCycle;
|
||
|
|
std::string myExtendedStatus;
|
||
|
|
|
||
|
|
// variables for activity time (so we can do things if idle) this
|
||
|
|
// isn't static so that each mode can have its own
|
||
|
|
// 'myHasSetActivityTime' so that if a mode doesn't use this scheme
|
||
|
|
// it doesn't get tromped on
|
||
|
|
bool myHasSetActivityTime;
|
||
|
|
bool mySetActivityThisCycle;
|
||
|
|
ArTime myActivityTime;
|
||
|
|
ArMutex myActivityTimeMutex;
|
||
|
|
|
||
|
|
AREXPORT static bool ourActiveModeLocked;
|
||
|
|
AREXPORT static bool ourActiveModeWillUnlockIfRequested;
|
||
|
|
AREXPORT static ArServerMode *ourActiveMode;
|
||
|
|
AREXPORT static ArServerMode *ourNextActiveMode;
|
||
|
|
AREXPORT static ArServerMode *ourLastActiveMode;
|
||
|
|
AREXPORT static bool ourActiveModeSetActivityThisCycle;
|
||
|
|
|
||
|
|
AREXPORT ArServerMode *getLastActiveMode();
|
||
|
|
|
||
|
|
AREXPORT static bool ourIsBusy;
|
||
|
|
AREXPORT static ArServerBase *ourServerBase;
|
||
|
|
|
||
|
|
AREXPORT static std::list<ArServerMode *> ourModes;
|
||
|
|
AREXPORT static std::list<ArServerMode *> ourDefaultModes;
|
||
|
|
AREXPORT static std::list<ArServerMode *> ourRequestedActivateModes;
|
||
|
|
AREXPORT static std::multimap<std::string, std::string> ourModeDataMap;
|
||
|
|
AREXPORT static ArMutex ourModeDataMapMutex;
|
||
|
|
|
||
|
|
AREXPORT static ArGlobalFunctor2<ArServerClient *,
|
||
|
|
ArNetPacket *> ourGetModeDataListCB;
|
||
|
|
AREXPORT static ArGlobalFunctor2<ArServerClient *,
|
||
|
|
ArNetPacket *> ourGetModeInfoCB;
|
||
|
|
AREXPORT static ArGlobalFunctor2<ArServerClient *,
|
||
|
|
ArNetPacket *> ourGetModeBusyCB;
|
||
|
|
|
||
|
|
AREXPORT static bool ourBroadcastActiveModeLocked;
|
||
|
|
AREXPORT static ArServerMode *ourBroadcastActiveMode;
|
||
|
|
AREXPORT static bool ourBroadcastActiveModeWillUnlockIfRequested;
|
||
|
|
AREXPORT static ArGlobalFunctor ourUserTaskCB;
|
||
|
|
AREXPORT static bool ourUserTaskAdded;
|
||
|
|
// so we can easily just get the verbose out of this one
|
||
|
|
ArLog::LogLevel myVerboseLogLevel;
|
||
|
|
|
||
|
|
AREXPORT static ArServerModeIdle *ourIdleMode;
|
||
|
|
AREXPORT static ArMutex ourIdleModeMutex;
|
||
|
|
AREXPORT static bool ourIdleModeCreated;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // ARSERVERMODE_H
|