view main/robots/odr/StartupTask.cpp @ 230:50414c680910 main

Split the IMU reader out to a separate application. Rework the scoreboard accordingly. Also remove all the legacy "odr-controller" logic, and improve the management of "emergency" situations for all nodes.
author Bob Cook <bob@bobcookdev.com>
date Sat, 12 Jul 2014 17:21:10 -0700
parents c4009187a522
children
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// ----------------------------------------------------------------------------------------
//
//  robots/odr/StartupTask.cpp
//    
//  Bob Cook Development, Robotics Library
//  http://www.bobcookdev.com/rl/
//
//  Subsumption task to hold operations until a specific program is selected.
//
//  Copyright (c) 2011-2014 Bob Cook
//
//  Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
//
//  The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
//
//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
//
// ----------------------------------------------------------------------------------------

#include "StartupTask.h"

#include "MotorsAndServos.h"
#include "Scoreboard.h"

// ----------------------------------------------------------------------------------------

const Poco::Timestamp::TimeDiff  TimeToRun = Poco::Timestamp::resolution() * 300;

// ----------------------------------------------------------------------------------------

StartupTask::StartupTask( const std::string& loggerName )
    : TaskObject( loggerName ),
      m_haveStartedProgram( Scoreboard::isProgramRunning() ),
      m_startRunTime()
{
}

// ----------------------------------------------------------------------------------------

StartupTask::~StartupTask()
{
}

// ----------------------------------------------------------------------------------------

void StartupTask::update()
{
    // have an active program yet? if not, wait in this state until we do

    if ( ! Scoreboard::isProgramRunning() )
    {
        m_haveStartedProgram = false;
        return;
    }

    // program running; this might be the start of that event

    if ( ! m_haveStartedProgram )
    {
        m_haveStartedProgram = true;
        log().information( "StartupTask: starting program" );
        m_startRunTime.update();
    }

    // the program is running, check for timeout

    if ( m_startRunTime.isElapsed( TimeToRun ) )
    {
        Scoreboard::stopActiveProgram();
        m_haveStartedProgram = false;
        log().information( "StartupTask: ending run" );
    }
}

// ----------------------------------------------------------------------------------------

bool StartupTask::wantsControl()
{
    if ( ! m_haveStartedProgram )
    {
        return true; // take control if no program started yet
    }

    return false; // otherwise not for us
}

// ----------------------------------------------------------------------------------------

void StartupTask::takeControl()
{
    // display a helpful message

    Scoreboard::sendManagerMessage( "Waiting" );

    // make sure we aren't moving

    MotorsAndServos::servoPositions( 0, 0 );
    MotorsAndServos::motorSpeeds( 0, 0 );
}

// ----------------------------------------------------------------------------------------