changeset 232:417b3f3501ca main

These are no longer present in the real system. Remove.
author Bob Cook <bob@bobcookdev.com>
date Sat, 12 Jul 2014 17:23:23 -0700
parents 783f69f37c64
children b9288cad0bfb
files main/robots/odr-sim/ControllerStatus.cpp main/robots/odr-sim/ControllerStatus.h
diffstat 2 files changed, 0 insertions(+), 305 deletions(-) [+]
line wrap: on
line diff
--- a/main/robots/odr-sim/ControllerStatus.cpp	Sat Jul 12 17:22:55 2014 -0700
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,234 +0,0 @@
-// ----------------------------------------------------------------------------------------
-//
-//  robots/odr-sim/ControllerStatus.cpp
-//    
-//  Bob Cook Development, Robotics Library
-//  http://www.bobcookdev.com/rl/
-// 
-//  Thread that periodically sends the controller "status" message.
-//
-//  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 "ControllerStatus.h"
-
-#include "packages/common/can/can_helpers.h"
-#include "packages/common/can/can_messages.h"
-#include "packages/common/can/can_nodes.h"
-
-#include "packages/linux/can/CANMessage.h"
-
-// ----------------------------------------------------------------------------------------
-
-Poco::RWLock ControllerStatus::sm_rwLock;
-bool         ControllerStatus::sm_isDisplayAlive;
-bool         ControllerStatus::sm_isGpsAlive;
-bool         ControllerStatus::sm_isImuAlive;
-bool         ControllerStatus::sm_isMotionAlive;
-bool         ControllerStatus::sm_isSonarFrontAlive;
-
-bool         ControllerStatus::sm_isEstopActive;
-bool         ControllerStatus::sm_isMotorCtlActive;
-bool         ControllerStatus::sm_isButtonOneDown;
-bool         ControllerStatus::sm_isButtonTwoDown;
-
-// ----------------------------------------------------------------------------------------
-
-void ControllerStatus::setDisplayAlive( bool alive )
-{
-    Poco::RWLock::ScopedWriteLock lock( sm_rwLock );
-    sm_isDisplayAlive = alive;
-}
-
-// ----------------------------------------------------------------------------------------
-
-void ControllerStatus::setGpsAlive( bool alive )
-{
-    Poco::RWLock::ScopedWriteLock lock( sm_rwLock );
-    sm_isGpsAlive = alive;
-}
-
-// ----------------------------------------------------------------------------------------
-
-void ControllerStatus::setImuAlive( bool alive )
-{
-    Poco::RWLock::ScopedWriteLock lock( sm_rwLock );
-    sm_isImuAlive = alive;
-}
-
-// ----------------------------------------------------------------------------------------
-
-void ControllerStatus::setMotionAlive( bool alive )
-{
-    Poco::RWLock::ScopedWriteLock lock( sm_rwLock );
-    sm_isMotionAlive = alive;
-}
-
-// ----------------------------------------------------------------------------------------
-
-void ControllerStatus::setSonarFrontAlive( bool alive )
-{
-    Poco::RWLock::ScopedWriteLock lock( sm_rwLock );
-    sm_isSonarFrontAlive = alive;
-}
-
-// ----------------------------------------------------------------------------------------
-
-void ControllerStatus::sendButtonStatusMessage()
-{
-    uint32_t msgid = can_build_message_id( can_node_odr_controller,
-                                           can_node_broadcast,
-                                           can_dataid_odrctl_button );
-
-    can_data_odrctl_button info;
-
-    info.button_1 = sm_isButtonOneDown;
-    info.button_2 = sm_isButtonTwoDown;
-
-    CANMessage::QueueToSend(
-        new CANMessage( msgid, reinterpret_cast< uint8_t* >( &info ), sizeof( info ) ) );
-}
-
-// ----------------------------------------------------------------------------------------
-
-void ControllerStatus::setEstopActive( bool active )
-{
-    Poco::RWLock::ScopedWriteLock lock( sm_rwLock );
-    sm_isEstopActive = active;
-}
-
-// ----------------------------------------------------------------------------------------
-
-void ControllerStatus::setMotorCtlActive( bool active )
-{
-    Poco::RWLock::ScopedWriteLock lock( sm_rwLock );
-    sm_isMotorCtlActive = active;
-}
-
-// ----------------------------------------------------------------------------------------
-
-void ControllerStatus::setButtonOne( bool down )
-{
-    Poco::RWLock::ScopedWriteLock lock( sm_rwLock );
-
-    if ( down != sm_isButtonOneDown )
-    {
-        sm_isButtonOneDown = down;
-        sendButtonStatusMessage();
-    }
-}
-
-// ----------------------------------------------------------------------------------------
-
-void ControllerStatus::setButtonTwo( bool down )
-{
-    Poco::RWLock::ScopedWriteLock lock( sm_rwLock );
-
-    if ( down != sm_isButtonTwoDown )
-    {
-        sm_isButtonTwoDown = down;
-        sendButtonStatusMessage();
-    }
-}
-
-// ----------------------------------------------------------------------------------------
-
-ControllerStatus::ControllerStatus()
-    : Poco::Runnable(),
-      m_quitEvent( true /* auto-reset */ )
-{
-}
-
-// ----------------------------------------------------------------------------------------
-
-ControllerStatus::~ControllerStatus()
-{
-}
-
-// ----------------------------------------------------------------------------------------
-
-void ControllerStatus::timeToQuit()
-{
-    m_quitEvent.set();
-}
-
-// ----------------------------------------------------------------------------------------
-
-static void sendHeartbeatForNode( uint8_t theNode )
-{
-    uint32_t msgid = can_build_message_id( theNode,
-                                           can_node_broadcast,
-                                           can_dataid_heartbeat );
-
-    CANMessage::QueueToSend( new CANMessage( msgid ) );
-}
-
-// ----------------------------------------------------------------------------------------
-
-void ControllerStatus::run()
-{
-    for ( ;; )
-    {
-        try
-        {
-            Poco::RWLock::ScopedReadLock lock( sm_rwLock );
-
-            if ( sm_isDisplayAlive )
-            {
-                sendHeartbeatForNode( can_node_odr_display );
-            }
-
-            if ( sm_isGpsAlive )
-            {
-                sendHeartbeatForNode( can_node_sensor_gps );
-            }
-
-            if ( sm_isImuAlive )
-            {
-                sendHeartbeatForNode( can_node_odr_display );
-            }
-
-            if ( sm_isMotionAlive )
-            {
-                sendHeartbeatForNode( can_node_odr_motion );
-            }
-
-            if ( sm_isSonarFrontAlive )
-            {
-                sendHeartbeatForNode( can_node_odr_sonar_front );
-            }
-
-        }
-        catch ( ... )
-        {
-            // nothing to do, but don't stop the thread
-        }
-
-        if ( m_quitEvent.tryWait( 500 ) ) // 500 ms == 0.5s
-        {
-            return;
-        }
-    }
-}
-
-// ----------------------------------------------------------------------------------------
-
--- a/main/robots/odr-sim/ControllerStatus.h	Sat Jul 12 17:22:55 2014 -0700
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,71 +0,0 @@
-// ----------------------------------------------------------------------------------------
-//
-//  robots/odr-sim/ControllerStatus.h
-//    
-//  Bob Cook Development, Robotics Library
-//  http://www.bobcookdev.com/rl/
-// 
-//  Thread that periodically checks status and issues "heartbeat" messages.
-//
-//  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.
-//
-// ----------------------------------------------------------------------------------------
-
-#ifndef BCDRL_ROBOTS_ODRSIM_CONTROLLERSTATUS_H
-#define BCDRL_ROBOTS_ODRSIM_CONTROLLERSTATUS_H
-
-#include <Poco/Event.h>
-#include <Poco/Runnable.h>
-#include <Poco/RWLock.h>
-
-// ----------------------------------------------------------------------------------------
-
-class ControllerStatus : public Poco::Runnable
-{
-    public:
-        static void setDisplayAlive( bool alive );
-        static void setGpsAlive( bool alive );
-        static void setImuAlive( bool alive );
-        static void setMotionAlive( bool alive );
-        static void setSonarFrontAlive( bool alive );
-
-    public:
-        ControllerStatus();
-        virtual ~ControllerStatus();
-        virtual void run();
-        void timeToQuit();
-
-    private:
-        static Poco::RWLock sm_rwLock;
-        static bool         sm_isDisplayAlive;
-        static bool         sm_isGpsAlive;
-        static bool         sm_isImuAlive;
-        static bool         sm_isMotionAlive;
-        static bool         sm_isSonarFrontAlive;
-
-    private:
-        Poco::Event m_quitEvent;
-};
-
-// ----------------------------------------------------------------------------------------
-#endif // #ifndef BCDRL_ROBOTS_ODRSIM_CONTROLLERSTATUS_H
-// ----------------------------------------------------------------------------------------
-