SubController.C

00001 /*!@file SeaBee/SubController.C  Control motors and pid */
00002 
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00005 // University of Southern California (USC) and the iLab at USC.         //
00006 // See http://iLab.usc.edu for information about this project.          //
00007 // //////////////////////////////////////////////////////////////////// //
00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00010 // in Visual Environments, and Applications'' by Christof Koch and      //
00011 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00012 // pending; application number 09/912,225 filed July 23, 2001; see      //
00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00014 // //////////////////////////////////////////////////////////////////// //
00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00016 //                                                                      //
00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00018 // redistribute it and/or modify it under the terms of the GNU General  //
00019 // Public License as published by the Free Software Foundation; either  //
00020 // version 2 of the License, or (at your option) any later version.     //
00021 //                                                                      //
00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00025 // PURPOSE.  See the GNU General Public License for more details.       //
00026 //                                                                      //
00027 // You should have received a copy of the GNU General Public License    //
00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file: Lior Elazary <elazary@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/BeoSub/SubController.C $
00035 // $Id: SubController.C 10794 2009-02-08 06:21:09Z itti $
00036 //
00037 
00038 #include "SeaBee/SubController.H"
00039 #include "Component/ModelOptionDef.H"
00040 #include "Devices/DeviceOpts.H"
00041 
00042         class ControllerLoopListener : public BeeSTEMListener
00043         {
00044                 public:
00045                         ControllerLoopListener(nub::soft_ref<SubController> &sb)
00046                                 : itsSubController(sb)
00047                         {}
00048 
00049                         virtual ~ControllerLoopListener() {}
00050 
00051 
00052                         virtual void run()
00053                         {
00054                                 while(1)
00055                                 {
00056                                         int heading = itsSubController->getHeading();
00057                                         LINFO("Heading %i", heading);
00058                                 }
00059                         }
00060 
00061                         virtual const char* jobType() const
00062                         { return itsJobType.c_str(); }
00063 
00064                         virtual int priority() const
00065                         { return itsPriority; }
00066 
00067 
00068                 private:
00069                         const SubController* itsSubController;
00070                         const int itsPriority;
00071                         const std::string itsJobType;
00072 
00073         };
00074 
00075 
00076 
00077 // ######################################################################
00078 SubController::SubController(OptionManager& mgr,
00079            const std::string& descrName,
00080            const std::string& tagName):
00081   ModelComponent(mgr, descrName, tagName),
00082         itsPitchPID(0.1, 0, 0, -100, 100),
00083         itsRollPID(0.1, 0, 0, -100, 100),
00084         itsHeadingPID(0.1, 0, 0, -100, 100),
00085         itsDepthPID(0.1, 0, 0, -100, 100)
00086 
00087 {
00088         itsBeeStem = nub::soft_ref<BeeSTEM>(new BeeSTEM(mgr,"BeeSTEM", "BeeSTEM", "/dev/ttyS1"));
00089         addSubComponent(itsBeeStem);
00090 }
00091 
00092 void SubController::start2()
00093 {
00094 
00095   LINFO("Starting controller thread");
00096   //start a worker thread
00097   itsThreadServer.reset(new WorkThreadServer("SubController",1)); //start a single worker thread
00098   itsThreadServer->setFlushBeforeStopping(false);
00099 
00100   rutz::shared_ptr<ControllerLoop> j(new ControllerLoop(this));
00101   itsThreadServer->enqueueJob(j);
00102 
00103 
00104 }
00105 
00106 // ######################################################################
00107 SubController::~SubController()
00108 { }
00109 
00110 // ######################################################################
00111 int SubController::getHeading()
00112 {
00113 
00114 
00115         return 10;
00116 
00117 }
00118 // ######################################################################
00119 /* So things look consistent in everyone's emacs... */
00120 /* Local Variables: */
00121 /* indent-tabs-mode: nil */
00122 /* End: */
Generated on Sun May 8 08:40:20 2011 for iLab Neuromorphic Vision Toolkit by  doxygen 1.6.3