RobotControl< T > Class Template Reference

This class is a container for the subsumption modules. More...

#include <robotControl.h>

List of all members.

Public Member Functions
	RobotControl (RobotInterface< T > *)
	constructor
	~RobotControl (void)
	destructor
void	addModAsThread (SubsMod *, const int &modThreadSlpTime=200)
	add a subsumption module as a separate thread
void	addModAsVirtualThread (SubsMod *)
	add a subsumption module as a virtual thread
void	setVirtualThreadSlpTime (const int &pSLP_TIME)
	change the sleep time that the master thread (for the virtual modules) will sleep for after running each of them, to give other modules a chance to run
void	startVirtualThreads ()
	start the modules that have been added as virtual threads
void	startThreads ()
	start the modules that have been added as threads
void	stopVirtualThreads ()
	stop the modules that have been added as virtual threads
void	stopThreads ()
	stop the modules that have been added as threads
void	openDisplay ()
	open and display a widget container for textView widgets from modules
void	addToDisplay (SubsMod *, char *name=0)
	add a subsumption module's output text to a container display within RobotControl

---

Detailed Description

template<class T>
class RobotControl< T >

This class is a container for the subsumption modules.

RobotControl is used to set up all the modules in all the layers of the subsumption architecture. It controls how they are implemented. They can each be run as separate threads; or as virtual threads, all running within one thread. The template T is a user defined robot interface object. It is wrapped by RobotInterface, which is a member of RobotControl. This allows users to create an interface specific to their robot.

---

Constructor & Destructor Documentation

template<class T> RobotControl< T >::RobotControl (  RobotInterface< T > *  pRobIntPtr  )

constructor Parameters: pRobIntPtr  a pointer to a RobotInterface object

---

Member Function Documentation

template<class T> void RobotControl< T >::addModAsThread (  SubsMod *  sModPtr, const int &  modThreadSlpTime = 200 )

add a subsumption module as a separate thread Parameters: sModPtr  a pointer to the subsumption module that is to be added as a thread modThreadSlpTime  the time (ms) that that the thread (for this module) will sleep for after completing one step, to give other modules a chance to run

template<class T> void RobotControl< T >::addModAsVirtualThread (  SubsMod *  sModPtr  )

add a subsumption module as a virtual thread Parameters: sModPtr  a pointer to the subsumption module that is to be added as a virtual thread

template<class T> void RobotControl< T >::addToDisplay (  SubsMod *  sModPtr, char *  name = 0 )

add a subsumption module's output text to a container display within RobotControl Parameters: sModPtr  a pointer to the subsumption module name  a string to label the output Returns: void

template<class T> void RobotControl< T >::openDisplay (  void   )

open and display a widget container for textView widgets from modules Returns: void

template<class T> void RobotControl< T >::setVirtualThreadSlpTime (  const int &  pSLP_TIME  )  [inline]

change the sleep time that the master thread (for the virtual modules) will sleep for after running each of them, to give other modules a chance to run Parameters: pSLP_TIME  the time (ms) that the master thread (for the virtual modules) will sleep for after running each of them, to give other modules a chance to run

---

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

• C:/Gideon/code/subsumption/robotControl.h

---