SubsMod Class Reference

AFSM : Augmented Finite State Machine core. More...

#include <subsBlocks.h>

List of all members.

Public Member Functions
	SubsMod (const char &pSTATE=0, const char &pPREV_STATE=0)
virtual void	step (void)=0
int	addInput (OutReg *, char *name=0)
	Connect an output to this module.
int	addOutput (const char *outName=0, const float &startVal=0)
	add an output register to the module
OutReg *	getOutRegPtr (const int &)
	Retrieve a pointer to an output register in this SubsMod.
bool	setOutputReg (const int &, const float &)
	Set the value of an output register.
bool	getInputReg (const int &, float *)
	get the value of an input 'virtual' register
TextDisplay *	createDisp (QWidget *parent=0, char *name=0)
	create a textView widget to display text during running
void	display (char *str)
	append display text
void	displaySet (char *str)
	set display text
void	display (const QString &)
	append display text
void	displaySet (const QString &)
	set display text
Public Attributes
std::vector< VirtualInputReg >	vInputs
std::vector< OutReg >	vOutputs
Protected Attributes
char	PREVIOUS_STATE

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Detailed Description

AFSM : Augmented Finite State Machine core.

This is the core for each AFSM, or subsumption module. SubsMod is a base class which is inherited by a user defined class. This is then wrapped by separate threads or virtual threads, defined by the user, using member functions of RobotControl. The user must override the pure virtual function SubsMod::step(), which will be run by RobotControl repetitively (to simulate concurrency). The data member SubsMod::STATE is used to record the current state of the AFSM, and a switch statement is useful for determining what action is appropriate.

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Constructor & Destructor Documentation

SubsMod::SubsMod (  const char &  pSTATE = 0, const char &  pPREV_STATE = 0 )  [inline, explicit]

Parameters: pSTATE  initial state of module, default to 0 pPREV_STATE  initial 'previous state' of module, default to 0

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Member Function Documentation

int SubsMod::addInput (  OutReg *  pOutRegPtr, char *  name = 0 )

Connect an output to this module. Can be a new input, or can suppress/inhibit an existing input. /*! Parameters: pOutRegPtr  pointer to the output register (from a connection or other module), to be connected to this input name  a string label for this 'input' Returns: the input register number (may be a new one). returns -1 if the output register does not exist, and was unable to connect

int SubsMod::addOutput (  const char *  outName = 0, const float &  startVal = 0 )

add an output register to the module Parameters: outName  a string label for this output. startVal  the starting value for this output Returns: int with output number, -1 with unsuccessful.

TextDisplay * SubsMod::createDisp (  QWidget *  parent = 0, char *  name = 0 )

create a textView widget to display text during running Parameters: parent  default is zero. if set otherwise, then the textView widget will be contained in parent. name  a string label to be displayed above the text. Returns: a pointer to the TextDisplay widget

void SubsMod::display (  const QString &  str  )

append display text Parameters: str  pointer to the string to be displayed Returns: void

void SubsMod::display (  char *  str  )

append display text Parameters: str  pointer to the string to be displayed Returns: void

void SubsMod::displaySet (  const QString &  str  )

set display text Parameters: str  pointer to the string to be displayed Returns: void

void SubsMod::displaySet (  char *  str  )

set display text Parameters: str  pointer to the string to be displayed Returns: void

bool SubsMod::getInputReg (  const int &  inNum, float *  retValuePtr )

get the value of an input 'virtual' register Parameters: inNum  number of the input register retValuePtr  a pointer to a float that is to be set by this function with the value of the input register Returns: indicate success or failure. will fail if the input register does not exist

OutReg * SubsMod::getOutRegPtr (  const int &  outNum  )

Retrieve a pointer to an output register in this SubsMod. Parameters: outNum  the output number Returns: a pointer to the output register, zero if none exists for that outNum

bool SubsMod::setOutputReg (  const int &  outNum, const float &  value )

Set the value of an output register. Parameters: outNum  number of the output register value  the value to assign to this output register Returns: indicate success or failure. will fail if the output register does not exist

virtual void SubsMod::step (  void   )  [pure virtual]

pure virtual function that must be defined by the user in the inherited class, which is a subsumption module

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Member Data Documentation

char SubsMod::PREVIOUS_STATE [protected]

the state of the finite state machine

std::vector< VirtualInputReg > SubsMod::vInputs

vector of inputs: each one is a vector of input lines

std::vector< OutReg > SubsMod::vOutputs

vector of output registers

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

• C:/Gideon/code/subsumption/subsBlocks.h
• C:/Gideon/code/subsumption/subsBlocks.cpp

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