executive.h

一个机器人的源代码.软件设计得超级好!是商业级代码.

/*--------------------------------------------------*
 * Executive.h:										*
 * C++ DML controller, robot executive thread		*
 *--------------------------------------------------*

#pragma warning( disable : 4514 4001 4201 4214 )
#pragma warning( disable : 4115)
#include <windows.h>
#pragma warning( default : 4115)
#include <assert.h>
#include <sys/types.h>
#include <sys/timeb.h>
#include <math.h>
#include <stdio.h>
#include "dml.h"
#include "dmlchanref.h"
#include "dmlcontroller.h"
#include "DMLMonitorInclude.h"
#include "PMDInterface.h"
#include <queue>

// Constants used by Executive:
const int ciDefaultControllerServicePeriod = 100;  // ms

// List of all the commands that another thread can ask Executive to execute:
enum CommandID
{
	CmdCommit,
	CmdZeroPosition,
	CmdSCurveMove,
	CmdTrapezoidalMove,
	CmdVelocityMove,
	CmdSmoothStop,
	CmdAbruptStop,
	CmdSetAcceleration,
	CmdSetJerk,
	CmdSetPowerLevel,
	CmdSetLeftVelocity,
	CmdSetRightVelocity,
	CmdSetLeftMoveDistance,
	CmdSetRightMoveDistance,
	CmdResetEventStatus
};

// Executive, our primary DML Controller thread
class Executive : public DMLController, ChannelMonitor
{
public:
	Executive();
	
	STATUS CreateChannels();
	STATUS CreateMonitors();
	
	void StartService();
	void Service();
	STATUS ProcessStringCommand(HWND hWndSource, char *pszStringCommand);
	void TerminateService();
	STATUS DestroyChannels();

	// Allow robot behaviors to send commands to the Executive for processing
	void EnqueueCommand(CommandID Cmd);
	void ExecuteCommand(CommandID Cmd);
	void ClearCommandQueue();
	void SetMotionDefaults();		// reset velocity, acceleration, deceleration to default values
	void AdjustPowerLevel(int PowerLevel);  // Change the power level
	void ResetVelocity();  // reset velocity to default value (needed after a Stop)
	void MoveForward(int mmDistance);	// command a forward move
	void Turn(int degreesAngle);	// positive angle = left turn (counterclockwise rotation),
									// negative angle = right turn (clockwise rotation)

	double GetMoveProgress();  // return what fraction of the move has completed so far (0.0 to 1.0)
	bool RobotInMotion();	// is the robot moving? (checks Activity Status)

private:
	// ReceiveUpdate() handles all data change callbacks for Executive:
	void ReceiveUpdate(DML_ChannelRef *pChan, DML_Data &NewData);
	void Move(int mmLeftDistance, int mmRightDistance);
	
	PMD_Axis *m_pLeft;
	PMD_Axis *m_pRight;
	DML_TIME m_CountStartTime;
	int m_ServiceCount;
	CRITICAL_SECTION m_QueueLock;
	CRITICAL_SECTION m_PMDLock;
	queue<CommandID> m_CommandQueue;
};

extern Executive *gController;  // declared in Executive.cpp

// Robot control and status readback channels (allow Behavior.cpp to access these)
extern DML_ChannelRef *gIRLeftSide;
extern DML_ChannelRef *gIRRightSide;
extern DML_ChannelRef *gIRForward;
extern DML_ChannelRef *gIRLeft30;
extern DML_ChannelRef *gIRRight30;
extern DML_ChannelRef *gIRBeakDownLeft;
extern DML_ChannelRef *gIRBeakDownCenter;
extern DML_ChannelRef *gIRBeakDownRight;