/opt/ros/diamondback/stacks/ethzasl_aseba/asebaros/aseba/svn/studio/DashelTarget.h

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/*
        Aseba - an event-based framework for distributed robot control
        Copyright (C) 2007--2009:
                Stephane Magnenat <stephane at magnenat dot net>
                (http://stephane.magnenat.net)
                and other contributors, see authors.txt for details
                Mobots group, Laboratory of Robotics Systems, EPFL, Lausanne
        
        This program is free software: you can redistribute it and/or modify
        it under the terms of the GNU General Public License as published by
        the Free Software Foundation, either version 3 of the License, or
        any other version as decided by the two original authors
        Stephane Magnenat and Valentin Longchamp.
        
        This program is distributed in the hope that it will be useful,
        but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU General Public License for more details.
        
        You should have received a copy of the GNU General Public License
        along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef TCPTARGET_H
#define TCPTARGET_H

#include "Target.h"
#include "../common/consts.h"
#include "../msg/descriptions-manager.h"
#include <QString>
#include <QDialog>
#include <QQueue>
#include <QTimer>
#include <QThread>
#include <map>
#include <dashel/dashel.h>

class QPushButton;
class QGroupBox;
class QLineEdit;
class QSpinBox;
class QListWidget;
class QComboBox;
class QTranslator;


namespace Dashel
{
        class Stream;
}

namespace Aseba
{
        
        class DashelConnectionDialog : public QDialog
        {
                Q_OBJECT
                
        protected:
                QPushButton* connectButton;
                QGroupBox* netGroupBox;
                QLineEdit* host;
                QSpinBox* port;
                QGroupBox* serialGroupBox;
                QListWidget* serial;
                QGroupBox* customGroupBox;
                QLineEdit* custom;
                QComboBox* languageSelectionBox;
                
        public:
                DashelConnectionDialog();
                std::string getTarget();
                QString getLocaleName();
                
        public slots:
                void netGroupChecked();
                void serialGroupChecked();
                void customGroupChecked();
                void setupOkStateFromListSelection();
        };
        
        class Message;
        class UserMessage;
        
        class DashelInterface: public QThread, public Dashel::Hub
        {
                Q_OBJECT
                
        public:
                Dashel::Stream* stream;
                QString language;
                
        public:
                DashelInterface(QVector<QTranslator*> translators, const QString& commandLineTarget);
                
        signals:
                void messageAvailable(Message *message);
                void dashelDisconnection();
        
        protected:
                // from QThread
                virtual void run();
                
                // from Dashel::Hub
                virtual void incomingData(Dashel::Stream *stream);
                virtual void connectionClosed(Dashel::Stream *stream, bool abnormal);
        };
        
        class SignalingDescriptionsManager: public QObject, public DescriptionsManager
        {
                Q_OBJECT
        
        signals:
                void nodeDescriptionReceivedSignal(unsigned nodeId);
        
        protected:
                virtual void nodeProtocolVersionMismatch(const std::string &nodeName, uint16 protocolVersion);
                virtual void nodeDescriptionReceived(unsigned nodeId);
        };
        
        class DashelTarget: public Target
        {
                Q_OBJECT
                
        protected:
                struct Node
                {
                        Node();
                        
                        BytecodeVector debugBytecode; 
                        unsigned steppingInNext; 
                        unsigned lineInNext; 
                        ExecutionMode executionMode; 
                };
                
                typedef void (DashelTarget::*MessageHandler)(Message *message);
                typedef std::map<unsigned, MessageHandler> MessagesHandlersMap;
                typedef std::map<unsigned, Node> NodesMap;
                
                DashelInterface dashelInterface;
                
                MessagesHandlersMap messagesHandlersMap;
                
                QQueue<UserMessage *> userEventsQueue;
                SignalingDescriptionsManager descriptionManager;
                NodesMap nodes;
                QTimer userEventsTimer;
                
        public:
                DashelTarget(QVector<QTranslator*> translators, const QString& commandLineTarget);
                ~DashelTarget();
                
                virtual QString getLanguage() const { return dashelInterface.language; }
                
                virtual void disconnect();
                
                virtual const TargetDescription * const getDescription(unsigned node) const;
                
                virtual void uploadBytecode(unsigned node, const BytecodeVector &bytecode);
                virtual void writeBytecode(unsigned node);
                virtual void reboot(unsigned node);
                
                virtual void sendEvent(unsigned id, const VariablesDataVector &data);
                
                virtual void setVariables(unsigned node, unsigned start, const VariablesDataVector &data);
                virtual void getVariables(unsigned node, unsigned start, unsigned length);
                
                virtual void reset(unsigned node);
                virtual void run(unsigned node);
                virtual void pause(unsigned node);
                virtual void next(unsigned node);
                virtual void stop(unsigned node);
                
                virtual void setBreakpoint(unsigned node, unsigned line);
                virtual void clearBreakpoint(unsigned node, unsigned line);
                virtual void clearBreakpoints(unsigned node);
        
        protected slots:
                void updateUserEvents();
                void messageFromDashel(Message *message);
                void disconnectionFromDashel();
                void nodeDescriptionReceived(unsigned node);
        
        protected:
                void receivedDescription(Message *message);
                void receivedLocalEventDescription(Message *message);
                void receivedNativeFunctionDescription(Message *message);
                void receivedDisconnected(Message *message);
                void receivedVariables(Message *message);
                void receivedArrayAccessOutOfBounds(Message *message);
                void receivedDivisionByZero(Message *message);
                void receivedEventExecutionKilled(Message *message);
                void receivedNodeSpecificError(Message *message);
                void receivedExecutionStateChanged(Message *message);
                void receivedBreakpointSetResult(Message *message);
                
        protected:
                bool emitNodeConnectedIfDescriptionComplete(unsigned id, const Node& node);
                int getPCFromLine(unsigned node, unsigned line);
                int getLineFromPC(unsigned node, unsigned pc);
        };
        
}; // Aseba

#endif

---

asebaros
Author(s): $author
autogenerated on Mon Sep 5 08:41:53 2011