ctu.nengoros.comm.rosBackend.decoders.impl

Class BasicDecoder

java.lang.Object

ctu.nengoros.util.sync.impl.SyncedUnit

ctu.nengoros.comm.rosBackend.decoders.impl.BasicDecoder

All Implemented Interfaces:

Origin, MyEventListenerInterface, Decoder, SyncedUnitInterface, java.io.Serializable, java.lang.Cloneable

public class BasicDecoder
extends SyncedUnit
implements Decoder

This is (the simplest version of) decoder, thing that receives messages from ROS and decodes them into Nengo language. These data are then passed to Nengo Origin. This class uses Rescaler, which should be able to convert many of data types by rescaling them onto floats.

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
protected float	fcn
protected ModemContainer	modem
protected ConfigurationImpl	myConfiguration
protected int	myDimension
protected org.ros.message.MessageListener<std_msgs.Float32MultiArray>	myListener
protected java.lang.String	myName
protected Node	myNode
protected Noise	myNoise
protected Noise[]	myNoises
protected boolean	myRequiredOnCPU
protected org.ros.node.ConnectedNode	myRosNode
protected org.ros.node.topic.Subscriber<std_msgs.Float32MultiArray>	mySubscription
protected Units	myUnits
protected InstantaneousOutput	myValues
protected static org.apache.log4j.Logger	ourLogger
Backend	ros
protected static long	serialVersionUID
protected float	startTime

Fields inherited from class ctu.nengoros.util.sync.impl.SyncedUnit

synchronous

Constructor Summary

Constructors

Constructor and Description
BasicDecoder(Node node, java.lang.String name, java.lang.String dataType, int[] dimensionSizes, Units units, ModemContainer modem, Backend ros)
BasicDecoder(Node node, java.lang.String name, java.lang.String dataType, int[] dimensionSizes, Units units, ModemContainer modem, Backend ros, boolean synchronous) The same, but we can choose whether the Decoder will be synchronous or not

Method Summary

Methods

Modifier and Type	Method and Description
Origin	clone()
Origin	clone(Node node) Clone method that changes necessary parameters to point to a new parent, for use in cloning ensembles, etc.
Configuration	getConfiguration()
int	getDimensions()
float	getEndTime()
java.lang.String	getName() get name of the termination this name corresponds to a ROS topic subscribed
Node	getNode()
Noise	getNoise()
boolean	getRequiredOnCPU()
float	getStartTime() TODO: problem how to sync Nengo and ROS time references
Units	getUnits()
InstantaneousOutput	getValues()
protected void	initConfiguration()
void	onNewRosMessage(org.ros.internal.message.Message rosMessage) ROS fires onNewRosMessage events, so here is my subscription: each new ROS message accept, decode and update my values to them.
void	reset(boolean randomize)
void	setDimensions(int dim)
void	setName(java.lang.String name)
void	setNoise(Noise noise) Note that noise is only applied to RealOutput.
void	setRequiredOnCPU(boolean val)
void	setUnits(Units units)
void	setValues(float startTime, float endTime, float[] values) --This method should not be called from the outside-- setValues is called by my own Event listener This method is normally called by the Node that contains this Origin, to set the input that is read by other nodes from getValues().
void	setValues(InstantaneousOutput values) --This method should not be called from the outside-- setValues is called by my own Event listener This method is normally called by the Node that contains this Origin, to set the input that is read by other nodes from getValues().

Methods inherited from class ctu.nengoros.util.sync.impl.SyncedUnit

addChild, discardChildsReady, isReady, removeChild, setReady, setSynchronous

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface ctu.nengoros.util.sync.SyncedUnitInterface

addChild, discardChildsReady, isReady, removeChild, setReady, setSynchronous

Field Detail

serialVersionUID

protected static final long serialVersionUID

See Also:

Constant Field Values

ourLogger

protected static org.apache.log4j.Logger ourLogger

myNode

protected Node myNode

myName

protected java.lang.String myName

myDimension

protected int myDimension

myUnits

protected Units myUnits

myValues

protected InstantaneousOutput myValues

myNoise

protected Noise myNoise

myNoises

protected Noise[] myNoises

myConfiguration

protected transient ConfigurationImpl myConfiguration

myRequiredOnCPU

protected boolean myRequiredOnCPU

modem

protected ModemContainer modem

myRosNode

protected org.ros.node.ConnectedNode myRosNode

mySubscription

protected org.ros.node.topic.Subscriber<std_msgs.Float32MultiArray> mySubscription

myListener

protected org.ros.message.MessageListener<std_msgs.Float32MultiArray> myListener

fcn

protected float fcn

startTime

protected float startTime

ros

public Backend ros

Constructor Detail

BasicDecoder

public BasicDecoder(Node node,
            java.lang.String name,
            java.lang.String dataType,
            int[] dimensionSizes,
            Units units,
            ModemContainer modem,
            Backend ros)
             throws MessageFormatException,
                    StructuralException

Throws:

MessageFormatException

StructuralException

BasicDecoder

public BasicDecoder(Node node,
            java.lang.String name,
            java.lang.String dataType,
            int[] dimensionSizes,
            Units units,
            ModemContainer modem,
            Backend ros,
            boolean synchronous)
             throws MessageFormatException,
                    StructuralException

The same, but we can choose whether the Decoder will be synchronous or not

Throws:

MessageFormatException

StructuralException

Method Detail

onNewRosMessage

public void onNewRosMessage(org.ros.internal.message.Message rosMessage)

ROS fires onNewRosMessage events, so here is my subscription: each new ROS message accept, decode and update my values to them.

Specified by:

onNewRosMessage in interface MyEventListenerInterface

initConfiguration

protected void initConfiguration()

getConfiguration

public Configuration getConfiguration()

See Also:

Configurable.getConfiguration()

setValues

public void setValues(float startTime,
             float endTime,
             float[] values)

--This method should not be called from the outside-- setValues is called by my own Event listener This method is normally called by the Node that contains this Origin, to set the input that is read by other nodes from getValues(). If the Noise model has been set, noise is applied to the given values.

Parameters:

startTime - Start time of step for which outputs are being defined

endTime - End time of step for which outputs are being defined

values - Values underlying RealOutput that is to be output by this Origin in subsequent calls to getValues()

setValues

public void setValues(InstantaneousOutput values)

--This method should not be called from the outside-- setValues is called by my own Event listener This method is normally called by the Node that contains this Origin, to set the input that is read by other nodes from getValues(). No noise is applied to the given values.

Specified by:

setValues in interface Origin

Parameters:

values - Values to be output by this Origin in subsequent calls to getValues()

getDimensions

public int getDimensions()

Specified by:

getDimensions in interface Origin

Returns:

Dimensionality of information coming from this Origin (eg number of axons, or dimension of decoded function of variables represented by the Ensemble)

See Also:

Origin.getDimensions()

setDimensions

public void setDimensions(int dim)

Parameters:

dim - Origin dimensionality

getName

public java.lang.String getName()

Description copied from interface: Decoder

get name of the termination this name corresponds to a ROS topic subscribed

Specified by:

getName in interface Origin

Specified by:

getName in interface Decoder

Specified by:

getName in interface SyncedUnitInterface

Overrides:

getName in class SyncedUnit

Returns:

Name of this Origin (unique in the scope of a source of Origins, eg a Neuron or Ensemble)

See Also:

Origin.getName()

setName

public void setName(java.lang.String name)

Specified by:

setName in interface SyncedUnitInterface

Overrides:

setName in class SyncedUnit

Parameters:

name - Origin name

getUnits

public Units getUnits()

Returns:

Units used by this origin

setUnits

public void setUnits(Units units)

Parameters:

units - Units used by this origin

getValues

public InstantaneousOutput getValues()
                              throws SimulationException

Specified by:

getValues in interface Origin

Returns:

Instantaneous output from this Origin.

Throws:

SimulationException - if there is any problem retrieving values

See Also:

Origin.getValues()

getNoise

public Noise getNoise()

See Also:

Noise.Noisy.getNoise()

setNoise

public void setNoise(Noise noise)

Note that noise is only applied to RealOutput.

See Also:

Noise.Noisy.setNoise(ca.nengo.model.Noise)

getNode

public Node getNode()

Specified by:

getNode in interface Origin

Returns:

The Node to which the Origin belongs

See Also:

Origin.getNode()

clone

public Origin clone()
             throws java.lang.CloneNotSupportedException

Specified by:

clone in interface Origin

Overrides:

clone in class java.lang.Object

Returns:

Valid clone

Throws:

java.lang.CloneNotSupportedException - if clone cannot be made

reset

public void reset(boolean randomize)

See Also:

Resettable.reset(boolean)

setRequiredOnCPU

public void setRequiredOnCPU(boolean val)

Specified by:

setRequiredOnCPU in interface Origin

getRequiredOnCPU

public boolean getRequiredOnCPU()

Specified by:

getRequiredOnCPU in interface Origin

getStartTime

public float getStartTime()

Description copied from interface: Decoder

TODO: problem how to sync Nengo and ROS time references

Specified by:

getStartTime in interface Decoder

Returns:

getEndTime

public float getEndTime()

Specified by:

getEndTime in interface Decoder

clone

public Origin clone(Node node)
             throws java.lang.CloneNotSupportedException

Description copied from interface: Origin

Clone method that changes necessary parameters to point to a new parent, for use in cloning ensembles, etc.

Specified by:

clone in interface Origin

Returns:

A clone of the origin for the new parent ensemble

Throws:

java.lang.CloneNotSupportedException - if clone cannot be made