BaseIntf::BaseIntf(this) -> sets up RobotGUI window
CommManager::CommManager() -> Create a communications manager which will and resend unacknowledged messages (and ping remote managers) every resend_interval milliseconds. The constructor initiates a thread which has two basic purposes. The main purpose is to resend stream messages which have not yet been acknowledged. A secondary purpose is to notice that it has not heard from a remote communications manager in a while, and if this is the case try and “ping” that module with a dummy stream message which will then be acknowledged. Thus, even if a remote communications manager never explicity sends any information to this module, we can maintain a “heartbeat” to establish that the remote communications manager is actually alive and healthy. The sub-thread runs roughly every resend_millisecs, and it defaults to 200ms. If priority is negative, then it indicates a relative POSIX thread priority of priority less than the current for the communication manager sub-threads. If priority is not negative, it indicates an absolute POSIX thread priority. priority defaults to one priority less than the current.
CommManager::initPortal(temp_spec) -> Initialize a communications portal
CommManager::openRemoteByHost(_hostname, _dest_port) -> Convenience frunction for opening a remote by a host and port.
RemoteManager::setTimeStamp -> resets the RemoteManager timer
DBClient::DBClient(...) -> Creates a database client whose manager is _rmt. All periodic operations will happen at an integer multiple of fundamental_rate milliseconds.
TaskClient::TaskClient(...)
CommManager::createStreamSource(_rmt, 200, id) -> create a stream source to stream with ID “stream_id” on remote manager “dest.” If “exclusive_dest” is non-zero, invalidate this source if the ID of the remote manager on host/port changes from exclusive_dest. Returns NULL for failure.
JoyStick::JoyStick()
JoyStick::open(“/dev/js0”) -> probably fails for a sim environment ->
MsgLogClient::MsgLogClient
CommManager::createStreamSource
MsgLogClient::newSub(min_priority, max_priority) -> creates a new “subscription” with a range of priorities. Returns NULL if there was a communication error.